JP6723334B2 - AC rotating machine control device, vehicle AC rotating machine device, and electric power steering device - Google Patents

Description

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

When the control device for an AC rotating machine is used, for example, in a generator-motor for a vehicle, the output torque becomes the driving force for the vehicle, so unless the desired torque is obtained, acceleration does not occur as expected and the driver's comfort is improved. Sex decreases. Since the detected current and the output torque have a proportional relationship, it is important to suppress the deviation between the detected current value and the true current value in order to obtain the desired torque.

In addition, 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 also transmitted to the vehicle to cause an uncomfortable feeling in the passenger compartment. 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 before and after a predetermined time from 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 error of the detected current value is suppressed by setting the average value of the detected current values. In addition, when detecting the current value of the third phase, the current value of the third phase is detected twice at a timing before and after the timing of detecting the current value of the first phase by a time that is twice the predetermined time. The error of the detected current value is suppressed by setting the three-phase current value as the average value of the current values detected at both timings.

In the motor control device of Patent Document 2, in order to suppress 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 left off.

In the AC motor control device of Patent Document 3, non-interference is achieved by controlling the average current and the difference current. In the rotating two-axis coordinate system, an average voltage command is obtained based on the average value of the output current of each inverter and the deviation of the average current command, and the differential voltage command is calculated based on the difference of the output current of each inverter and the difference of the differential current command. Ask. The unbalanced current is reduced by returning the average voltage command and the difference voltage command to the voltage command for each winding set and outputting them.

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

In the current detection device of Patent Document 1, the second phase, which cannot be detected at the timing of detecting the reference first phase current value, is detected at symmetrical timing with respect to the reference timing Z. In FIG. 2 of Patent Document 1, when Δt is sufficiently small, it can be considered that the V-phase current value from time tva to tvb changes substantially linearly according to the rotation of the motor, and therefore time tva Iv0 is estimated based on the average value of the current value Iva detected at 1 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, three-time detection and three-phase detection are required to obtain a two-phase current. Five detections are required to get the full current. When the electrical angle at tu is θ and the angular velocity at electrical angle is ω, Iu0, Iv0, and Iw0 are given by equation (1).

When ωΔt is sufficiently small in Expression (1), Expression (2) is established, and Iu0, Iv0, and Iw0 are given by Expression (3). When the rotation speed becomes high and ωΔt or 2ωΔt becomes large, the error due to the approximation of the 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, the greater the number of times of detection, the longer the elapsed time from the first detection timing to the last detection timing, and the accuracy of the detected current value deteriorates.

In the motor control device of Patent Document 2, the current detectable phase needs to have a duty of Dmax or less, and an error in the phase current value of the current detectable phase due to switching noise of the current undetectable phase that outputs a duty greater than Dmax. Is said to occur. When the phase current value is obtained by a plurality of times of current detection, the larger the number of times is, the smaller Dmax becomes. In that case, it becomes difficult to obtain a phase current value with a small detection error by the voltage command as shown in FIG. 8 of Patent Document 2. 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 Document 3, since the average current is fed back to generate the voltage command, the average current fluctuates due to the influence of the current detection error caused by the difference in the current detection timing.

The present application has been made in order to solve the above problems, 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 rotary machine, an output generated due to a shift in the timing of current detection The purpose is to reduce the torque error.

An AC rotating machine control device according to the present application is 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. hand,
A current detector for detecting a current flowing through the m-1 phase winding of the first winding and the m-1 phase winding of the second winding;
A voltage command calculator that calculates a voltage command to be applied to each phase of the first winding and the second winding based on the current command and the detected current value;
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 a carrier signal,
The current detector detects the current of the m-1 phase winding of the first winding at a first timing, and the current of the m-1 phase winding of the second winding at a second timing. Detect
The first timing and the second timing are symmetrically set with respect to a reference timing ,
The reference timing is set at one or both of a peak and a valley of the carrier wave signal which is a triangular wave .

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

An electric power steering apparatus according to the present application includes the above-described AC rotating machine control device and an AC rotating machine that serves as a driving force source of a wheel steering device.

According to the control device for an AC rotating machine of the present application, when the number of phases that can be detected at the same timing is smaller than the number of phases of windings, the current is detected for each of the first winding and the second winding. It is possible to reduce the number of phases to be m-1 phase, the first timing for detecting the current of the m-1 phase winding of the first winding, and the m-1 phase winding of the second winding. By setting the second timing for detecting the current of the above and the second timing symmetrically with respect to the reference timing, the error of the sum of the dq axis currents caused by the deviation of the current detection timing between the windings is reduced, and the output torque The error can be reduced.

1 is a schematic configuration diagram of an AC rotating machine and a control device for the AC rotating machine according to a first embodiment. FIG. 3 is a schematic block diagram of a control device for an AC rotating machine according to the first embodiment. FIG. 3 is a hardware configuration diagram of a control device for an AC rotating machine according to the first embodiment. FIG. 3 is a schematic diagram showing a phase of each phase of the first winding and the second winding according to the first embodiment. 6 is a time chart illustrating generation of a drive signal according to the first embodiment. FIG. 6 is a diagram illustrating a phase of a current vector according to the first embodiment. 5 is a time chart for explaining the definition of the current detection timing of each phase based on the reference timing according to the first embodiment. 6 is a time chart illustrating an example of setting first timing and second timing according to the first embodiment. FIG. 6 is a diagram illustrating a current detection timing setting pattern according to the first embodiment. FIG. 9 is a schematic diagram of an angle sensor according to a fourth embodiment. 9 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. 16 is a diagram illustrating a setting pattern of detection timing of an angle signal according to the fourth embodiment. 16 is a time chart showing an example of setting the first timing, the second timing, and the detection timing of the angle signal according to the fourth embodiment. 16 is a time chart showing an example of setting the first timing, the second timing, and the detection timing of the angle signal according to the fourth embodiment. 1 is a schematic configuration diagram of a vehicle AC rotating machine device 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 for an AC rotary machine according to Embodiment 1 (hereinafter, simply referred to as control device 1) will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of an AC rotary 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 permanent magnet having a number of pole pairs Pr is provided at a rotor 14. The AC rotating machine 10 may be a field winding type synchronous rotating machine in which the rotor 14 is provided with an electromagnet.

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 rotary machine 10 includes the three-phase first winding 11 of U1, V1, and W1 phases and the three phases of U2, V2, and W2 phases. Second winding 12 of As shown in the schematic view of FIG. 4, the phase of the three-phase first windings U1, V1, and W2 leads the phase of the three-phase second windings U2, V2, and W2 by an electrical angle of 30 deg. 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 that detects the 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 as 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, the DC power of the DC power supply 16 and the second windings U2, V2, And a second inverter 22 that converts AC power supplied to W2.

Each of the first inverter 21 and the second inverter 22 includes 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 diodes are 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.

A power storage device such as a lead storage battery or a lithium ion battery is used for the DC power supply 16. The DC power supply 16 may be provided with a DC-DC converter that is a DC power converter that steps up or down the DC voltage. A voltage sensor 17 for detecting the 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 the m-1 phase (m-1=2 in this example) winding. The current sensor 13 includes, for each m-1 phase (U1 phase and V1 phase, U2 phase and W2 phase in this example), a Hall element or the like provided on an electric wire that connects the series circuit of the switching element and the winding. Has been done. Alternatively, the current sensor 13 may be a shunt resistor connected in series with each series circuit of the m-1 phase. The potential difference between both ends of each shunt resistor is input to the control device 1. For example, each shunt resistor is connected in series to the negative electrode side of the negative electrode side switching element. The m-1 phase of the first winding provided with the current sensor 13 may be set to an arbitrary phase, and the m-1 phase of the second winding provided with the current sensor 13 may be set to an arbitrary phase. It may be set.

1-3. Control device 1
The control device 1 controls the AC rotating machine 10 via the switching elements of the first inverter 21 and the 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 included in the control device 1. Specifically, as shown in FIG. 3, the control device 1 includes an arithmetic processing device 90 (computer) such as a CPU (Central Processing Unit) as a processing circuit, a storage device 91 for exchanging data with the arithmetic processing device 90, An input circuit 92 for inputting an external signal to the arithmetic processing device 90, an output circuit 93 for outputting a signal from the arithmetic processing device 90 to the outside, and the like 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, and various signal processing circuits. May be. Further, as the arithmetic processing unit 90, a plurality of the same type or different types may be provided, and each process may be shared and executed. As the storage device 91, a RAM (Random Access Memory) configured to read and write data from the arithmetic processing device 90, a ROM (Read Only Memory) configured to read data from the arithmetic processing device 90, and the like. It is equipped. The input circuit 92 is connected to various sensors such as the angle sensor 15, the voltage sensor 17, the current sensor 13 and switches, and includes an A/D converter for inputting 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 a drive circuit that outputs a control signal from the arithmetic processing unit 90 to the electric load. I have it.

Then, for each function of each of the control units 31 to 35 and the like included in the control device 1, the arithmetic processing device 90 executes the software (program) stored in the storage device 91 such as the ROM, and the storage device 91 and the input circuit 92. , And the output circuit 93 and other hardware of the control device 1 in cooperation with each other. The setting data used by the control units 31 to 35 and the like are stored in the 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 the rotation angle (magnetic pole position) of the rotor 14 in electrical angle and the rotation speed. In the present embodiment, the rotation detector 31 detects the rotation angle (magnetic pole position) in electrical angle and the rotation speed based on the output signal of the angle sensor 15. The rotation detection unit 31 may be configured to estimate the rotation angle (magnetic pole position) without using the angle sensor, based on the current information obtained by superimposing the harmonic component on the current command. Good (so-called sensorless method).

1-3-2. Power supply voltage detector 32
The power supply voltage detector 32 detects the power supply voltage of the DC power supply 16. In the present embodiment, the power supply voltage detection unit 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 includes the m-1 phase winding of the first winding 11 (U1 phase and V1 phase winding in this example) and the m-1 phase winding of the second winding 12 (this example). Then, the currents flowing in the U2 phase and W2 phase windings) are detected. In the present embodiment, the current detection unit 33 detects the currents iu1_det and iv1_det flowing from the first inverter 21 to the U1 phase and the V1 phase of the first winding on the basis of the output signal of the current sensor 13, and the second The currents iu2_det and iw2_det flowing from the inverter 22 to the U2 phase and W2 phase 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, and the rotation angle. In the present embodiment, the voltage command calculation unit 34 includes a current command calculation unit 341, a current conversion unit 342, a current feedback control unit 343, and a voltage command conversion unit 344.

In the present embodiment, the voltage command calculation unit 34 is configured to perform current feedback control in the dq axis rotating coordinate system. The dq-axis rotation coordinates are rotation coordinates composed of 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 magnetic flux direction of the rotor 14 is the direction of the N pole of the permanent magnet provided in the rotor 14. The magnetic pole position θ1 based on the first winding is the advancing 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 The advancing angle of the d-axis is based on the U2-phase winding of the winding.

<Current command calculator 341>
The current command calculation unit 341 calculates a current command to flow in the first winding and a current command to flow in the second winding. The current command calculator 341 calculates the d-axis current command Id1_tgt and the q-axis current command Iq1_tgt for the first winding, and also calculates the d-axis current command Id2_tgt and the q-axis current command Iq2_tgt for the second winding.

The current command calculator 341 calculates the total d-axis current command Id_tgt and the q-axis current command Iq_tgt, and calculates the total dq-axis current commands Id_tgt, Iq_tgt as the dq-axis current commands Id1_tgt, Iq1_tgt and the second winding. It is distributed to the dq-axis current commands Id2_tgt and Iq2_tgt of the winding. In the present embodiment, the current command calculation unit 341 sets the dq-axis current commands Id1_tgt, Iq1_tgt, and the second winding that are 0.5 times the total dq-axis current commands Id_tgt and Iq_tgt, respectively. Dq-axis current commands Id2_tgt and Iq2_tgt.

The current command calculation unit 341 calculates the total dq axis current command Id_tgt 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, weakening magnetic flux control, and Id=0 control. , Iq_tgt are calculated. The target torque may be transmitted from an external device or may be calculated in the current command calculation unit 341.

<Current converter 342>
The current converter 342 calculates the current detection values iu1_det and iv1_det of the U1 phase and V1 phase of the first winding so that the total of the three-phase current detection values of the first winding becomes 0, as shown in the following equation. Based on, the current detection value iw1_det of the remaining W1 phase is estimated. Further, the current converter 342 calculates the current detection values iu2_det of the U2 phase and the W2 phase of the second winding so that the total of the three-phase current detection values of the second winding becomes 0 as shown in the following equation. , Iw2_det, the remaining current detection value iv2_det of the V2 phase is estimated. Here, the estimated remaining one-phase current is also referred to as a current detection value for ease of explanation.

The current converter 342 performs three-phase two-phase conversion and rotational coordinate conversion on the detected current values iu1_det, iv1_det, and iw1_det of each phase of the first winding based on the magnetic pole position θ1 of the first winding reference, and dq. It is converted into the d-axis current detection value Id1_det and the q-axis current detection value Iq1_det of the first winding represented by the axis rotation coordinate system. Similarly, the current converter 342 performs three-phase two-phase conversion and rotational coordinate conversion on the detected current values iu2_det, iv2_det, iw2_det of each phase of the second winding based on the magnetic pole position θ2 of the second winding reference. Then, it is converted into the d-axis current detection value Id2_det and the q-axis current detection value Iq2_det of the second winding represented by the dq-axis rotation coordinate system.

<Current feedback control unit 343>
The current feedback control unit 343 uses the PI control or the like so that the dq-axis current detection values Id1_det and Iq1_det of the first winding approach the dq-axis current commands Id1_tgt and Iq1_tgt of the first winding by d control of the first winding. Feedback control is performed to change the axis voltage command Vd1 and the q-axis voltage command Vq1. Similarly, the current feedback control unit 343 performs the second winding by the PI control so that the dq-axis current detection values Id2_det and Iq2_det of the second winding approach the dq-axis current commands Id2_tgt and Iq2_tgt of the second winding. Feedback control is performed to change the d-axis voltage command Vd2 and the q-axis voltage command Vq2 of the line.

<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 on the basis of the magnetic pole position θ1 based on the first winding, and 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 on the dq-axis voltage commands Vd2 and Vq2 of the second winding based on the magnetic pole position θ2 of the second winding reference, It is converted into voltage commands vu2, vv2, vw2 for each phase of the second winding.

1-3-5. Voltage applying unit 35
The voltage application unit 35 compares the voltage commands vu1, vv1, vw1 of the respective phases of the first winding and the voltage commands vu2, vv2, vw2 of the respective phases of the second winding with the carrier wave signal, and thereby 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 wave 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 is the triangular wave. If it falls below the value, the drive signal is turned off. The drive signal is transmitted as it is to the switching element 23 on the positive side, and the drive signal obtained by inverting the drive signal is transmitted to the switching element 24 on the negative side. Each drive signal is input to the gate terminal of each switching element of the first and second inverters 21 and 22 via the gate drive circuit to turn on or off each switching element.

1-3-6. Current Detection Timing In the present embodiment, the current detection unit 33 detects the current of the m−1-phase winding (U1 phase and V1 phase in this example) of the first winding at the first timing X, At the second timing Y, the current of the m-1 phase winding (U2 phase and W2 phase in this example) of the second winding is detected, and the first timing X and the second timing Y are set as the reference timing Z. It is set symmetrically with respect to the front and rear.

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

<Ideal case where 6-phase currents are detected 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 in the respective phases of the first winding and the currents iu2, iv2, iw2 flowing in the respective phases of the second winding are given by the equation (5). Here, β represents the phase of the dq-axis current vector I from the q-axis, and Irms represents the effective current value, as shown in FIG. Further, the currents iu2, iv2, and iw2 of the respective phases of the second winding are represented by using the magnetic pole position θ1 of the first winding reference instead of the magnetic pole position θ2 of the second winding reference. The magnetic pole position θ2 based on the second winding is delayed in phase by 30 deg (π/6) in electrical angle from the magnetic pole position θ1 based on the first winding (θ2=θ1−π/6).

The three-phase two-phase conversion and the rotational coordinate conversion of the current of each phase of the first winding and the current of each phase of the second winding of the equation (5) are performed in the dq axis rotational coordinate system. The d-axis current Id1 and the q-axis current Iq1 of the one winding, and the d-axis current Id2 and the q-axis current Iq2 of the second winding are given by Expression (6).

At this time, the output torque T of the AC rotating machine 10 is given by Expression (7). Here, Ld represents the d-axis self-inductance, Lq represents the q-axis self-inductance, and φ represents the magnetic flux. It should be noted that here, the equation without mutual inductance is used, but the same effect can be obtained even 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 Expression (8) is satisfied. At this time, the output torque T of the AC rotating machine 10 can be approximated by the equation (9) and is proportional to the sum of the dq-axis currents of the first winding and the second winding.

<When the current detection timing for each phase cannot be the same>
In order for Expression (5) to Expression (9) to hold, it is necessary to detect the currents of six phases at the same timing. However, a low-cost microcomputer cannot detect all channels at the same timing because the number of channels that can be A/D converted at the same time is small. Further, by reducing the number of phases for detecting the current, the cost of the current sensor and the microcomputer can be reduced.

When the six-phase currents cannot be detected at the same timing, in the formula (9), there is an error in the sum (Iq1+Iq2) of the q-axis currents of the first winding and the second winding and the sum (Id1+Id2) of the d-axis currents. This may cause an error in the output torque. Therefore, even if the current of each phase cannot be detected at the same timing, the number of phases for detecting the current is reduced from 6 to 4 and the current detection timing of the 4 phase is adjusted to adjust the sum of the q-axis currents (Iq1+Iq2). ) And the sum of the d-axis currents (Id1+Id2) can be reduced.

<Derivation of conditions for reducing error in sum of dq-axis currents>
Below, the conditions for reducing the error of the sum of the dq-axis currents are derived. FIG. 7 shows currents iu1 of the U1 phase and V1 phase of the first winding and the U2 phase and W2 phase of the second winding with reference to the reference timing Z (in this example, the peak of the peak) of the carrier signal. The definition of the detection timing tu1, tv1, tu2, tw2 of iv1, iu2, iw2 is shown. The detection timing of the U1 phase current iu1 of the first winding is tu1 and the detection timing of the V1 phase current iv1 of the first winding is tv1 based on the reference timing Z (mountain peak), and the second winding The detection timing of the U2-phase current iu2 of the wire is tu2, and the detection timing of the W2-phase current iw2 of the second winding is tw2.

By the way, as shown in FIG. 5, the on/off drive signals of the respective switching elements are substantially bilaterally symmetrical with respect to the peaks or troughs of the carrier signal. Therefore, by detecting the current near the peaks or troughs of the carrier signal, the average value of the current during the on period or the average value of the current during the off period can be detected, and the influence of the current ripple is less likely to occur. The current detection accuracy can be improved. In the present embodiment, the reference timing Z of the carrier signal is set to one or both of the peaks and peaks of the carrier signal (in this example, the peaks of the peaks). Note that the timing other than the peaks and the peaks of the carrier signal may be set as the reference timing Z. Further, 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 as well.

The detection current detected at each detection timing tu1 to tw2 is given by the equation (10). Note that θ1 represents the magnetic pole position of the first winding reference at the reference timing Z, and ω represents the rotational speed in electrical angle.

At this time, the remaining W1 phase current detection value iw1_det and the V2 phase current detection value iv2_det that are estimated are given by equation (11).

The dq-axis currents of the first winding and the second winding obtained when 6-phase currents are simultaneously detected at the reference timing Z 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 equations (10) and (11) are respectively calculated. Let Id1_det, Iq1_det, Id2_det, and Iq2_det. Then, the equations (12) to (15) are established.

In the equations (12) to (15), the error component after the second term is a DC offset component proportional to cosβ or sinβ, and a magnetic pole position proportional to cos(2θ1+β) or sin(2θ1+β). It is composed of the secondary AC component of θ1.

The sum of Id1_det of Expression (12) and Id2_det of Expression (13), id_det_sum, which is the sum of the detected values of d-axis current, and the sum of Iq1_det of Expression (14) and Iq1_det of Expression (15), which is the detected current value of q-axis The sum Iq_det_sum is given by equation (16). Further, a difference Id_det_diff between the detected d-axis current values obtained by subtracting Id2_det from the equation (13) from the Id1_det equation (12) and a detected q-axis current value obtained by subtracting the Iq2_det from the equation (15) from the Iq1_det equation (14). The difference Iq_det_diff is given by the equation (17).

In the sum Id_det_sum of the d-axis current detection values and the sum Iq_det_sum of the q-axis current values in the equation (16), the equation (18) may be established in order to make the error components after the second term zero.

From Expression (18), a relational expression for making the error component of the sum dd_det_sum of the d-axis current detection values and the sum Iq_det_sum of the q-axis current detection values zero is given by Expression (19).

That is, as shown in FIG. 8, the current detection unit 33 sets the current detection timings tu1 and tv1 of the U1 phase and V1 phase of the first winding to the same first timing X, and the U2 phase of the second winding and The current detection timings tu2 and tw2 of the W2 phase are set to the same second timing Y, and the first timing X and the second timing Y are set symmetrically with respect to the reference timing Z. When the reference timing Z is set at the peak or the peak of the carrier signal, the deterioration of the current detection accuracy due to the current ripple can be suppressed to the minimum.

In the above description, the case where the U1 phase and V1 phase winding currents are detected for the first winding and the U2 phase and W2 phase winding currents are detected for the second winding has been described as an example. However, the same applies to the case where the m-1 phase winding current of any combination is detected for the first winding and the m-1 phase winding current of any combination is detected for the second winding. That is true. That is, the current detection unit 33 detects the current of the m-1 phase winding of the first winding at the first timing X, and at the second timing Y, the m-1 phase winding of the second winding. It is only necessary to detect the current of and to set the first timing X and the second timing Y symmetrically with respect to the reference timing Z.

Specifically, there are nine patterns (1) to (9) in FIG. The current detection unit 33 detects the m-1 phase winding current of the first winding and the second winding at the current detection timing of any one of the patterns (1) to (9) in FIG. 9. Here, the relative time of the first timing X with respect to the second timing Y is 2×δ. As in this embodiment, when the second timing Y is before the first timing X, δ has a positive value. Contrary to the present embodiment, when the second timing Y is after the first timing X, δ has a negative value. Therefore, in the present embodiment, −δ in FIG. 9 indicates that the second timing Y is set before the reference timing Z by δ, and δ indicates that the first timing X is before the reference timing Z. Also indicates that it is set after δ. The first timing X may be before the reference timing Z, the second timing Y may be after the reference timing Z, and δ may be a negative value.

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 small, the phase for detecting current is reduced. It is possible to reduce the number from the m phase to the m−1 phase, reduce the error in the sum of the dq axis currents caused by the shift in the current detection timing between the phases, and reduce the error in the output torque.

<Allowable range of the same timing>
Note that, in the first timing X or the second timing Y, a case where the current detection timings of the m-1 phase windings are not exactly the same timing will be described below. As shown in Expression (20), consider the case where the current detection timing is deviated by η between the two-phase windings at the first or second timing. The same idea can be applied even if there is the reluctance torque component of the equation (9), but the output torque T is given as the equation (21) in order to simplify the explanation.

At this time, from Expression (16), the sums Id_det_sum and Iq_det_sum of the detected dq-axis current values are given by Expressions including an offset component as in Expression (22).

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 rotation shaft of the rotor 14 of the AC rotating machine 10 is connected to the wheels 52 via the power transmission mechanism 51. For example, as shown in FIG. 15, the rotating shaft of the AC rotating machine 10 is connected to the crank shaft of the internal combustion engine 54 via the pulley and belt mechanism 53, and is connected to the wheels 52 via the internal combustion engine 54 and the transmission 55. Be connected. Alternatively, the 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 the AC rotating machine 10 is connected to the wheels via the transmission. In these cases, the current command calculation unit 341 calculates the target torque based on the vehicle required torque required to drive the vehicle, the required generated power, or the like, and calculates the current instruction based on the target torque. To do.

Therefore, the error in the output torque of the AC rotating machine 10 needs to be less than or equal to the predetermined allowable value Tth1. That is, from the formulas (21) and (22), η may satisfy the formula (23). Tmax is the output torque of the AC rotary machine 10 when there is no error.

For example, when the allowable 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 time difference δ between the first or second timing and the reference timing Z needs to be sufficiently shorter than the period of the carrier signal, and is therefore about several μs. That is, the deviation η of the current detection timing between the m−1 phases at the first or second timing is set to a level that is an order of magnitude smaller than the time difference δ between the first or second timing and the reference timing Z, for example, 1/10 or less. If set, the output torque accuracy requirement can be satisfied.

When the AC rotating machine 10 serves as a driving force source of the steering device 63 for the wheels 62, the AC rotating machine 10 and the control device 1 configure an electric power steering device 60. The rotating shaft of the rotor 14 of the AC rotating machine 10 is connected to the steering device 63 of the wheel 62 via the driving force transmission mechanism 61. For example, as shown in FIG. 16, the electric power steering device 60 includes a steering wheel 64 that rotates left and right by a driver, 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 wheel 62. 65, a torque sensor 66 attached to the shaft 65 for detecting the 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. There is. 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 steering torque Ts of the driver 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 multiplies the steering torque Ts by the coefficient Kt to calculate the q-axis current command Iq_tgt (Iq_tgt=Kt×Ts). Various known control methods may be used.

Since the output shaft of the AC rotating machine 10 is connected to the steering wheel 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 is transmitted to the driver via the steering wheel. .. Therefore, the torque ripple of the output torque of the AC rotating machine needs to be less than or equal to the predetermined allowable value Tth2. That is, from the formulas (21) and (22), η may satisfy the formula (24). Tmax is the output torque of the AC rotary 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 m-1 phases at the first or second timing is 3. It may be 3 μs or less. On the other hand, the time difference δ between the first or second timing and the reference timing Z needs to be sufficiently shorter than the period of the carrier signal, and is therefore about several μs. That is, the deviation η of the current detection timing between the m−1 phases at the first or second timing is set to a level that is an order of magnitude smaller than the time difference δ between the first or second timing and the reference timing Z, for example, 1/10 or less. If set, the output torque accuracy requirement can be satisfied.

As described using the above two examples, the current detection timing of the m-1 phase winding at the first timing X or the second timing Y is not limited to the case where the time difference is zero, It also includes a time lag that does not cause a problem with respect to the accuracy of the allowable output torque or the allowable torque ripple. Considering these examples, the current detection timing of the m-1 phase winding at the first timing X or the second timing Y is at least the current detection timing between the m-1 phases at the first timing or the second timing. The deviation η may be 1/10 or less of the time difference δ between the first or second timing and the reference timing Z.

Ideally, the current detection timing of the m-1 phase winding at the first timing X or the second timing Y is the number of channels within the range of the maximum number of channels of the A/D converter, which is broadcast by the trigger signal. Any timing may be used as long as it is A/D conversion.

<When the phase difference between the first winding and the second winding is other than 30 deg>
In the present embodiment, the case has been described in which the phase difference between the first winding and the second winding is 30 deg in electrical angle. However, even when the phase difference between the first winding and the second winding is other than 30 deg in electrical angle, the current of the m-1 phase winding of the first winding is detected at the first timing X, If the current of the m-1 phase winding of the second winding is detected at the second timing Y and the first timing X and the second timing Y are set symmetrically with respect to the reference timing Z, the same result can be obtained. The effect can be obtained.

2. Embodiment 2
Next, the AC rotating machine 10 and the control device 1 according to the second embodiment will be described. The description of the same components as those in the first embodiment is omitted. The basic configuration of the AC rotating machine 10 and the control device 1 according to the present embodiment is the same as that of the first embodiment, but the point that correction is performed to further reduce the error included in the dq-axis current detection values is performed. Different from the form 1.

The dq-axis current commands Id1_tgt, Iq1_tgt for the first winding and the dq-axis current commands Id2_tgt, Iq2_tgt for the second winding are calculated by using the phase β and the current effective value Irms of the current vector shown in FIG. Given in.

Further, in Expressions (12) to (15), the current detection timings tu1 to tw2 that satisfy Expression (19) are set as in the first embodiment, and the second timing Y is set instead of the current detection timings tu1 to tw2. Using δ of the relative time 2×δ of the first timing X with respect to, the equation (26) is established. Note that, as in the present embodiment, when the second timing Y is after the first timing X, δ has a positive value. Contrary to the present embodiment, when the second timing Y is after the first timing X, δ has a negative value.

That is, in the method of the first embodiment, the dq-axis current detection values Id1_det and Iq1_det of the first winding and the dq-axis current detection values Id2_det and Iq2_det of the second winding are added to the second term on the right side of Expression (26). Offset error occurs.

Formula (26) is rearranged for error-free dq-axis current detection values Id1_ideal, Iq1_ideal, Id2_ideal, Iq2_ideal when six-phase currents are detected at the reference timing Z, and when formula (25) is substituted, formula (27) is obtained. To get

From Expression (27), it is understood that the error in the dq-axis current detection value can be reduced by correcting the dq-axis current detection value with the dq-axis current command. Therefore, in the present embodiment, the current feedback control unit 343 corrects the d-axis current detection value Id1_det of the first winding by the q-axis current command Iq1_tgt of the first winding as shown in Expression (28). , The corrected d-axis current detection value Id1_deth of the first winding is calculated, the q-axis current detection value Iq1_det of the first winding is corrected by the d-axis current command Id1_tgt of the first winding, and the first winding The corrected q-axis current detection value Iq1_deth of the second winding is calculated, and the d-axis current detection value Id2_det of the second winding is corrected by the q-axis current command Iq2_tgt of the second winding to obtain the corrected d-axis of the second winding. The axis current detection value Id2_deth is calculated, the q-axis current detection value Iq2_det of the second winding is corrected by the d-axis current command Id2_tgt of the second winding, and the q-axis current detection value Iq2_deth after the second winding is corrected. To calculate.

In the present embodiment, the current feedback control unit 343 controls the first winding so that the corrected dq-axis current detection values Id1_deth and Iq1_deth approach the dq-axis current commands Id1_tgt and Iq1_tgt of the first winding, respectively. The d-axis voltage command Vd1 and the q-axis voltage command Vq1 of the first winding are changed by control or the like, and the corrected dq-axis current detection values Id2_deth and Iq2_deth of the second winding are respectively the dq-axis of the second winding. The d-axis voltage command Vd2 and the q-axis voltage command Vq2 of the second winding are changed by PI control or the like so as to approach the current commands Id2_tgt and Iq2_tgt.

When the dq-axis current commands Id_tgt and Iq_tgt are evenly distributed to the dq-axis current commands Id1_tgt and Iq1_tgt of the first winding and the dq-axis current commands Id2_tgt and Iq2_tgt of the second winding, the formula (29) is used. Therefore, the correction may be performed. When the current between the first winding and the second winding is distributed at the distribution ratio Ka:(1−Ka), the correction may be performed using the equation (30). The current distribution ratio Ka is set to a value between 0 and 1.

Thus, in addition to the processing of the first embodiment, by correcting the dq-axis current detection value with the dq-axis current command, not only the error of the sum of the dq-axis currents is reduced but also the dq-axis current detection value The accuracy can be improved.

By setting the first timing X and the second timing Y symmetrically with respect to the reference timing Z as in the first embodiment, the error component of the equation (16) becomes zero, and therefore the equation (16) The sum Id_det_sum of the d-axis current detection values and the sum Iq_det_sum of the q-axis current values are given by the equation (31) using the equation (25).

By substituting the equations (31) and (25) into the equation (28), the equation (32) is obtained. As described above, when the current between the first winding and the second winding is distributed at the distribution ratio Ka, the equation (33) is obtained. The current distribution ratio Ka is set to a value between 0 and 1.

Therefore, the current feedback control unit 343 calculates the sum Id_det_sum of the d-axis current detection values, which is the sum of the d-axis current detection value Id1_det of the first winding and the d-axis current detection value Id2_det of the second winding, A sum Iq_det_sum of q-axis current detection values, which is the sum of the q-axis current detection value Iq1_det of one winding and the q-axis current detection value Iq2_det of the second winding, is calculated. Then, the current feedback control unit 343 corrects the d-axis current detection value Id1_det of the first winding by the sum Iq_det_sum of the q-axis current detection values as shown in Expression (32) or Expression (33), After the correction of the d-axis current detection value Id1_deth of one winding is calculated, the q-axis current detection value Iq1_det of the first winding is corrected by the sum Id_det_sum of the d-axis current detection values, and after the correction of the first winding Q-axis current detection value Iq1_deth of the second winding is calculated, and the d-axis current detection value Id2_det of the second winding is corrected by the sum Iq_det_sum of the q-axis current detection values to obtain the corrected d-axis current value of the second winding. Id2_deth is calculated, and the q-axis current detection value Iq2_det of the second winding is corrected by the sum dd_det_sum of the d-axis current detection values to calculate the corrected q-axis current detection value Iq2_deth of the second winding.

3. Embodiment 3
Next, the AC rotating machine 10 and the control device 1 according to the third embodiment will be described. The description of the same components as those in the first embodiment is omitted. The basic configuration of the AC rotating machine 10 and the control device 1 according to this embodiment is the same as that of the first embodiment, but is included in the difference Id_det_diff between the d-axis current detection values and the difference Iq_det_diff between the q-axis current detection values. The difference from the first embodiment is that correction is performed to further reduce the error.

As described above, the dq-axis current commands Id1_tgt and Iq1_tgt for the first winding and the dq-axis current commands Id2_tgt and Iq2_tgt for the second winding are calculated using the phase β and the current effective value Irms of the current vector shown in FIG. , Given by equation (25).

Further, in Expression (17), the current detection timings tu1 to tw2 that satisfy Expression (19) are set as in the first embodiment, and instead of the current detection timings tu1 to tw2, the first timing X with respect to the second timing Y is set. Using the relative time 2δ of δ, equation (34) holds. Note that, as in the present embodiment, when the second timing Y is after the first timing X, δ has a positive value. Contrary to the present embodiment, when the second timing Y is after the first timing X, δ has a negative value.

That is, in the method of the first embodiment, an offset error of the second term on the right side of Expression (34) occurs in the difference Id_det_diff between the d-axis current detection values and the difference Iq_det_diff between the q-axis current detection values.

When the equation (34) is rearranged for the difference in the d-axis current detection values (Id1_ideal-Id2_ideal) and the difference in the q-axis current detection values (Iq1_ideal-Iq2_ideal) having no error, and the equation (25) is substituted, the equation (35) is obtained. To get

From equation (35), it can be seen that the error can be reduced by correcting the difference between the d-axis current detection value and the q-axis current detection value by the dq-axis current command. Therefore, in the present embodiment, the current feedback control unit 343 determines the difference between the d-axis current detection value Id1_det of the first winding and the d-axis current detection value Id2_det of the second winding as shown in equation (36). The difference Id_det_diff of the d-axis current detection value is calculated, and the difference Iq_det_diff of the q-axis current detection value that is the difference between the q-axis current detection value Iq1_det of the first winding and the q-axis current detection value Iq2_det of the second winding is calculated. To calculate a sum Id_tgt of the d-axis current command, which is the sum of the d-axis current command Id1_tgt of the first winding and the d-axis current command Id2_tgt of the second winding, and calculate the q-axis current command of the first winding. The sum Iq_tgt of the q-axis current command, which is the sum of Iq1_tgt and the q-axis current command Iq2_tgt of the second winding, is calculated. Then, the current feedback control unit 343 corrects the difference Id_det_diff of the d-axis current detection value by the sum Iq_tgt of the q-axis current command, as shown in Expression (36), and the difference Id_det_diffh of the corrected d-axis current value. Is calculated, and the difference Iq_det_diff of the q-axis current detection value is corrected by the sum Id_tgt of the d-axis current command to calculate the corrected difference Iq_det_diffh of the q-axis current detection value.

Further, the current feedback control unit 343 replaces the sum Id_tgt of the d-axis current command and the sum Iq_tgt of the q-axis current command with the sum Id_det_sum of the d-axis current detection value and the q-axis current detection as shown in Expression (37). The sum of the values Iq_det_sum may be used.

The current feedback control unit 343 uses the corrected d-axis current detection value difference Id_det_diffh and the corrected q-axis current detection value difference Iq_det_diffh to perform d-axis voltage command Vd1 and The q-axis voltage command Vq1, the d-axis voltage command Vd2 of the second winding, and the q-axis voltage command Vq2 are changed. For example, the difference between the corrected dq-axis current detection values is used for the control disclosed in Patent Document 3.

The relational expression between voltage and current in the AC rotating machine 10 is as follows: dq-axis voltage of the first winding is vd1, vq1, dq-axis voltage of the second winding is vd2, vq2, and dq-axis current of the first winding is If id1 and iq1 are set and the dq-axis currents of the second winding are set to id2 and iq2, equation (38) is obtained. s is a differential operator of Laplace transform, R is resistance, ω is electrical angular velocity, φ is magnetic flux, Ld is d-axis self-inductance, Lq is q-axis self-inductance, and Md is d-axis mutual inductance, and Mq is q-axis mutual inductance.

In Expression (38), dq-axis voltage commands Vd1, Vq1, Vd2, Vq2 are used instead of the dq-axis voltages vd1, vq1, vd2, vq2, and the dq-axis currents id1, iq1, id2, iq2 are used instead of the dq-axis currents. By using the current detection values Id1_det, Iq1_det, Id2_det, and Iq2_det to transform the equation (38), equations (39) and (40) are obtained.

Using the equation (39), the current feedback control unit 343 uses the sum of the d-axis current detection values Id_det_sum (=Id1_det+Id2_det) and the sum of the q-axis current detection values Iq_det_sum (=Iq1_det+Iq2_det) to calculate the sum (dq) of the d-axis voltage commands. Vd1+Vd2) and the sum of the q-axis voltage commands (Vq1+Vq2) are calculated. The current feedback control unit 343 uses the equation (40), and based on the difference dd_det_diff (=Id1_det-Id2_det) between the detected d-axis current values and the difference Iq_det_diff (=Iq1_det-Iq2_det) between the detected q-axis current values, the d-axis voltage. The difference between the commands (Vd1-Vd2) and the difference between the q-axis voltage commands (Vq1-Vq2) are calculated.

The current feedback control unit 343 uses the equation (41) to calculate the sum of the d-axis voltage commands (Vd1+Vd2), the sum of the q-axis voltage commands (Vq1+Vq2), the difference of the d-axis voltage commands (Vd1-Vd2), and the q-axis voltage. The dq-axis voltage commands Vd1 and Vq1 for the first winding and the dq-axis voltage commands Vd2 and Vq2 for the second winding are calculated based on the command difference (Vq1-Vq2).

In the present embodiment, the current feedback control unit 343 uses the difference Id_det_diffh of the corrected d-axis current detection value in place of the difference Id_det_diff (=Id1_det-Id2_det) of the d-axis current detection value in Expression (40). , Iq_det_diff (=Iq1_det-Iq2_det), which is the difference between the detected q-axis currents, and the difference Iq_det_diffh is the difference between the detected q-axis currents.

If the distribution ratio Ka is not 0.5, an error remains in the sum Id_det_sum of the d-axis current detection values and the sum Iq_det_sum of the q-axis current detection values even if the current detection timing is set as in the first embodiment. .. When the distribution ratio Ka is not 0.5, the current feedback control unit 343 corrects the sum dd_det_sum of the detected d-axis current values by the sum Iq_tgt of the q-axis current command, as shown in Expression (42), and after correction. Even if the sum Id_det_sumh of the detected d-axis current values of Iq_det_sumh is calculated and the sum Iq_det_sum of the q-axis current detected values is corrected by the sum Id_tgt of the d-axis current command to calculate the sum Iq_det_sumh of the corrected q-axis current values. Good. Alternatively, the current feedback control unit 343 replaces the sum Id_tgt of the d-axis current command and the sum Iq_tgt of the q-axis current command with the sum Id_det_sum of the detected d-axis current and the q-axis current detection as shown in Expression (43). The sum of the values Iq_det_sum may be used.

Then, when the distribution ratio Ka is not 0.5, the current feedback control unit 343 uses the corrected d-axis current detection value instead of the sum Id_det_sum (=Id1_det+Id2_det) of the d-axis current detection values in Expression (39). The sum Iq_det_sumh of the q-axis current detection values may be used instead of the sum Iq_det_sum (=Iq1_det+Iq2_det) of the q-axis current detection values.

4. Embodiment 4
Next, the AC rotating machine 10 and the control device 1 according to the fourth embodiment will be described. The description of the same components as those in the first to third embodiments is 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 90 deg in electrical angle in accordance with the rotation of the rotor 14. , And outputs a 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 magnets provided in the angle sensor 15.

As shown in FIG. 10, the angle sensor 15 is disposed on the axial center of the rotor 14 and faces the magnet 50 (in this example, the number of pole pairs is 1) that rotates integrally with the shaft of the rotor 14. And a sensor unit 51 attached to the. The sensor unit 51 includes four sensor elements 52 arranged with a phase difference of 90 deg in electrical angle. The four sensor elements 52 are magnetic resistance elements, hall elements, or the like, and output sinusoidal signals whose phases are shifted by 90 deg in electrical angle from each other according to the rotation of the magnet 50.

The rotation detection unit 31 converts the output signal of the angle sensor 15 into the first sine wave signal sinp_det, the second sine wave signal cosp_det, the third sine wave signal sinn_det, and the fourth sine wave signal cosn_det, which are detected by 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 the timing described below.

For example, the rotation detection unit 31 detects the rotation angle θ1 in electrical angle of the rotor 14 by using the equation (44). In addition, Pr represents the number of pole pairs of the magnet provided in the rotor 14, Ps represents the number of pole pairs of the magnet 50 of the angle sensor 15 (axis multiplication angle), and θs represents the electrical angle of the angle sensor 15 (magnet 50). Represents the rotation angle at. Expression (44) is an example, and when calculating the rotation angle θs of the angle sensor 15 in terms of electrical angle, a table may be used or an error component may be corrected by a known method. If the zero point of θs is offset, the offset may be corrected.

It is ideal if all the first to fourth sine wave signals can be detected at the same timing, but a low-priced microcomputer cannot detect all of them at the same timing because the number of channels that can be A/D converted at the same time is small.

FIG. 11 shows the definition of the detection timings t1 to t4 of the sine wave signals sinp to cosn with reference to the reference timing Z (in this example, the peak of the mountain) of the carrier signal. The detection timing of the first sine wave signal sinp based on the reference timing Z (peak of the mountain) is t1, the detection timing of the second sine wave signal cosp is t2, and the detection timing of the third sine wave signal sinn is t3. And the detection timing of the fourth sine wave signal cosn is t4.

The detection values sinp_det to cosn_det of the sine wave signals detected at the detection timings t1 to t4 are given by Expression (45). 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 Z, 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 given by equation (46).

From the equations (44) and (46), the detected angle error εs can be expressed by the equation (47). That is, an error occurs in the detected angle due to the offset component and the detected angle secondary component depending on the detection timing.

In order to set the right side to zero in Expression (47), Expression (48) may be established. That is, the rotation detection unit 31 pairs the first sine wave signal and the third sine wave signal whose phases are inverted with respect to each other in electrical angle, and detects the detection timing t1 of the first sine wave signal and the detection timing of the third sine wave signal. t3 and t3 are set symmetrically with respect to the reference timing Z. Further, the rotation detection unit 31 pairs the second sine wave signal and the fourth sine wave signal whose phases are inverted with each other in electrical angle, and detects the second sine wave signal detection timing t2 and the fourth sine wave signal detection timing. t4 and t4 are set symmetrically with respect to the reference timing Z. According to this configuration, the angle detection accuracy equivalent to that when four signals are detected at the reference timing Z can be obtained by detecting at the timing symmetrical with respect to the reference timing Z.

In order to minimize the deviation amount of the detection timing of the angle signal with respect to the reference timing Z, a plurality of detection timings are combined into the same timing within the range of the number of channels that can be A/D converted, and the detection timings before and after the reference timing Z. It should be set symmetrically. In the present embodiment, the rotation detection unit 31 selects one signal each from the pair of the first sine wave signal and the third sine wave signal and the 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 the same timing. The setting patterns in this case are four patterns (1) to (4) in FIG. The rotation detection unit 31 detects each sine wave signal at the detection timing of the angle signal of any one of the patterns (1) to (4) of FIG. Here, -Ta in FIG. 12 indicates that the detection timing of the angle signal is set to Ta before the reference timing Z, and Ta indicates that the detection timing of the angle signal is Ta only than the reference timing Z. Indicates that it is set later.

In the equation (45), the amplitude is set to 1 and the signal is ideally shifted by 90 deg. However, it is needless to say 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 first timing X and the second timing Y for detecting the winding current between the detection timings of the first, second, third, and fourth sine wave signals that are symmetrically set. Set. FIG. 13 shows a setting example. FIG. 13 shows only the voltage commands vu1 to vw1 of the first winding in order to prevent the drawing from becoming complicated. The current detection timing is set to the pattern (1) in FIG.

The current detection timings iu1, iv1, iu2, and iw2 of the windings of the respective phases are the detection timings of the first sine wave signal sinp and the second sine wave signal cosp that are set symmetrically in the front-rear direction, the third sine wave signal sinn, and the third sine wave signal sinn. It is set between the four sine wave signals cosn and the detection timing.

More specifically, the detection timing of the first sine wave signal sinp and the second sine wave signal cosp is set 3/2γ before the reference timing Z, and the detection timing of the third sine wave signal sinn and the fourth sine wave signal cosn is set. The detection timing is set to 3/2γ after the reference timing Z. The first timing X of iu1 and iv1 is set γ/2 after the reference timing Z, and the second timing Y of iu2 and iw2 is set γ/2 before the reference timing Z.

In this case, the dq-axis current differences Id_diff and Iq_diff are given by equation (49). Due to the deviation of the current detection timing, an offset error proportional to √(3)×γ occurs in the dq-axis current difference.

On the other hand, as shown in FIG. 14, a case will be described in which the first timing X and the second timing Y are set outside the detection timing of the angle signal which is set symmetrically in the front-rear direction. The detection timing of the first sine wave signal sinp and the second sine wave signal cosp is set to γ/2 before the reference timing Z, and the detection timing of the third sine wave signal sinn and the fourth sine wave signal cosn is the reference timing. It is set γ/2 after the timing Z. The first timing X of iu1 and iv1 is set 3/2γ after the reference timing Z, and the second timing Y of iu2 and iw2 is set 3/2γ before the reference timing Z. In this case, the dq-axis current differences Id_diff and Iq_diff are given by the equation (50). Due to the deviation of the current detection timing, an offset error proportional to 3√(3)×γ occurs in the dq-axis current difference.

That is, the offset error in the dq-axis current difference increases in proportion to the period between the first timing X and the second timing Y. In the region where the voltage is saturated, the voltage command may become excessive or excessive due to the influence of this DC component. In order to reduce the influence, it is required to shorten the period between the first timing X and the second timing Y as much as possible.

Further, although the voltage command of Vu1>Vv1>Vw1 is given in FIG. 13, when the modulation rate of Vu1 which is the maximum phase becomes high, the OFF time before and after the reference timing Z becomes short. When the current is detected by the shunt resistance provided on the negative electrode side of the negative electrode side switching element, the maximum phase current cannot be detected at a high modulation rate. Further, as in Patent Document 2, there is a problem that the current detection accuracy of other phases is deteriorated due to the switching of the maximum phase. In order to secure the current detection accuracy up to the highest possible modulation rate, it is necessary to shorten the period between the first timing X and the second timing Y.

As shown in FIG. 13, the first timing X and the second timing Y are set between the detection timings of the angle signals that are symmetrically set in the front-rear direction, so that the current detection timing is preferentially brought close to the reference timing Z. , The period between the first timing X and the second timing Y can be shortened. As a result, the offset error in the difference between the dq-axis currents can be reduced, the control stability in the voltage saturation region can be ensured, and even when the current is detected by the shunt resistor on the negative electrode side, the current detection accuracy up to a high modulation rate can be ensured. ..

The change in the rotation angle from the first detection timing of detecting sinp and cosp to the second detection timing of detecting sinn and cosn increases as the rotation speed increases. Since the approximation of the equation (46) utilizes the fact that ωs(t1+t3) and ωs(t2+t4) are minute, another term appears if it is not minute. Further, even if it is very small, the angular accuracy can be improved by further suppressing ωs(t1+t3) and ωs(t2+t4). As can be seen from the equation (44), the rotational angular velocity of the angle sensor 15 at the electrical angle is obtained by multiplying the rotational velocity of the rotor 14 at the mechanical angle by the number Ps (axial multiple angle) of the pole pairs of the magnet 50 of the angle sensor 15. ωs is obtained, and the rotational angular velocity ω at the electrical angle of the rotor 14 is obtained by multiplying the rotational velocity at the mechanical angle of the rotor 14 by the number of pole pairs Pr of the magnets of the rotor 14. That is, in order to satisfy ω≧ωs, the number of pole pairs Ps (axis multiplication angle) of the magnet 50 of the angle sensor 15 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), and thus the angular accuracy is increased. Can be improved.

5. Embodiment 5
Next, the AC rotating machine 10 and the control device 1 according to the fifth embodiment will be described. The description of the same components as those in the first to third embodiments is 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 outputs a sine signal sin_det and a cosine signal cos_det whose electrical angles differ by 90 deg in phase according to the rotation of the rotor 14. For example, the angle sensor 15 includes a magnet that rotates integrally with the shaft of the rotor 14, and a sensor unit that is attached so as to face the magnet. The sensor unit includes two sensor elements arranged with a phase difference of 90 deg in electrical angle. The two sensor elements are magnetic resistance elements, hall elements, or the like.

For example, the rotation detection unit 31 detects the rotation angle θ1 in electrical angle of the rotor 14 using Expression (51). It should be noted that Pr represents the number of pole pairs of the magnet provided on the rotor, Ps represents the number of pole pairs of the magnet of the angle sensor 15 (axis multiplication angle), and θs represents the rotation of the angle sensor 15 (magnet) at the electrical angle. Represents an angle. Equation (51) is an example, and when calculating the rotation angle θs of the angle sensor 15 in terms of electrical angle, a table may be used or an error component may be corrected by a known method. If the zero point of θs is offset, the offset may be corrected.

As described in Embodiments 1 to 3, by setting the first timing X and the second timing Y symmetrically with respect to the reference timing Z, the sum of the dq-axis current detection values caused by the deviation of the current detection timing. The error of is suppressed. In the present embodiment, the rotation detection unit 31 detects two signals, the sine signal sin_det and the cosine signal cos_det, so that the rotation detection unit 31 can detect them at one timing. When the angle detection timing is set before or after the first timing X and the second timing Y, the three-phase current detection value is coordinated to the dq-axis current detection values by the amount of deviation between the angle detection timing and the reference timing Z. It becomes an error when converting.

Therefore, the rotation detection unit 31 is configured to detect the sine signal sin_det and the cosine signal cos_det at the reference timing Z between the first timing X and the second timing Y. As a result, it is possible to reduce an error in coordinate conversion of the three-phase current detection value for angle detection into the dq-axis current detection value. Therefore, the accuracy of current detection and the accuracy of angle detection can both be achieved.

In the first to fifth embodiments, the case where m=3 and m-1=2 has been described as an example. However, m may be an integer of 3 or more, for example, m=6 and m−1=5.

Further, in the first to fifth embodiments, the case where the current sensor 13 is provided in the m-1 phase of the first winding and the m-1 phase of the second winding has been described as an example. However, the current sensor 13 may be provided in the m phase of the first winding and the m phase of the second winding. Even in this case, the current detector 33 detects the current of the m-1 phase winding of the first winding at the first timing X, and the m-phase of the second winding at the second timing Y. It suffices to detect the current of the one-phase winding.

Further, the AC rotating machine 10 and the control apparatus 1 for the AC rotating machine according to the present application may configure the vehicle AC rotating machine device 50 or the electric power steering device 60 as described above, or may be used for various purposes. The AC rotating machine and its control device may be used.

Although the present application describes various exemplary embodiments and examples, various features, aspects, and functions described in one or more embodiments are applicable to particular embodiments. However, the present invention is not limited to the above, and can be applied to the embodiments alone or in various combinations. Therefore, innumerable variations not illustrated are envisioned within the scope of the technology disclosed herein. For example, it is assumed that at least one component is modified, added or omitted, and at least one component is extracted and combined with the components of other embodiments.

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 electrode side switching element, 24 negative electrode side Switching element, 31 rotation detection unit, 32 power supply voltage detection unit, 33 current detection unit, 34 voltage command calculation unit, 35 voltage application unit, 50 vehicle AC rotating machine device, 60 electric power steering device, Pr magnet pole of rotor Logarithm, Ps The number of pole pairs of the angle sensor (axis multiplication angle), sinp first sine wave signal, cosp second sine wave signal, sinn third sine wave signal, cosn fourth sine wave signal, iu1 of the U1 phase of the first winding Current, iv1 first winding V1 phase current, iw1 first winding W1 phase current, iu2 second winding U2 phase current, iv2 second winding V2 phase current, iw2 second winding W2 phase current of the line, 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 first Winding U1 phase current detection timing, tv1 first winding V1 phase current detection timing, tu2 second winding U2 phase current detection timing, tw2 second winding W2 phase current detection timing, X 1st timing, Y 2nd timing, Z reference timing, Id1_det 1st winding d-axis current detection value, Iq1_det 1st winding q-axis current detection value, Id1_tgt 1st winding d-axis current command, Iq1_tgt Q-axis current command of one winding, Id1_deth d-axis current detection value after correction of the first winding, Iq1_deth q-axis current detection value after correction of the first winding, Id_tgt sum of d-axis current commands, Iq_tgt q-axis Current command sum, Id2_det second winding d-axis current detection value, Iq2_det second winding q-axis current detection value, Id2_tgt second winding d-axis current command, Iq2_tgt second winding q-axis current command , Id2_deth The corrected d-axis current value of the second winding, Iq2_deth The corrected q-axis current value of the second winding, Id_det_diff The difference between the detected d-axis current values, Iq_det_diff The difference between the detected q-axis current values, Id_det_sum Sum of detected values of d-axis current, Iq_det_su m Sum of q-axis current detection values, Id_det_diffh difference between d-axis current detection values after correction, Iq_det_diffh Difference between q-axis current detection values after correction, Ka current distribution ratio

Claims (17)

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 detector for detecting a current flowing through the m-1 phase winding of the first winding and the m-1 phase winding of the second winding;
A voltage command calculator that calculates a voltage command to be applied to each phase of the first winding and the second winding based on the current command and the detected current value;
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 a carrier signal,
The current detector detects the current of the m-1 phase winding of the first winding at a first timing, and the current of the m-1 phase winding of the second winding at a second timing. Detect
The first timing and the second timing are symmetrically set with respect to a reference timing ,
The control device for an AC rotating machine, wherein the reference timing is set at one or both of a peak and a peak of the carrier wave signal which is a triangular wave . 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 detector for detecting a current flowing through the m-1 phase winding of the first winding and the m-1 phase winding of the second winding;
A voltage command calculator that calculates a voltage command to be applied to each phase of the first winding and the second winding based on the current command and the detected current value;
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 a carrier signal,
The current detector detects the current of the m-1 phase winding of the first winding at a first timing, and the current of the m-1 phase winding of the second winding at a second timing. Detect
The first timing and the second timing are symmetrically set with respect to a reference timing,
The voltage command calculation unit sets a dq axis rotational coordinate system including a d axis defined in the magnetic flux direction of the rotor and a q axis defined in a direction advanced by π/2 in electrical angle from the d axis,
The d-axis current command and the q-axis current command of the first winding are set, coordinate conversion is performed using the current detection value of the m-1 phase winding of the first winding to perform the first winding. The d-axis current detection value and the q-axis current detection value of the first winding are calculated, and the d-axis current detection value of the first winding is corrected by the q-axis current command of the first winding to obtain the q-axis of the first winding. The detected current value is corrected by the d-axis current command of the first winding,
The d-axis current command and the q-axis current command of the second winding are set, and coordinate conversion is performed using the current detection value of the m-1 phase winding of the second winding to perform the second winding. The d-axis current detection value and the q-axis current detection value of the second winding are calculated, and the d-axis current detection value of the second winding is corrected by the q-axis current command of the second winding to obtain the q-axis of the second winding. The detected current value is corrected by the d-axis current command of the second winding,
The voltage command is calculated based on the corrected d-axis current detection value and the q-axis current detection value of the first winding, and the corrected d-axis current detection value and the q-axis current detection value of the second winding. control device to that exchanges rotary machine. The voltage command calculation unit,
The relative time of the first timing with respect to the second timing is 2×δ, the electrical angular velocity of the rotor is ω,
The d-axis current detection value of the first winding is Id1_det, the q-axis current detection value of the first winding is Iq1_det, the d-axis current command of the first winding is Id1_tgt, and The q-axis current command is Iq1_tgt, the corrected d-axis current detection value of the first winding is Id1_deth, the corrected q-axis current detection value of the first winding is Iq1_deth,
Id1_deth=Id1_det+ω×δ×Iq1_tgt
Iq1_deth=Iq1_det-ω×δ×Id1_tgt
The d-axis current detection value and the q-axis current detection value after correction of the first winding are calculated by the following formula,
The d-axis current detection value of the second winding is Id2_det, the q-axis current detection value of the second winding is Iq2_det, the d-axis current command of the second winding is Id2_tgt, and the second winding The q-axis current command is Iq2_tgt, the corrected d-axis current detection value of the second winding is Id2_deth, the corrected q-axis current detection value of the second winding is Iq2_deth,
Id2_deth=Id2_det-ω×δ×Iq2_tgt
Iq2_deth=Iq2_det+ω×δ×Id2_tgt
The control device for the AC rotating machine according to claim 2 , wherein the corrected d-axis current detection value and q-axis current detection value of the second winding are calculated by the following formula. 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 detector for detecting a current flowing through the m-1 phase winding of the first winding and the m-1 phase winding of the second winding;
A voltage command calculator that calculates a voltage command to be applied to each phase of the first winding and the second winding based on the current command and the detected current value;
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 a carrier signal,
The current detector detects the current of the m-1 phase winding of the first winding at a first timing, and the current of the m-1 phase winding of the second winding at a second timing. Detect
The first timing and the second timing are symmetrically set with respect to a reference timing,
The voltage command calculation unit sets a dq axis rotational coordinate system including a d axis defined in the magnetic flux direction of the rotor and a q axis defined in a direction advanced by π/2 in electrical angle from the d axis,
Using the current detection value of the m-1 phase winding of the first winding, coordinate conversion is performed to calculate the d-axis current detection value and the q-axis current detection value of the first winding,
Using the current detection value of the m-1 phase winding of the second winding, coordinate conversion is performed to calculate the d-axis current detection value and the q-axis current detection value of the second winding,
The sum of the d-axis current detection value, which is the sum of the d-axis current detection value of the first winding and the d-axis current detection value of the second winding, is calculated, and the q-axis current detection value of the first winding is calculated. And a sum of q-axis current detection values, which is the sum of the q-axis current detection values of the second winding, is calculated,
The d-axis current detection value of the first winding is corrected by the sum of the q-axis current detection values, and the q-axis current detection value of the first winding is corrected by the sum of the d-axis current detection values,
The d-axis current detection value of the second winding is corrected by the sum of the q-axis current detection values, and the q-axis current detection value of the second winding is corrected by the sum of the d-axis current detection values,
The voltage command is calculated based on the corrected d-axis current detection value and the q-axis current detection value of the first winding, and the corrected d-axis current detection value and the q-axis current detection value of the second winding. control device to that exchanges rotary machine. The voltage command calculation unit,
The relative time of the first timing with respect to the second timing is 2×δ, the electrical angular velocity of the rotor is ω,
The detected d-axis current value of the first winding is Id1_det, the detected q-axis current value of the first winding is Iq1_det, the corrected d-axis current detected value of the first winding is Id1_deth, and The q-axis current detection value after correction of one winding is set as Iq1_deth,
The detected d-axis current value of the second winding is Id2_det, the detected q-axis current value of the second winding is Iq2_det, and the corrected d-axis current detected value of the second winding is Id2_deth. The detected q-axis current value of the two windings is set as Iq2_deth,
The sum of the d-axis current detection values is Id_det_sum, the sum of the q-axis current detection values is Iq_det_sum, and the current distribution ratio between the first winding and the second winding is Ka.
Id1_deth=Id1_det+Ka×ω×δ×Iq_det_sum
Iq1_deth=Iq1_det-Ka×ω×δ×Id_det_sum
Id2_deth=Id2_det-(1-Ka)×ω×δ×Iq_det_sum
Iq2_deth=Iq2_det+(1-Ka)×ω×δ×Id_det_sum
The corrected d-axis current detection value and q-axis current detection value of the first winding, and the corrected d-axis current detection value and q-axis current detection value of the second winding are calculated by the following formula. 4. The control device for the AC rotating machine according to 4 . 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 detector for detecting a current flowing through the m-1 phase winding of the first winding and the m-1 phase winding of the second winding;
A voltage command calculator that calculates a voltage command to be applied to each phase of the first winding and the second winding based on the current command and the detected current value;
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 a carrier signal,
The current detector detects the current of the m-1 phase winding of the first winding at a first timing, and the current of the m-1 phase winding of the second winding at a second timing. Detect
The first timing and the second timing are symmetrically set with respect to a reference timing,
The voltage command calculation unit sets a dq axis rotational coordinate system including a d axis defined in the magnetic flux direction of the rotor and a q axis defined in a direction advanced by π/2 in electrical angle from the d axis,
The d-axis current command and the q-axis current command of the first winding are set, coordinate conversion is performed using the current detection value of the m-1 phase winding of the first winding to perform the first winding. Calculate the d-axis current detection value and q-axis current detection value of
The d-axis current command and the q-axis current command of the second winding are set, and coordinate conversion is performed using the current detection value of the m-1 phase winding of the second winding to perform the second winding. Calculate the d-axis current detection value and q-axis current detection value of
The difference between the d-axis current detection value of the first winding and the d-axis current detection value of the second winding is calculated, and the difference between the d-axis current detection value and the q-axis current detection value of the first winding is calculated. And a q-axis current detection value of the second winding, which is a difference between the q-axis current detection values, and a d-axis current command of the first winding or a d-axis current detection value of the first winding. And a d-axis current command of the second winding or a sum of d-axis currents, which is the sum of the d-axis current detection value of the second winding, is calculated, and the q-axis current command of the first winding or the Calculating the sum of the q-axis current, which is the sum of the q-axis current detection value of the first winding and the q-axis current command of the second winding or the q-axis current detection value of the second winding,
The difference between the d-axis current detection values is corrected by the sum of the q-axis currents, the difference between the q-axis current detection values is corrected by the sum of the d-axis currents, and the difference between the corrected d-axis current values and the correction after based on the difference between the q-axis current detection value, the control device of the ac rotating machine you calculate the voltage command. The voltage command calculation unit,
The relative time of the first timing with respect to the second timing is 2×δ, the electrical angular velocity of the rotor is ω, the difference between the detected d-axis current values is Id_det_diff, and the sum of the q-axis currents is Iq_sum. The difference between the subsequent d-axis current detection values is Id_det_diffh,
Id_det_diffh=Id_det_diff+ω×δ×Iq_sum
The difference between the corrected d-axis current detection values is calculated by the following formula,
The q-axis current detection value difference is Iq_det_diff, the d-axis current sum is Id_sum, the corrected q-axis current detection value difference is Iq_det_diffh,
Iq_det_diffh=Iq_det_diff−ω×δ×Id_sum
The control device for an AC rotating machine according to claim 6 , wherein the difference between the corrected q-axis current detection values is calculated by the following formula. The voltage command calculation unit,
The sum of the d-axis current detection value, which is the sum of the d-axis current detection value of the first winding and the d-axis current detection value of the second winding, is calculated, and the q-axis current detection value of the first winding is calculated. And a sum of q-axis current detection values, which is the sum of the q-axis current detection values of the second winding, is calculated,
The sum of the d-axis current detection values is corrected by the sum of the q-axis currents, the sum of the q-axis current detection values is corrected by the sum of the d-axis currents, and the sum and correction of the corrected d-axis current values The control device for an AC rotating machine according to claim 6 or 7 , wherein the voltage command is calculated based on a subsequent sum of detected q-axis current values. The voltage command calculation unit,
The relative time of the first timing with respect to the second timing is 2×δ, the electrical angular velocity of the rotor is ω, the sum of the detected d-axis current values is Id_det_sum, and the sum of the q-axis currents is Iq_sum. The sum of the subsequent d-axis current detection values is Id_det_sumh, and the current distribution ratio between the first winding and the second winding is Ka.
Id_det_sumh=Id_det_sum+(2×Ka−1)×ω×δ×Iq_sum
The sum of the corrected d-axis current detection values is calculated by the following formula,
The sum of the q-axis current detection values is Iq_det_sum, the sum of the d-axis currents is Id_sum, the sum of the corrected q-axis current detection values is Iq_det_sumh,
Iq_det_sumh=Iq_det_sum−(2×Ka−1)×ω×δ×Id_sum
The control device for the AC rotating machine according to claim 8 , wherein the sum of the corrected q-axis current detection values is calculated by the calculation formula. 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 detector for detecting a current flowing through the m-1 phase winding of the first winding and the m-1 phase winding of the second winding;
A voltage command calculator that calculates a voltage command to be applied to each phase of the first winding and the second winding based on the current command and the detected current value;
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 a carrier signal,
The current detector detects the current of the m-1 phase winding of the first winding at a first timing, and the current of the m-1 phase winding of the second winding at a second timing. Detect
The first timing and the second timing are symmetrically set with respect to a reference timing,
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 whose phases are sequentially shifted by 90 deg in electrical angle according to the rotation of the rotor are output. A rotation detection unit that detects and calculates the rotation angle of the AC rotating machine based on the detected values of the first sine wave signal, the second sine wave signal, the third sine wave signal, and the fourth sine wave signal. Further equipped with,
The voltage command calculation unit calculates the voltage command based on the rotation angle,
The rotation detection unit pairs the first sine wave signal and the third sine wave signal, and detects the detection timing of the first sine wave signal and the detection timing of the third sine wave signal with respect to the 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 to the reference timing. control device for the ac rotating machines to set the longitudinally symmetrical about. The rotation detection unit selects one signal from each of the pair of the first sine wave signal and the third sine wave signal and the pair of the second sine wave signal and the fourth sine wave signal. When the first signal to set the two sets of the set, the two signals of each set, control for an AC rotary machine according to claim 1 0 of detecting at the same timing. The current detection unit sets the first timing and the second timing symmetrically with respect to the first sine wave signal, the second sine wave signal, the third sine wave signal, and the fourth sine wave signal. controller for an AC rotary machine according to claim 1 0 or 1 1 which is set between the detection timing signal. The shaft angle multiplier of the angle sensor, the controller for an AC rotary machine according to any one of claims 1 0 to 1 2 is the number of pole pairs or less of the AC rotary machine. An output signal of an angle sensor that outputs a sine wave signal and a cosine wave signal whose electrical angles are different from each other by 90 deg in accordance with the rotation of the rotor is detected, and the output signal of the angle sensor is detected based on the detected values of the sine wave signal and the cosine wave signal. Further comprising a rotation detection unit for calculating the rotation angle of the AC rotating machine,
The voltage applying unit calculates the voltage command based on the rotation angle,
The rotation detector, the sine wave signal and a control apparatus for an AC rotary machine according to the cosine wave signal in any one of claims 1 to 9 for detecting at said reference timing. A controller for an AC rotary machine according to any one of claims 1 1 4,
An AC rotating machine device for a vehicle, comprising: the AC rotating machine serving as a driving force source for a wheel. A controller for an AC rotary machine according to any one of claims 1 1 4,
An electric power steering apparatus comprising: the AC rotating machine that serves as a driving force source of a wheel steering device. 17. The control device for an AC rotary machine according to claim 2 , wherein the reference timing is set at one or both of a peak and a peak of the carrier wave signal which is a triangular wave.

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