JP6954230B2 - Rotating electric machine control device - Google Patents

Description

The present invention includes a rotary electric machine having a stator and a rotor around which a winding is wound, and a power converter which is electrically connected to the rotary electric machine and causes a current to flow through the winding to drive the rotary electric machine. It relates to the control device of the rotary electric machine applied to the system.

As a control device of this type, as seen in Patent Document 1, the radial electromagnetic force fluctuation acting on the rotor is reduced, and the generation of noise (magnetic sound) caused by the electromagnetic force fluctuation is suppressed. Things are known. Specifically, the control device superimposes a harmonic current for reducing electromagnetic force fluctuation on the fundamental wave current, and operates a power converter to pass the fundamental wave current on which the harmonic current is superimposed on the winding. The control device calculates the fundamental wave current based on the fundamental wave command value, and calculates the harmonic current based on the harmonic command value. Hereinafter, the current obtained by superimposing the harmonic current determined based on the harmonic command value on the fundamental current determined based on the fundamental wave command value is referred to as a drive current.

Japanese Patent No. 5835450

A current flows through the winding using a DC power source electrically connected to the power converter as a power supply source. Here, depending on the driving state of the rotary electric machine, the output voltage of the DC power supply may be insufficient to the extent that the current flowing through the winding cannot be used as the driving current. In this case, the current flowing through the winding is distorted with respect to the initially assumed drive current, and the effect of suppressing the fluctuation of the electromagnetic force may be reduced.

The main object of the present invention is to provide a control device for a rotating electric machine capable of suppressing fluctuations in electromagnetic force even when the output voltage of a DC power supply is insufficient to the extent that the current flowing through the winding cannot be used as a drive current. The purpose.

In the present invention, a rotating electric machine having a stator and a rotor around which a winding is wound is electrically connected to the rotating electric machine and a DC power source, and a current is passed through the winding using the DC power source as a power supply source. In a rotary electric machine control device applied to a system including a power converter for driving the rotary electric machine, a fundamental wave calculation unit for calculating a fundamental wave command value for passing a fundamental wave current through the windings, and a fundamental wave calculation unit. A command value superimposed on the fundamental wave command value, for passing a harmonic current through the winding to reduce radial electromagnetic force fluctuation acting on at least one of the rotor and the stator. A harmonic calculation unit that calculates the harmonic command value of the above, and a current that is obtained by superimposing the harmonic current determined based on the harmonic command value on the fundamental current determined based on the fundamental command value. In this case, the determination unit for determining whether or not the output voltage of the DC power supply is insufficient to the extent that the current flowing through the winding cannot be used as the drive current, and the determination unit are insufficient. If it is not determined, the first operation unit that operates the power converter so that the drive current flows in the winding based on the fundamental wave command value and the harmonic command value, and the determination unit are insufficient. When it is determined that the power is generated, the power is operated in a mode different from the operation mode of the power converter by the first operation unit so that the drive current or a current equivalent to the drive current flows through the winding. It includes a second operation unit for operating the converter.

In the present invention, when the determination unit does not determine that the power converter is insufficient, the first operation unit causes the power converter to flow the drive current through the winding based on the fundamental wave command value and the harmonic command value. Be manipulated. On the other hand, when the determination unit determines that the power converter is insufficient, the operation mode is different from the operation mode of the power converter by the first operation unit so that the drive current or a current equivalent to the drive current flows through the winding. The power converter is operated by the second operation unit. As described above, according to the present invention, even when the drive current cannot be passed through the winding by the operation by the first operation unit, the drive current or the drive current is equivalent to the drive current by the operation by the second operation unit. An electric current can flow. As a result, even when the output voltage of the DC power supply is insufficient to the extent that the current flowing through the winding cannot be used as the drive current, the fluctuation of the electromagnetic force can be suppressed.

Overall configuration diagram of the control system of the rotary electric machine. Sectional view of rotary electric machine. The flowchart which shows the procedure of the drive control processing of a rotary electric machine. A time chart showing the transition of the phase voltage when Vta ≤ Vlim. A time chart showing the transition of the command voltage when Vta> Vlim. The figure which shows the command voltage. The figure which shows the drive area of a rotary electric machine. The flowchart which shows the procedure of the calculation process of the magnitude Vadd of the additional voltage and the additional voltage phase δ. The figure which shows the outline of the 1st map information. The figure which shows the outline of the 2nd set R2. The figure which shows the outline of the 1st overlap set Rv1. The figure which shows the outline of the 3rd set R3. The figure which shows the outline of the 2nd overlap set Rv2. The figure which shows the area where the electromagnetic force can be reduced. The figure which shows an example of the electromagnetic force reduction mode. The figure which shows the command voltage which concerns on other embodiment.

Hereinafter, an embodiment in which the control device according to the present invention is applied to a blower motor constituting an in-vehicle air conditioner will be described with reference to the drawings.

As shown in FIG. 1, the in-vehicle control system includes a rotary electric machine 10, a three-phase inverter 20 as a power converter, and a control device 30. The rotary electric machine 10 is electrically connected to the battery 40 as a DC power source via the inverter 20.

The inverter 20 includes a series connection of upper arm switches SUp, SVp, SWp and lower arm switches SUn, SVn, SWn for three phases. In the U, V, W phase, the connection point of the upper and lower arm switches is the first end of the U, V, W phase stator windings 12U, 12V, 12W constituting the stator 12 (stator) of the rotary electric machine 10. It is connected to the. The second ends of the U, V, and W phase stator windings 12U, 12V, and 12W are connected in a star shape by being connected at the neutral point N. Freewheel diodes DUp, DVp, DWp, DUn, DVn, and DWn are connected in antiparallel to each switch SUp, SVp, SWp, SUn, SVn, and SWn. Incidentally, as each switch SUP to SWn, for example, a voltage-controlled semiconductor switching element (for example, an IGBT or an N-channel MOSFET) can be used.

In the present embodiment, a centralized winding permanent magnet synchronous machine is used as the rotary electric machine 10. In particular, in the present embodiment, as the rotary electric machine 10, as shown in FIG. 2, an outer rotor type is used. FIG. 2 shows a cross-sectional view of the rotary electric machine 10 cut at a plane orthogonal to the axial direction of the rotary electric machine 10 (the direction of the rotation axis of the rotor 14). The center point O shown in FIG. 2 is a point through which the rotation axis passes. Further, in FIG. 2, hatching showing a cross section is omitted.

The rotary electric machine 10 includes a stator 12 and an annular rotor 14 rotatably arranged with respect to the stator 12. The rotor 14 is arranged on the outside of the stator 12 with a gap from the stator 12 in the radial direction of the rotor 14 and the stator 12. The rotor 14 includes a plurality of (10) permanent magnets 14a and a back yoke 14b made of a soft magnetic material connecting the permanent magnets 14a. The back yoke 14b has an annular shape. Each permanent magnet 14a has the same shape as each other and constitutes one magnetic pole. The permanent magnets 14a are magnetized in the radial direction of the rotor 14, and the polarities of the permanent magnets 14a adjacent to each other in the circumferential direction are different from each other, that is, the S poles and the N poles are alternately arranged. In FIG. 2, the arrow portion of the arrow on the permanent magnet 14a indicates the north pole.

The stator 12 includes a plurality of (12) teeth 12a. As a result, the stator 12 is formed with the same number of slots 12b as the teeth 12a. The teeth 12a are arranged at equal pitches in the circumferential direction of the stator 12 via the slots 12b.

Returning to the description of FIG. 1, the control device 30 is mainly composed of a microcomputer, and operates the inverter 20 in order to control the control amount of the rotary electric machine 10 to the command value thereof. In the present embodiment, the control amount is the rotation angular velocity, and the command value is the command angular velocity ωtgt. The control device 30 comprises upper arm operation signals gUp, gVp, gWp for operating each upper arm switch SUp, SVp, SWp and each lower arm switch SUN in order to operate the upper and lower arm switches constituting the inverter 20. , SVn, SWn are generated as lower arm operation signals gUn, gVn, gWn. In each phase, the upper arm operation signal and the lower arm operation signal are complementary signals to each other. That is, in each phase, the upper arm switch and the lower arm switch are alternately turned on. By the way, the function provided by the control device 30 can be provided by, for example, software recorded in a substantive memory device and a computer, hardware, or a combination thereof that executes the software. Further, the command angular velocity ωtgt is provided outside the control device 30 in the vehicle, for example, and is output from an external device higher than the control device 30.

The control system includes a voltage sensor 41 and a rotation angle sensor 42. The voltage sensor 41 detects the terminal voltage of the battery 40 as the power supply voltage VDC. The rotation angle sensor 42 outputs an angle signal corresponding to the magnetic pole position of the rotor 14. The rotation angle sensor 42 is, for example, a Hall element or a resolver. The detected values of the voltage sensor 41 and the rotation angle sensor 42 are input to the control device 30.

Subsequently, the drive control of the rotary electric machine 10 executed by the control device 30 will be described.

The electric angle calculator 30a calculates the electric angle θe of the rotating electric machine 10 based on the angle signal of the rotation angle sensor 42. The angular velocity calculator 30b calculates the rotational angular velocity ωm (mechanical angular velocity) of the rotary electric machine 10 based on the electric angle θe calculated by the electric angular velocity calculator 30a. The deviation calculation unit 30c calculates the velocity deviation Δω by subtracting the rotational angular velocity ωm calculated by the angular velocity calculator 30b from the command angular velocity ωtgt.

The fundamental wave calculation unit 30d is expressed by the following equation (eq1) as an operation amount for feedback-controlling the rotation angular velocity ωm to the command angular velocity ωtgt based on the velocity deviation Δω, the electric angle θe, and the rotation angular velocity ωm. The U, V, W phase fundamental wave voltages VUB, VVB, and VWB in the phase fixed coordinate system are calculated. In the following equation (eq1), Val indicates the fundamental wave amplitude, which is the amplitude of the fundamental wave voltage.

本実施形態において、基本波算出部３０ｄは、速度偏差Δωに基づく比例積分制御によってＵ，Ｖ，Ｗ相基本波電圧ＶＵＢ，ＶＶＢ，ＶＷＢを算出する。各基本波電圧ＶＵＢ，ＶＶＢ，ＶＷＢは、基本波指令値に相当し、回転角速度ωｍを指令角速度ωｔｇｔに制御するために要求される電圧である。基本波算出部３０ｄは、上記比例積分制御により、電気角θｅ１周期に渡る各基本波電圧ＶＵＢ，ＶＶＢ，ＶＷＢを算出する。ここでは、各基本波電圧ＶＵＢ，ＶＶＢ，ＶＷＢの変動角速度の算出に、電気角速度ωｅが用いられる。電気角速度ωｅは、入力された回転角速度ωｍに回転電機１０の極対数Ｐを乗算した値として算出されればよい。そして、算出された各基本波電圧ＶＵＢ，ＶＶＢ，ＶＷＢを、入力された電気角θｅに対応させて出力する。各基本波電圧ＶＵＢ，ＶＶＢ，ＶＷＢは、波形形状が互いに同一であってかつ、電気角θｅで位相が互いに２π／３ずれた波形となっている。

In the present embodiment, the fundamental wave calculation unit 30d calculates the U, V, W phase fundamental wave voltages VUB, VVB, and VWB by proportional integration control based on the velocity deviation Δω. Each fundamental wave voltage VUB, VVB, VWB corresponds to the fundamental wave command value, and is a voltage required to control the rotation angular velocity ωm to the command angular velocity ωtgt. The fundamental wave calculation unit 30d calculates each fundamental wave voltage VUB, VVB, VWB over one period of the electric angle θe by the proportional integration control. Here, the electric angular velocity ωe is used to calculate the fluctuation angular velocity of each fundamental wave voltage VUB, VVB, and VWB. The electric angular velocity ωe may be calculated as a value obtained by multiplying the input rotational angular velocity ωm by the pole logarithm P of the rotary electric machine 10. Then, the calculated fundamental wave voltages VUB, VVB, and VWB are output in correspondence with the input electric angle θe. The fundamental wave voltages VUB, VVB, and VWB have the same waveform shape and are out of phase with each other by 2π / 3 at the electric angle θe.

The harmonic calculation unit 30e calculates the U, V, W phase harmonic voltages VUH, VVH, and VWH in the three-phase fixed coordinate system of the following equation (eq2) based on the electric angle θe and the command angular velocity ωtgt. Each harmonic voltage VUH, VVH, VWH corresponds to a harmonic command value. In the following equation (eq2), Vah indicates the harmonic amplitude which is the amplitude of the harmonic voltage, and γ indicates the harmonic phase which is the phase difference with respect to the fundamental wave voltage of the above equation (eq1). The harmonic voltages VUH, VVH, and VWH have the same waveform shape and are out of phase with each other by 2π / 3 at the electric angle θe.

本実施形態において、高調波算出部３０ｅは、記憶部としてのメモリ３０ｆに記憶されている高調波マップ情報と、入力される指令角速度ωｔｇｔ及び電気角θｅとに基づいて、Ｕ，Ｖ，Ｗ相高調波電圧ＶＵＨ，ＶＶＨ，ＶＷＨを算出する。高調波マップ情報は、各高調波電圧ＶＵＨ，ＶＶＨ，ＶＷＨ、指令角速度ωｔｇｔ及び電気角θｅが関係付けられたマップ情報である。なお、メモリ３０ｆは、制御装置３０に備えられる非遷移的実体的記録媒体（例えば、不揮発性メモリ）である。

In the present embodiment, the harmonic calculation unit 30e has U, V, and W phases based on the harmonic map information stored in the memory 30f as a storage unit and the input command angle velocity ωtgt and electric angle θe. The harmonic voltages VUH, VVH, and VWH are calculated. The harmonic map information is map information in which each harmonic voltage VUH, VVH, VWH, command angular velocity ωtgt, and electric angle θe are related. The memory 30f is a non-transitional substantive recording medium (for example, a non-volatile memory) provided in the control device 30.

In the present embodiment, each harmonic voltage VUH, VVH, VWH is a waveform in which the harmonic amplitude Val and the harmonic phase γ are adjusted so as to reduce the electromagnetic force of a specific order acting in the radial direction of the rotor 14. It has become. In the present embodiment, each harmonic voltage VUH, VVH, VWH is a harmonic voltage of the Kth order (a positive integer, for example, the 11th order). The K-th order harmonic voltage is a harmonic voltage whose fluctuating angular velocity is the product of K and the fundamental angular velocity. The basic angular velocity is the fluctuating angular velocity (electric angular velocity ωe) of the fundamental wave current flowing through the stator winding.

The harmonic adjusting unit 30g outputs each harmonic voltage VUH, VVH, VWH calculated by the harmonic calculation unit 30e as it is, or calculates a command voltage used in energization width control described later. The harmonic adjusting unit 30 g will be described in detail later.

The U, V, W phase superimposition units 30hU, 30hV, 30hW are U, V, W phase fundamental wave voltages VUB, VVB, VWB output from the fundamental wave calculation unit 30d, and U output from the harmonic adjustment unit 30g. , V, W phase harmonic voltages VUH, VVH, VWH are added. The output values of the U, V, and W phase superimposing portions 30hU, 30hV, and 30hW are the U, V, and W phase command voltages VU *, VV *, and VW *.

The modulator 30h has operation signals gUp, gUn, gVp, gVn, gWp, etc. for setting the U, V, W phase voltage of the inverter 20 to the U, V, W phase command voltage VU *, VV *, VW *. Generate gWn. In the present embodiment, each operation signal gUp, gUn, gVp, gVn, gWp, gWn is generated by PWM processing based on a magnitude comparison between each command voltage VU *, VV *, VW * and a carrier signal (for example, a triangular wave signal). Generate. Each switch SUP, SUN, SVp, SVn, SWp, SWn is turned on and off by each generated operation signal gUp, gUn, gVp, gVn, gWp, gWn.

FIG. 3 shows the procedure of the drive control process of the rotary electric machine 10. This process is repeatedly executed by the control device 30, for example, at a predetermined control cycle.

In step S10, the fundamental wave calculation unit 30d calculates the U, V, and W phase fundamental wave voltages VUB, VVB, and VWB.

In step S11, the harmonic calculation unit 30e calculates the U, V, W phase harmonic voltages VUH, VVH, and VWH.

In step S12, the combined waves of the calculated U, V, W phase fundamental wave voltages VUB, VVB, VWB and the U, V, W phase harmonic voltages VUH, VVH, VWH are calculated. Taking the U phase as an example, the combined wave of the U phase is "VUB + VUH".

In step S13, it is determined whether or not the amplitude Vta of the combined wave calculated in step S12 is larger than the voltage limit value Vlim. In the present embodiment, the voltage limit value Vlim is set to VDC / √3 (= VDC / 2 × (2 / √3)), and is set based on the power supply voltage VDC detected by the voltage sensor 41.

In the process of step S13, the command voltage applied to the U, V, W phase stator windings 12U, 12V, 12W is the sum of the fundamental wave voltage and the harmonic voltage calculated in steps S10 and S11, "VUB + VUH, VVB + VVH, VWB + VWH". Corresponds to a determination unit that determines whether or not the output voltage of the battery 40 is insufficient to the extent that it cannot be set to. When a fundamental wave voltage is applied to the stator winding, the current flowing through the stator winding is the fundamental wave current, and when a harmonic voltage is applied to the stator winding, the current flowing through the stator winding is the harmonic current. be. Then, the current in which this harmonic current is superimposed on this fundamental wave current corresponds to the drive current.

If it is determined in step S13 that the amplitude Vta of the combined wave is equal to or less than the voltage limit value Vlim, it is determined that the output voltage of the battery 40 is not insufficient, and the process proceeds to step S14. In step S14, sine wave control is performed. In the sine wave control, the harmonic adjustment unit 30g directly converts the U, V, W phase harmonic voltages VUH, VVH, VWH calculated by the harmonic calculation unit 30e into the U, V, W phase superimposition units 30hU, 30hV, 30hW. It is a control to output. As a result, the U, V, W phase harmonic voltages VUB, VVB, and VWB calculated by the fundamental wave calculation unit 30d are combined with the U, V, W phase harmonic voltages VUH, VVH, and VWH calculated by the harmonic calculation unit 30e. The added values are the U, V, and W phase command voltages VU *, VV *, and VW *. FIG. 4 shows the transition of the phase voltage applied to the stator winding when the sinusoidal wave control is performed. The process of step S14 constitutes the first operation unit.

On the other hand, when it is determined in step S13 that the amplitude Vta of the combined wave exceeds the voltage limit value Vlim, it is determined that the output voltage of the battery 40 is insufficient, the process proceeds to step S15, and the energization width control is performed from the sine wave control. Switch to. This switching is made in view of the fact that the U, V, W phase command voltages VU *, VV *, VW * used in the sine wave control cannot be realized when the output voltage of the battery 40 is insufficient. Taking the U phase as an example, when the output voltage of the battery 40 is insufficient, a dotted line is shown in FIG. 5 with respect to an ideal command voltage (solid line in FIG. As shown, the command voltage is distorted. The processing of steps S15 to S17 constitutes the second operation unit.

As shown in FIG. 6, the energization width control mainly consists of 120-degree energization control. FIG. 6 shows the command voltage for one of the U, V, and W phases.

The period of 120 ° in electrical angle is defined as the first period LA, and the period shorter than the period of 60 ° obtained by subtracting the first period LA from 180 ° is defined as the second period LB. Of one electrical angle period from 0 ° to 360 °, the command voltage in the period from 0 ° to the first timing T1 in which the first period LA elapses is defined as the main voltage Vbase, which is a positive electrode constant voltage. The command voltage in the period from the first timing T1 to the second timing T2 in which the second period LB elapses is defined as a positive electrode voltage Vadd whose absolute value is smaller than the main voltage. The command voltage in the period from the second timing T2 to 180 ° is set to 0. The command voltage in the period from 180 ° to the third timing T3 in which the first period LA elapses is defined as the negative electrode main voltage “−Vbase”. The command voltage in the period from the third timing T3 to the fourth timing T4 in which the second period LB elapses is defined as a negative electrode voltage “−Vadd” having an absolute value smaller than the main voltage. The command voltage in the period from the fourth timing T4 to 360 ° is set to 0. Hereinafter, the second period LB is referred to as an additional voltage phase δ.

In this embodiment, the command voltage shown in FIG. 6 is calculated by the harmonic adjusting unit 30g. The command voltage shown in FIG. 6 is calculated for each phase. The phase of the command voltage of each phase is deviated by a value (= 360 ° / M) obtained by dividing one electric angular period (360 °) by the number of phases M of the rotary electric machine 10. In this embodiment, since M = 3, the phase of the command voltage of each phase is shifted by 120 °.

The command voltage shown in FIG. 6 includes a voltage component obtained by superimposing the harmonic voltage calculated in step S11 on the fundamental wave voltage calculated in step S10 of FIG. 3 or a voltage component equivalent to this voltage component. ing. As a result, even in the region shown by hatching in FIG. 7, where it is determined that the voltage of the battery 40 is insufficient, the fluctuation of the electromagnetic force acting on the rotor 14 is reduced. Here, the horizontal axis of FIG. 7 shows the rotation speed of the rotor 14, and the vertical axis shows the torque of the rotary electric machine 10. Further, Mr shown in FIG. 7 is a modulation factor, and the modulation factor Mr of the present embodiment is represented by the following equation (eq3) using the fundamental wave amplitude Va1 and the power supply voltage VDC.

図８に、付加電圧の大きさＶａｄｄ及び付加電圧位相δの算出処理の手順を示す。図８に示す処理は、主に高調波調整部３０ｇにより実行される。

FIG. 8 shows a procedure for calculating the magnitude Vadd of the additional voltage and the additional voltage phase δ. The process shown in FIG. 8 is mainly executed by the harmonic adjusting unit 30 g.

In step S20, the modulation factor Mr of the fundamental wave voltage is calculated based on the above equation (eq3) based on the fundamental wave amplitude Va1 of the fundamental wave voltage calculated in step S10 and the power supply voltage VDC. Then, the modulation rate range, which is a predetermined range including the calculated modulation rate Mr, is calculated. In the present embodiment, the lower limit of the modulation factor range is a value obtained by subtracting the permissible error Δm (for example, 0.005) from the calculated modulation factor Mr. The upper limit of the modulation factor range is 1.27. Each of the plurality of modulation factors Mr included in the modulation factor range is referred to as a candidate modulation factor. The candidate modulation factor is a value for determining the magnitude Vbase of the main voltage. In the present embodiment, the lower limit of the candidate modulation factor is the lower limit of the modulation factor range, and the upper limit of the candidate modulation factor is the upper limit of the modulation factor range.

In step S20, the modulation factor of the fundamental wave voltage included in the command voltage over one electric angle period shown in FIG. 6 is candidate-modulated based on each candidate modulation factor and the first map information shown in FIG. 9 (a). The combination of the applied voltage phase δ and the voltage ratio Radd to be the rate is selected. The voltage ratio Radd indicates the ratio (Vadd / Vbase or a percentage thereof) of the magnitude Vadd of the added voltage to the magnitude Vbase of the main voltage. When the voltage ratio Radd is 100%, the magnitude Vbase of the main voltage and the magnitude Vadd of the additional voltage match. When the voltage ratio Radd is 0%, the magnitude of the added voltage Vadd is 0. The additional voltage phase δ and the voltage ratio Radd are calculated corresponding to each candidate modulation factor.

The first map information shown in FIG. 9A is map information in which the modulation factor Mr of the fundamental wave voltage, the additional voltage phase δ, and the voltage ratio Radd are related, and is stored in the memory 30f. 120 to 180 on the horizontal axis of FIG. 9A indicate the applied voltage phase δ shown in FIG. The vertical axis of FIG. 9A shows the voltage ratio Radd.

FIG. 9B shows a first set R1 which is a set of combinations of the additional voltage phase δ and the voltage ratio Radd selected in step S20.

In step S21, a phase range which is a predetermined range including the harmonic phase γ of the harmonic voltage calculated in step S11 is calculated. The lower limit of the phase range is a value obtained by subtracting the first margin of error Δph1 (a positive value, for example, 10 ° / (2π)) from the harmonic phase γ. The upper limit of the phase range is a value obtained by adding the second margin of error Δph2 (a positive value, for example, 10 ° / (2π)) to the harmonic phase γ. Each of the plurality of harmonic phases γ included in the phase range is referred to as a candidate phase. In the present embodiment, the lower limit of the candidate phase is the lower limit of the phase range, and the upper limit of the candidate phase is the upper limit of the phase range.

In step S20, the additional voltage phase δ and the additional voltage phase δ for using the phase of the harmonic voltage included in the command voltage over one electric angle period shown in FIG. 6 as the candidate phase based on each candidate phase and the second map information. Select the combination of voltage ratio Phase. The applied voltage phase δ and the voltage ratio Radd are calculated corresponding to each candidate phase.

The second map information is map information in which the harmonic phase γ, the additional voltage phase δ, and the voltage ratio Radd are related, and is stored in the memory 30f. FIG. 10 shows a second set R2 which is a set of combinations of the additional voltage phase δ and the voltage ratio Radd selected in step S21.

In step S22, it is determined whether or not the first overlapping set Rv1 exists. The first overlapping set Rv1 is the additional voltage phase δ and the voltage forming the second set R2 selected in step S21 among the combinations of the additional voltage phase δ and the voltage ratio Radd constituting the first set R1 selected in step S20. It is a set of combinations of the additional voltage phase δ and the voltage ratio Radd that overlap with the combination of the ratio Radd. FIG. 11 shows an example of the first overlapping set Rv1.

If it is determined in step S22 that the first overlapping set Rv1 exists, the process proceeds to step S23. In step S23, an amplitude range that is a predetermined range including the harmonic amplitude Vah of the harmonic voltage calculated in step S11 is calculated. The lower limit of the amplitude range is a value obtained by subtracting the first amplitude error Δamp1 (a value larger than 0, for example 0.01) from the harmonic amplitude Vah. The upper limit of the amplitude range is a value obtained by adding the second amplitude error Δamp2 (a value larger than 0, for example 0.01) to the harmonic amplitude Vah. Each of the plurality of harmonic amplitudes Vah included in the amplitude range is referred to as a candidate amplitude. In the present embodiment, the lower limit of the candidate amplitude is the lower limit of the amplitude range, and the upper limit of the candidate amplitude is the upper limit of the amplitude range.

In step S23, the additional voltage phase δ and the additional voltage phase δ for using the amplitude of the harmonic voltage included in the command voltage over one electric angle period shown in FIG. 6 as the candidate amplitude based on each candidate amplitude and the third map information. Select the combination of voltage ratio Radd. The applied voltage phase δ and the voltage ratio Radd are calculated corresponding to each candidate amplitude.

The third map information is map information in which the harmonic amplitude Vah, the added voltage phase δ, and the voltage ratio Radd are related, and is stored in the memory 30f. FIG. 12 shows a third set R3 which is a set of combinations of the additional voltage phase δ and the voltage ratio Radd selected in step S23.

By using the modulation factor range and the phase range in addition to the amplitude range, a command including a voltage component that matches the voltage component obtained by superimposing the harmonic voltage calculated in step S11 on the fundamental wave voltage calculated in step S10. Even when the voltage cannot be calculated, the command voltage including the voltage component equivalent to this voltage component can be calculated.

In step S24, the second overlapping set Rv2 is calculated. The second overlapping set Rv2 is a combination of the additional voltage phase δ forming the third set R3 and the voltage ratio Radd selected in step S23 among the combinations of the additional voltage phase δ and the voltage ratio Radd constituting the first overlapping set Rv1. It is a set of combinations of the additional voltage phase δ and the voltage ratio Radd that overlap with. FIG. 13 shows an example of the second overlapping set Rv2.

In step S24, one combination of the additional voltage phase δ and the voltage ratio Radd is selected from the combinations of the additional voltage phase δ and the voltage ratio Radd constituting the second overlapping set Rv2. Examples of the method for selecting the combination of one additional voltage phase δ and the voltage ratio Radd include the following.

-From the combinations of the additional voltage phase δ and the voltage ratio Radd constituting the second overlapping set Rv2, one combination of the additional voltage phase δ and the voltage ratio Radd that minimizes the candidate modulation factor is selected.

-One additional voltage phase δ and voltage whose candidate phase is closest to the harmonic phase γ of the harmonic voltage calculated in step S11 from the combination of the additional voltage phase δ and the voltage ratio Radd constituting the second overlapping set Rv2. Select a combination of percentage Phases.

-From the combinations of the additional voltage phase δ and the voltage ratio Radd constituting the second overlapping set Rv2, one combination of the additional voltage phase δ and the voltage ratio Radd that minimizes the amplitude of the electromagnetic force of a specific order is selected. .. The specific order may be, for example, a fifth order that contributes to the torque ripple of the rotary electric machine 10.

In step S25, the magnitude Vbase of the main voltage is calculated based on the candidate modulation factor Mr corresponding to the combination of one additional voltage phase δ and the voltage ratio Radd selected in step S24. Specifically, the magnitude Vbase (= Va1 / Mr) of the main voltage is calculated by dividing the fundamental wave amplitude Va1 of the fundamental wave voltage calculated in step S10 by the candidate modulation factor Mr. Then, the magnitude Vadd of the additional voltage is calculated based on the calculated magnitude Vbase of the main voltage and the voltage ratio Radd selected in step S24.

In step S26, the command voltage VU shown in FIG. 6 for the U, V, and W phases is based on the main voltage, the magnitudes of the additional voltage Vbase, and Vadd calculated in step S25 and the additional voltage phase δ selected in step S24. *, VV *, VW * are calculated. The calculated U, V, W phase command voltages VU *, VV *, VW * are output to the U, V, W phase superimposing portions 30hU, 30hV, 30hW. At this time, the U, V, W phase fundamental wave voltages VUB, VVB, and VWB calculated by the fundamental wave calculation unit 30d are set to 0.

Then, in step S17 of FIG. 3, an operation signal is generated by the modulator 30h based on the command voltages VU *, VV *, and VW * shown in FIG. 6, and each switch of the inverter 20 is operated.

If it is determined in step S22 of FIG. 8 that the first overlapping set Rv1 does not exist, the process proceeds to step S27. In step S27, the harmonic amplitude Vah of the harmonic voltage included in the command voltage over one electric angle period of FIG. 6 is set to 0. Then, one combination of the additional voltage phase δ and the voltage ratio Radd is selected from the combination of the additional voltage phase δ and the voltage ratio Radd constituting the first set R1. For example, from the combinations of the additional voltage phase δ and the voltage ratio Radd constituting the first set R1, one combination of the additional voltage phase δ and the voltage ratio Radd whose candidate modulation factor is closest to the modulation factor Mr calculated in step S20. You just have to select.

When the harmonic phase γ of the harmonic voltage included in the command voltage cannot be set to an appropriate value that can reduce the electromagnetic force fluctuation, the harmonic voltage is applied to the stator winding, so that the electromagnetic force fluctuation becomes large. There is a risk that the control of the rotary electric machine 10 may be adversely affected. In order to deal with this problem, the process of step S27 is provided.

After that, in step S25, the magnitude Vbase of the main voltage is calculated based on the candidate modulation factor Mr corresponding to the combination of one additional voltage phase δ and the voltage ratio Radd selected in step S27. Further, the magnitude Vadd of the additional voltage is calculated based on the calculated magnitude Vbase of the main voltage and the voltage ratio Radd selected in step S27. Then, the process proceeds to step S26.

Next, the electromagnetic force vector acting on the rotor 14 in the case where the affirmative determination is made in step S22 will be described with reference to FIGS. 14 and 15.

First, the reducible region R will be described with reference to FIG. In the xy Cartesian coordinate system shown in FIG. 14, F1 indicates a first vector which is an electromagnetic force vector generated by superimposing a fundamental voltage on which a harmonic voltage is not superimposed on a stator winding. F2 indicates a second vector which is an electromagnetic force vector generated by superimposing a harmonic voltage on the stator winding.

The first vector F1 is a vector extending from the origin O of the coordinate system along the x-axis, and the second vector F2 is a vector extending from the origin O. The angle θs formed by the first and second vectors F1 and F2 when the second vector F2 rotates counterclockwise with respect to the x-axis is defined as a positive value. Then, in the coordinate system, the reference axis, which is the axis extending from the origin O in the direction opposite to the direction in which the first vector F1 extends, and the magnitude (amplitude) Fr of the first vector F1 as the radius and the origin O as the center. The intersection with the circle is defined as the reference center A. Then, in the coordinate system, a region inside the circle centered on the reference center A with the magnitude Fr of the first vector F1 as the radius (the region indicated by hatching in the figure) can be reduced. Defined as R.

By applying a harmonic voltage that positions the tip of the second vector F2 in the reducible region R to the stator winding, the magnitude of the combined vector Ft of the first and second vectors F1 and F2 is changed to the magnitude of the first vector F1. It can be smaller than Fr. On the other hand, when a harmonic voltage that positions the tip of the second vector F2 outside the reducible region R is applied to the stator winding, the magnitude of the composite vector Ft is larger than the magnitude Fr of the first vector F1. However, the noise reduction effect cannot be obtained.

Here, in the present embodiment, as shown in FIG. 15, in the reducible region R, the region where the tip of the second vector F2 can be positioned is used in the range where the angle θs is from 120 ° to 240 °. ..

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

When it was determined that the amplitude Vta of the combined wave exceeded the voltage limit value Vlim, the sine wave control was switched to the energization width control in which the command voltage shown in FIG. 6 was used. As a result, even if the output voltage of the battery 40 is insufficient to the extent that the voltage applied to the stator winding cannot be set to the command voltage for sine wave control, the fluctuation of the electromagnetic force acting on the rotor 14 can be suppressed. Can be done. As a result, the rotary electric machine 10 can be driven while suppressing magnetic noise.

-Whether or not the phase of the harmonic voltage included in the command voltage can be set to the harmonic phase γ of the harmonic voltage calculated in step S11 when it is determined that the amplitude Vta of the composite wave exceeds the voltage limit value Vlim. When it was determined that the harmonic phase γ could not be set, the harmonic amplitude Vah was set to 0. As a result, it is possible to suppress an increase in the fluctuation of the electromagnetic force of the rotor 14 and an adverse effect on the control of the rotary electric machine 10.

After it is determined that the amplitude of the harmonic voltage included in the command voltage can be the harmonic amplitude Vah of the harmonic voltage calculated in step S11, the phase of the harmonic voltage included in the command voltage is the harmonic calculated in step S11. A configuration in which it is determined whether or not the harmonic phase γ of the wave voltage can be obtained is referred to as a comparative example. In the comparative example, after it is determined that the harmonic amplitude Vah can be obtained, it can be determined that the phase of the harmonic voltage included in the command voltage cannot be the harmonic phase γ of the harmonic voltage calculated in step S11. In this case, the phase of the harmonic voltage included in the command voltage may deviate significantly from an appropriate value for reducing the fluctuation of the electromagnetic force acting on the rotor 14. In this case, for example, it is required to recalculate the harmonic voltage included in the command voltage. However, if there is a restriction that the predetermined arithmetic processing must be completed within one control cycle of the control device 30, there is a possibility that the opportunity to recalculate the harmonic voltage cannot be secured. At this time, the phase of the harmonic voltage included in the command voltage deviates significantly from the appropriate value for reducing the electromagnetic force fluctuation, so that the electromagnetic force fluctuation cannot be reduced and the deviation is used to control the rotary electric machine 10. There is a risk of adverse effects.

On the other hand, in the present embodiment, prior to determining the harmonic amplitude Vah of the harmonic voltage included in the command voltage, the phase of the harmonic voltage included in the command voltage is determined by the harmonic phase γ of the harmonic voltage calculated in step S11. It is determined whether or not it can be done. Then, when it is determined that the harmonic phase γ cannot be set, the harmonic amplitude Vah is set to 0. Therefore, it is possible to suppress a large deviation of the phase of the harmonic voltage included in the command voltage from an appropriate value for reducing the fluctuation of the electromagnetic force, and it is possible to suppress that the deviation adversely affects the control of the rotary electric machine 10.

<Other Embodiments>
The above embodiment may be modified as follows.

After it is determined that the amplitude of the harmonic voltage included in the command voltage can be the harmonic amplitude Vah of the harmonic voltage calculated in step S11, the phase of the harmonic voltage included in the command voltage is the harmonic calculated in step S11. A configuration may be used in which it is determined whether or not the harmonic phase γ of the wave voltage can be obtained.

In step S13 of FIG. 3, the value obtained by adding the harmonic amplitude Va1 of the harmonic voltage calculated in step S11 to the fundamental wave amplitude Va1 of the fundamental wave voltage calculated in step S10 is defined as the combined wave amplitude Vta (= Va1 + Vah). It may be calculated.

When a negative determination is made in step S22 of FIG. 8, the harmonic amplitude Vah of the harmonic voltage included in the command voltage is larger than 0 and larger than the harmonic amplitude Vah of the harmonic voltage calculated in step S11. It may be a small value.

In the above embodiment, after the main voltage over a period from 0 ° to 120 ° in terms of electrical angle, the additional voltage phase δ starting from 120 ° causes the additional voltage in the range of “120 ° ≦ δ <180 °”. Was set. Instead of this setting, an additional voltage may be set before the main voltage. Specifically, the main voltage is set over a period from 60 ° to 180 ° in terms of electrical angle, and the additional voltage is set in the range of "0 ° <δ≤60 °" by the additional voltage phase δ starting from 60 °. It may be set.

-In FIG. 6, the first period LA is not limited to the period of 120 °.

Further, the additional voltage of the command voltage is not limited to that shown in FIG. 6, and may be, for example, the one shown in FIG. In the command voltage shown in FIG. 16, the magnitude of the added voltage during the period from the first timing T1 to the second timing T2 gradually decreases linearly from the first timing T1 to the second timing T2, and the third timing T3 to the third timing T3. The magnitude of the applied voltage during the period up to the 4th timing T4 gradually decreases linearly from the 3rd timing T3 to the 4th timing T4. The magnitude of the additional voltage of the first and third timings T1 and T3 coincides with the magnitude of the main voltage. The command voltage shown in FIG. 16 also includes a voltage component obtained by superimposing the harmonic voltage calculated in step S11 on the fundamental wave voltage calculated in step S10 of FIG. 3 or a voltage component equivalent to this voltage component. ing.

-The control system may not be equipped with the voltage sensor 41. In this case, for example, the power supply voltage VDC used for the calculation of the control device 30 may be set to a fixed value.

The harmonic voltage calculated by the harmonic calculation unit 30e is not limited to the voltage for reducing the radial electromagnetic force fluctuation acting on the rotor 14, for example, the radial electromagnetic force fluctuation acting on the stator 12. It may be a voltage for reducing, or a voltage for reducing radial electromagnetic force fluctuation acting on both the rotor 14 and the stator 12.

The fundamental wave command value calculated by the fundamental wave calculation unit 30d is not limited to the fundamental wave voltage, but may be the fundamental wave current. Further, the harmonic command value calculated by the harmonic calculation unit 30e is not limited to the harmonic voltage, and may be a harmonic current. In this case, for example, the fundamental wave and harmonic calculation units 30d and 30e convert the calculated fundamental wave and harmonic current into the fundamental wave and harmonic voltage based on the voltage equation of the rotary electric machine 10, and the converted fundamental wave, The harmonic voltage may be output to each superimposing unit 30hU, 30hV, 30hW.

-The amount of control of the rotary electric machine is not limited to the rotational angular velocity, but may be, for example, torque.

-The rotary electric machine is not limited to the centralized winding type, but may be a distributed winding type. Further, the rotary electric machine is not limited to the outer rotor type and may be the inner rotor type.

Further, the rotary electric machine is not limited to a three-phase one, and may be a four-phase or more multi-phase one. In addition, the rotary electric machine is not limited to a permanent magnet field type synchronous machine having a permanent magnet in the rotor, and may be, for example, a winding field type synchronous machine having a field winding in the rotor. In addition, the rotary electric machine is not limited to the blower.

10 ... rotary electric machine, 20 ... inverter, 30 ... control device.

Claims (5)

A rotary electric machine (10) having a stator (12) and a rotor (14) around which a winding (12U to 12W) is wound is electrically connected to the rotary electric machine and a DC power supply (40), and the DC is connected. In a rotary electric machine control device (30) applied to a system including a power converter (20) for driving the rotary electric machine by passing a current through the windings using a power source as a power supply source.
A fundamental wave calculation unit (30d) that calculates a fundamental wave voltage for passing a fundamental wave current through the winding, and a fundamental wave calculation unit (30d).
A command value superimposed on the calculated fundamental wave voltage , and a harmonic current for reducing radial electromagnetic force fluctuation acting on at least one of the rotor and the stator is applied to the winding. A harmonic calculation unit (30e) that calculates the harmonic voltage to flow, and
The fundamental wave current determined based on the calculated fundamental voltages, when the harmonic current and the drive current a current which is superimposed determined based on the calculated harmonic voltage, the current flowing in the winding A determination unit for determining whether or not the output voltage of the DC power supply is insufficient to the extent that the drive current cannot be used.
When it is not determined by the determination unit that the voltage is insufficient, a voltage obtained by superimposing the calculated harmonic voltage on the calculated fundamental wave voltage is calculated and calculated as a command voltage to be applied to the winding. A first operation unit that operates the power converter so that the drive current flows through the windings based on the command voltage.
When it is determined by the determination unit that the period is insufficient, the period of less than 180 ° in electrical angle is defined as the first period, and the period shorter than the period obtained by subtracting the first period from 180 ° is the second period (δ). Then, out of one electric angle period from 0 ° to 360 °
As the command voltage in the period from 0 ° to the first timing in which the first period elapses, the main voltage (Vbase), which is a constant positive voltage, is calculated.
As the command voltage in the period from the first timing to the second timing in which the second period elapses, a positive electrode voltage (Vadd) having an absolute value smaller than the main voltage is calculated.
As the command voltage in the period from 180 ° to the third timing when the first period elapses, the negative electrode main voltage (−Vbase) is calculated.
As the command voltage in the period from the third timing to the fourth timing in which the second period elapses, the negative electrode type additional voltage (−Vadd) is calculated.
Based on the command voltage across the calculated first electrical angle period, before the hear dynamic current equivalent current to flow in the windings, different operations from the operation mode of the power converter according to the first operation portion A second operation unit for operating the power converter in an embodiment is provided .
The second operation unit is
Based on the calculated fundamental wave amplitude of the fundamental wave voltage and the output voltage of the DC power supply, the modulation factor of the fundamental wave voltage is calculated.
A modulation rate range of a predetermined range including the calculated modulation factor is calculated, and the modulation factor range is calculated.
The candidate modulation factor, which is each of the plurality of modulation factors included in the calculated modulation factor range, the modulation factor of the fundamental wave voltage, the second period, and the magnitude of the additional voltage with respect to the magnitude of the main voltage. Based on the first map information associated with the voltage ratio (Radd), which is the ratio of The combination of the second period and the voltage ratio is calculated in association with each candidate modulation factor.
A phase range of a predetermined range including the harmonic phase (γ), which is the phase difference of the calculated harmonic voltage with respect to the calculated fundamental voltage, is calculated.
Based on the candidate phase, which is each of the plurality of harmonic phases included in the calculated phase range, and the second map information in which the harmonic phase, the second period, and the voltage ratio are related, 1 The combination of the second period and the voltage ratio for setting the phase of the harmonic voltage included in the command voltage over the electric angle period as the candidate phase is calculated in association with each candidate phase.
The amplitude range of a predetermined range including the harmonic amplitude of the calculated harmonic voltage is calculated.
Based on the candidate amplitude, which is each of the plurality of harmonic amplitudes included in the calculated amplitude range, and the third map information in which the harmonic amplitude, the second period, and the voltage ratio are related, 1 The combination of the second period and the voltage ratio for using the amplitude of the harmonic voltage included in the command voltage over the electric angle period as the candidate amplitude is calculated in association with each of the candidate amplitudes.
In the combination of the second period and the voltage ratio calculated in association with each candidate modulation factor, the combination of the second period and the voltage ratio calculated in association with each candidate phase , It is determined whether or not there is a combination that overlaps with both the combination of the second period and the voltage ratio calculated in association with each candidate amplitude.
When it is determined that there are overlapping combinations, one combination is selected from the overlapping combinations, the second period and the voltage ratio in the selected combination, and the candidate modulation associated with the selected combination. Based on the rate, the magnitude of the positive and negative main voltages and the magnitude of the positive and negative additional voltages are calculated.
A control device for a rotary electric machine that calculates the command voltage over one electric angle period based on the calculated magnitudes of the main voltage and the additional voltage and the second period in the selected combination. When the determination unit determines that the second operation unit is insufficient, the second operation unit is included in the combination of the second period and the voltage ratio calculated in association with each candidate modulation factor. When it is determined that there is no combination that overlaps with the combination of the second period and the voltage ratio calculated in association with each candidate phase, the amplitude of the harmonic current included in the command voltage over one electric angle period is determined. the control device for a rotary electric machine according to claim 1 for calculating a small Kushida said command voltage than the amplitude of the harmonic current calculated by the harmonic calculator. In a two-axis Cartesian coordinate system, a vector indicating an electromagnetic force generated by passing the fundamental wave current on which the harmonic current is not superimposed to the winding, and a vector extending from the origin (O) of the coordinate system is defined as a vector. Let it be the first vector (F1)
In the coordinate system, a vector indicating an electromagnetic force generated by passing the harmonic current through the winding and extending from the origin is defined as a second vector (F2).
In the coordinate system, a reference axis which is an axis extending from the origin in a direction opposite to the direction in which the first vector extends, and a circle whose radius is the magnitude (Fr) of the first vector and whose center is the origin. With the intersection of the above as the reference center (A),
In the coordinate system, the region inside the circle centered on the reference center and the magnitude of the first vector as the radius is defined as the reduceable region (R).
The control device for a rotary electric machine according to claim 1 or 2 , wherein the second operation unit calculates the command voltage by imposing a condition that the tip of the second vector is positioned in the reduceable region. The determination unit, when the amplitude of the composite wave of the calculated the fundamental wave voltage and the harmonic voltage is determined to exceed a voltage limit value (Vlim), insufficient output voltage of the DC power supply Judged to be
The control device for a rotary electric machine according to any one of claims 1 to 3 , wherein the voltage limit value is set to a value obtained by dividing the output voltage of the DC power supply by √3. The determination unit, if the value of the amplitude obtained by adding the calculated amplitude of said calculated fundamental voltage the harmonic voltage is determined to exceed a voltage limit value (Vlim), the DC power supply Judging that the output voltage is insufficient,
The control device for a rotary electric machine according to any one of claims 1 to 3 , wherein the voltage limit value is set to a value obtained by dividing the output voltage of the DC power supply by √3.

Images