JP7269152B2 - rotary motor controller - Google Patents

Description

TECHNICAL FIELD The present invention relates to a control device for a rotary motor having field windings and three-phase windings.

As a rotary motor, a three-phase field winding that carries a direct current (field current) that creates a magnetic field in the rotor and an alternating current (three-phase current) that generates torque in the rotor due to interaction with the magnetic field. Ones with windings are known. A field winding generates a field magnetic flux, and a three-phase winding generates a rotating magnetic field. Such a rotary motor system includes a field converter that supplies a field current to the field winding, an inverter that supplies a three-phase current to the three-phase winding, and a controller that controls the field converter and the inverter. Prepare. The control device performs control according to the torque command value of the rotating electric motor. axis current, dq axis voltage).

In Patent Document 1, in the period from when the field current starts to flow through the field winding to before the field current increases and reaches its target value, the three-phase A control device for a rotating electrical machine is disclosed that delays the timing of increasing the d-axis current of a winding in the negative direction, and then sharply increases the d-axis current in the negative direction. With this configuration, the time required for the field current to reach the target value can be shortened, and the torque of the rotary electric machine can be quickly increased.

JP 2016-59152 A

By the way, if the field current flowing in the field winding is reduced, and the current flowing in the field converter is reduced, the switching elements with small current capacity can be used as the switching elements that make up the field converter, resulting in cost reduction. Become. However, in this case, since the current flowing through the field winding is small, it is necessary to increase the number of turns (also referred to as the number of turns) of the field winding in order to generate a desired magnetic flux from the field winding. If the number of turns in the field winding is large, the self-inductance of the field winding and the mutual inductance between the three-phase windings will increase, resulting in a longer time for the field current to reach the target value. , it takes a long time for the torque of the rotating electric motor to reach the torque command value.

There is a demand for control of a rotary electric motor that allows the torque of the rotary electric motor to quickly reach a torque command value even when the field winding has a large number of turns.

SUMMARY OF THE INVENTION An object of the present invention is to cause the torque of a rotary electric motor to quickly reach a torque command value.

A control device for a rotary electric motor according to the present invention is applied to a rotary electric motor having a field winding and a three-phase winding, and a field converter for supplying a field current to the field winding and a three-phase winding to the three-phase winding. A control device for controlling an inverter through which phase currents flow, comprising: a torque estimator that acquires a torque estimation value of the rotary electric motor based on the field current and dq-axis currents corresponding to the three-phase currents; A correction value calculation unit that calculates a torque command correction value by performing proportional integral control on the deviation between the estimated value and the torque command value of the rotary electric motor; and a corrected torque command value that is obtained by adding the torque command correction value and the torque command value. and a field converter control for controlling switching elements of the field converter based on the field current command value. and an inverter control section that controls the switching elements of the inverter based on the dq-axis current command values.

According to this configuration, in addition to the torque command value, the field current command value and the dq-axis current command value are set in consideration of the deviation between the torque command value and the torque estimate value (current torque estimate value) of the rotary electric motor. Therefore, the torque of the rotary motor can reach the torque command value in a shorter time than when the field current command value and the dq-axis current command value are set based only on the torque command value. For example, when the torque command value increases sharply, the deviation between the estimated torque value and the torque command value becomes large. Therefore, the field current command value and the dq-axis current command value are set based only on the torque command value. field current command value and dq-axis current command value (q-axis current command value when the rotating motor is an SPM (surface magnet type motor) and the d-axis current is controlled at 0 A, hereinafter, (same in this paragraph) is set large, and the torque can reach the torque command value in a shorter time. At this time, even if the field current command value reaches the maximum value, the dq-axis current command value is set large, so the torque can be rapidly increased. In addition, even if the number of turns of the field winding is large and the time required for the field current to reach the field current command value is long, the dq-axis current (when the rotating motor is an SPM (surface magnet type motor)) When the d-axis current is controlled at 0 A, the q-axis current increases, so the torque increases quickly.

In the rotary electric motor control device of the present invention, the rotary electric motor selectively applies PWM control and rectangular wave control according to torque and rotation speed, and when PWM control is applied to the rotary electric motor, the correction When the switching elements of the field converter and the inverter are controlled based on the post-torque command value and rectangular wave control is applied to the rotating motor, the field converter and the switching elements of the inverter are controlled based on the torque command value. The switching elements of the inverter may be controlled.

Further, the control device for a rotating electric motor of the present invention is applied to a rotating electric motor having a field winding and a three-phase winding, and includes a field converter for supplying a field current to the field winding and the three-phase winding. a torque estimating unit that acquires an estimated torque value of the rotating electric motor based on the field current and the dq-axis current corresponding to the three-phase current; and a correction value calculation unit for calculating a d-axis current command correction value by performing proportional-integral control on the deviation between the estimated torque value and the torque command value of the rotary electric motor; and a field current command value based on the torque command value. , a current command value setting unit for setting a d-axis current command value and a q-axis current command value; a corrected d-axis current command value obtained by adding the d-axis current command correction value and the d-axis current command value; an inverter control unit for controlling the switching elements of the inverter based on the q-axis current command value; and a field converter control unit for controlling the switching elements of the field converter based on the field current command value. , is provided.

According to this configuration, in addition to the d-axis current command value, the inverter is operated based on the corrected d-axis current command value that takes into consideration the deviation between the torque command value and the torque estimate value (current torque estimate value) of the rotary electric motor. Therefore, the torque of the rotary electric motor can reach the torque command value in a shorter time than when the inverter is controlled based on the d-axis current command value in which the deviation is not considered.

In the rotary electric motor control device of the present invention, the rotary electric motor selectively applies PWM control and rectangular wave control according to torque and rotation speed, and when the PWM control is applied to the rotary electric motor, the The switching elements of the inverter are controlled based on the corrected d-axis current command value, and the switching elements of the inverter are controlled based on the torque command value when the rectangular wave control is applied to the rotary electric motor. , may be

In the rotary motor control device of the present invention, the field converter includes a first arm and a second arm connected between a pair of busbars to which the voltage of the battery is applied directly or after being boosted. Each of the first arm and the second arm is configured by connecting two switching elements in series, one end of the field winding is connected between the two switching elements of the first arm, and the field winding may be connected between the two switching elements of the second arm.

ADVANTAGE OF THE INVENTION According to this invention, the torque of a rotary electric motor can be made to reach|attain a torque command value rapidly.

1 is a circuit diagram of a rotary electric motor system according to an embodiment; FIG. 1 is a block diagram of part of a control device for a rotary electric motor according to an embodiment; FIG. 1 is a block diagram of part of a control device for a rotary electric motor according to an embodiment; FIG. It is a figure which shows each sensor detection value with respect to the torque command value in the control which concerns on embodiment. 3B is an enlarged view of the graph of period tw in FIG. 3A; FIG. FIG. 5 is a diagram showing each sensor detection value with respect to a torque command value in conventional control; 4B is an enlarged view of the graph of period tw in FIG. 4A; FIG. FIG. 4 is a diagram showing each sensor detection value with respect to a torque command value in the control of Patent Literature 1; 5B is an enlarged view of the graph of period tw in FIG. 5A; FIG. FIG. 7 is a block diagram of part of a control device for a rotary electric motor according to another embodiment; FIG. 7 is a block diagram of part of a control device for a rotary electric motor according to another embodiment; FIG. 9 is a diagram showing each sensor detection value with respect to a torque command value in control according to another embodiment; 7B is an enlarged view of the graph of period tw in FIG. 7A; FIG. FIG. 4 is a diagram showing an example of torque characteristics when a field current is 0A; FIG. 10 is a diagram showing an example of torque characteristics when the field current is 1/2 of the maximum value; FIG. 4 is a diagram showing an example of torque characteristics when a field current is at its maximum value; FIG. 4 is a circuit diagram of another rotary electric motor system; It is a figure for demonstrating the control mode of a rotary electric motor.

Hereinafter, each embodiment according to the present invention will be described in detail with reference to the accompanying drawings. The configuration described below is an example for explanation, and can be changed as appropriate according to the specifications of the rotary electric motor system. The same reference numerals are given to the same elements in all the drawings, and redundant explanations are omitted. In addition, when a plurality of embodiments and modifications are included below, it is assumed from the beginning that the characteristic parts thereof will be used in combination as appropriate.

FIG. 1 is a circuit diagram of a rotating electric motor system 10 according to this embodiment. The rotary motor system 10 includes a battery 14 (also referred to as a DC power supply), capacitors 17 and 22, a boost converter 18, a field converter 24, an inverter 26, a rotary motor 30, and a control device 12.

The rotating electric motor 30 includes a stator and a rotor. The stator applies torque to the rotor through interaction with a field winding 34 that supplies a direct current (also referred to as a field current) that creates a magnetic field in the rotor. A three-phase winding 32 (also referred to as an armature winding) through which an alternating current (also referred to as a three-phase current) to be generated flows. The field winding 34 generates field magnetic flux, and the three-phase winding 32 generates a rotating magnetic field. Although the stator is provided with the field winding 34 here, the rotor or a member around the rotor may be provided with the field winding 34 . The rotary electric motor 30 of this embodiment is an SPM (surface magnet type motor).

As shown in FIG. 1, capacitor 17 and boost converter 18 are connected in parallel to battery 14 . Battery 14 is a power source for rotary motor 30 . The boost converter 18 is supplied with power from the battery 14 and makes the voltage between the bus lines 28a and 28b variable. A capacitor 22, a field converter 24 and an inverter 26 are connected between the buses 28a and 28b. The field converter 24 supplies a field current if to the field winding 34 , and the inverter 26 supplies a three-phase current to the three-phase winding 32 of the rotary motor 30 . The control device 12 controls the boost converter 18 , the field converter 24 and the inverter 26 .

Boost converter 18 includes an arm A0 in which two switching elements Su1 and Su2 are connected in series, and a reactor 20 . A diode is connected in parallel across each of the switching elements Su1 and Su2. Arm A0 of boost converter 18 is connected between bus lines 28a and 28b, one end of reactor 20 is connected to a midpoint between two switching elements Su1 and Su2 of arm A0, and the other end of reactor 20 is connected to battery 14. is connected to the positive side (positive pole) of Control device 12 boosts output voltage vb of battery 14 by controlling on/off of two switching elements Su1 and Su2 of boost converter 18, and applies voltage vc between bus lines 28a and 28b. Note that the ratio of the voltage vc to the voltage vb (step-up ratio) changes depending on the ON/OFF periods of the switching elements Su1 and Su2.

The field converter 24 has a first arm A11 in which two switching elements S1 and S2 are connected in series, and a second arm A12 in which two switching elements S3 and S4 are connected in series. Diodes are connected in parallel across each of the switching elements S1, S2, S3, and S4 so that a current flows in a direction opposite to the current direction of each of the switching elements S1, S2, S3, and S4. The first arm A11 and the second arm A12 are connected between the busbars 28a, 28b. One end of the field winding 34 is connected to the middle point ap between the two switching elements S1 and S2 of the first arm A11, and the other end of the field winding 34 is connected to the two switching elements S3 and S3 of the second arm A12. It is connected to the midpoint bp between S4. The field converter 24 having this configuration is also called an H-arm converter. A current sensor 40 is provided in the current path of the field current if. A detected value of field current if detected by current sensor 40 (hereinafter also referred to as field current detected value if) is transmitted to control device 12 .

When the switching elements S1 and S4 of the field converter 24 are turned on and S2 and S3 are turned off, the ap point is electrically connected to the bus 28a (positive side) and the bp point is electrically connected to the bus 28b (negative side). connected Therefore, the potential at the ap point is higher than the potential at the bp point by vc (the potential at the ap point>the potential at the bp point), and the positive voltage vc is applied to the field winding 34 . The field current if flows from the point ap to the point bp, and the current in the positive direction (the direction indicated by the solid-line arrow of if shown in FIG. 1) flows through the field winding 34 .

On the other hand, when the switching elements S1 and S4 of the field converter 24 are turned off and S2 and S3 are turned on, the bp point is electrically connected to the bus line 28a (positive side), and the ap point is electrically connected to the bus line 28b (negative side). is electrically connected to Therefore, the potential at point bp is higher than the potential at point ap by vc (potential at point bp>potential at point ap), and negative voltage vc (-vc) is applied to field winding 34 . The field current if flows from point bp to point ap, and current flows in the field winding 34 in the negative direction (the direction opposite to the direction indicated by the solid-line arrow of if shown in FIG. 1).

The controller 12 uses the gate signals GS1, GS2, GS3, and GS4 of the switching elements S1, S2, S3, and S4 of the field converter 24 to control the period t1 during which S1 and S4 are on and S2 and S3 are off. , S1 and S4 are turned off and S2 and S3 are turned on. Thereby, the control device 12 sets the field current if to 0 (A) or controls the magnitude of the current in the positive and negative directions of the field current if.

Inverter 26 is a three-phase inverter. Specifically, inverter 26 includes a U-phase arm B1, a V-phase arm B2 and a W-phase arm B3 connected between buses 28a and 28b. Two switching elements Sa, Sb are connected in series to each arm B1, B2, B3, and diodes are connected across each of the switching elements Sa, Sb so that a current flows in the direction opposite to the current direction of each switching element. are connected in parallel. The three-phase winding 32 includes a U-phase winding through which U-phase current flows, a V-phase winding through which V-phase current flows, and a W-phase winding through which W-phase current flows. In FIG. 1, U-phase winding, V-phase winding, and W-phase winding are denoted by u, v, and w, respectively. Control device 12 controls the three-phase current of three-phase winding 32 by controlling on/off of each switching element of inverter 26 . In FIG. 1, each phase winding of the three-phase winding 32 is shown in a simplified manner, and each phase has only one winding. be.

One end of the U-phase winding is connected to a midpoint between switching elements Sa and Sb of U-phase arm B1. One end of the V-phase winding is connected to a midpoint between switching elements Sa and Sb of V-phase arm B2. One end of the W-phase winding is connected to a midpoint between switching elements Sa and Sb of W-phase arm B3. The other ends of the U-phase winding, the V-phase winding, and the W-phase winding are commonly connected at a neutral point G.

A current iu flowing through the U-phase winding is detected by a current sensor 38u, and the detected value is transmitted to the control device 12. A current iv flowing through the V-phase winding is detected by a current sensor 38v, and the detected value is controlled. It is sent to device 12 . Since the windings of each phase of the three-phase windings are commonly connected at the neutral point G, the sum of the currents iu, iv, and iw flowing through the windings of each phase becomes zero. can obtain the current iw flowing through the W-phase winding from the detected values iu and iv.

The rotary electric motor 30 is provided with a rotation angle sensor 36 (for example, a resolver). A rotation angle position (hereinafter referred to as a rotation angle) θe of the rotor detected by the rotation angle sensor 36 is sent to the control device 12 .

Control device 12 controls gate signals GSu1 and GSu2 of switching elements Su1 and Su2 of boost converter 18 and switching elements S1, S2, S3 and S4 of field converter 24 based on the generated or input torque command value. Gate signals GS1, GS2, GS3, and GS4, and a gate signal GI for the switching elements of the inverter 26 (here, gate signals for the six switching elements of the inverter 26 are collectively denoted by symbol GI) are generated. For example, when the rotary motor system 10 is mounted on a vehicle, the torque command value is derived from the accelerator opening and the vehicle speed by referring to a map or the like in the control device 12 . A unit including the boost converter 18, the field converter 24, the inverter 26, and the controller 12 is called a power control unit (PCU).

2A and 2B are block diagrams of the control device 12. FIG. 2A and 2B, the circuits for generating the gate signals GSu1 and GSu2 of the boost converter 18 are omitted. As shown in FIG. 2A, the controller 12 includes band-stop filters (also called BSFs) 80a, 80b, 80c to which the dq-axis currents id, iq and the field current if are input, and BSFs 80a, 80b, 80c. A torque estimator 82 that acquires the torque estimated value Test of the rotating motor 30 based on the passed dq-axis currents id_bsf, iq_bsf and the field current if_bsf, and the deviation between the torque estimated value Test and the torque command value Tr of the rotating motor 30 is proportionally calculated. A correction value calculator 100 that calculates a torque command correction value Tco by performing integral control, and an adder 84b that adds the torque command correction value Tco and the torque command value Tr to output a post-correction torque command value Trc. Note that the dq-axis currents id and iq are calculated by the control device 12 using the rotation angle θe of the rotary electric motor 30 (rotor) to determine three-phase current detection values (obtained values for the w-phase) iu, iv, and iw in a fixed coordinate system. is transformed into a value on the dq axis in the rotating coordinate system. Hereinafter, the dq-axis currents id and iq are also referred to as dq-axis current detection values id and iq.

As shown in FIG. 2B, the control device 12 includes a current command value setting unit 102 that sets a field current command value ifr and dq-axis current command values idr and iqr based on the corrected torque command value Trc; A field converter control unit 104 for generating gate signals GS1, GS2, GS3, and GS4 for switching elements S1, S2, S3, and S4 of a field converter 24 based on a magnetic current command value ifr, and a dq-axis current command value. An inverter control unit 106 is provided for generating a gate signal GI for a switching element of the inverter 26 based on idr and iqr.

BSFs 80a, 80b, and 80c shown in FIG. (order of multiplication of 6) is removed. The reason for removing the 6th and 12th order components in this manner is that in the rotary motor 30, the components of the 6th multiplication of the fundamental wave frequency of the three-phase current are the dq-axis current detection values id and iq and the field current detection values. If these components appear in the dq-axis current detection values id and iq and the field current detection value if, the torque estimation unit 82 may not be able to accurately perform the torque estimation process. . Note that the BSFs 80a, 80b, and 80c may also be configured to remove harmonic components of orders of multiples of 6 (18th, 24th, . . . ) other than the 6th and 12th. In addition, the BSFs 80a, 80b, and 80c may be omitted if, for example, harmonic components are less likely to appear.

Torque estimator 82 receives dq-axis current detection values id_bsf and iq_bsf from which harmonic components have been removed, and field current detection value if_bsf. Hereinafter, in the description of the torque estimator 82, id_bsf, iq_bsf, and if_bsf will be referred to as id, iq, and if by omitting "_bsf". The torque estimator 82 has a torque estimation map that defines a torque estimation value Test for the dq-axis current detection values id and iq and the field current detection value if. The torque estimator 82 uses the torque estimation map to acquire the torque estimated value Test corresponding to the received dq-axis current detection values id and iq and the field current detection value if. The estimated torque value Test is an estimated current torque value of the rotating electric motor 30 . Note that the torque estimator 82 may obtain the torque estimated value Test using a torque estimation formula instead of the torque estimation map. A torque estimation formula (Equation 1) is shown below.

In the torque estimation formula (equation 1), P is the number of pole pairs of the rotating motor 30, Φmg is the armature interlinkage magnetic flux, Mf is the mutual inductance of the field winding 34 and the three-phase winding 32, and Ld is the d-axis , and Lq the q-axis inductance.

The correction value calculator 100 includes an adder 84a and a PI controller 86 (also called a proportional integral controller). The correction value calculator 100 receives the estimated torque Test from the torque estimator 82, calculates the deviation between the estimated torque Test and the torque command value Tr of the rotary electric motor 30 with the adder 84a, and calculates the deviation with the PI controller 86. A torque command correction value Tco is calculated by proportional integral control. Here, the torque command correction value Tco takes positive and negative values. Then, the torque command correction value Tco and the torque command value Tr are added by the adder 84b to obtain the corrected torque command value Trc.

Current command value setting section 102 shown in FIG. 2B receives corrected torque command value Trc. The current command value setting unit 102 includes a current command map 60 that defines the dq-axis current command values idr and iqr and the field current command value ifr for the corrected torque command value Trc. The current command value setting unit 102 uses the current command map 60 to obtain the dq-axis current command values idr and iqr and the field current command value ifr corresponding to the received post-correction torque command value Trc. That is, the dq-axis current command values idr and iqr and the field current command value ifr are set based on the corrected torque command value Trc.

Inverter control unit 106 receives dq-axis current command values idr and iqr. The inverter control unit 106 includes a plurality of adders 62a, 62b, 62c, 62d, two PI controllers (proportional-integral controllers) 64a, 64b, a non-interfering controller 66, and a dq axis-three phase converter. 68 and PWM 70a. The inverter control unit 106 calculates the error between the d-axis current command value idr and the d-axis current detection value id using the adder 62a, and performs proportional integral control using the PI controller 64a so as to bring this error closer to zero. A shaft voltage command value vdr is calculated. Similarly, inverter control unit 106 calculates the error between q-axis current command value iqr and q-axis current detection value iq by adder 62c, and performs proportional integral control by PI controller 64b so that this error approaches zero. to calculate the q-axis voltage command value vqr. Next, inverter control unit 106 uses non-interfering controller 66 and adders 62b and 62d to remove dq-axis voltage command values vdr and vqr so as to remove errors due to interference between the windings of rotating electric motor 30. to adjust. Inverter control unit 106 converts dq-axis voltage command values vdr and vqr in the rotating coordinate system to three Convert to phase voltage command values vur, vvr, vwr. Then, PWM 70a generates gate signal GI for each switching element of inverter 26 based on three-phase voltage command values vur, vvr, and vwr.

Field converter control unit 104 also receives field current command value ifr. The field converter control unit 104 includes an adder 62e, a PI controller (proportional integral controller) 64c, and a PWM 70b. The field converter control unit 104 calculates the error between the field current command value ifr and the field current detection value if by the adder 62e, and performs proportional integral control by the PI controller 64c so that this error approaches zero. to set the field voltage command value vfr. Field converter control unit 104 controls gate signals GS1, GS2, GS3, and GS4 of switching elements S1, S2, S3, and S4 of field converter 24 based on field voltage command value vfr in PWM 70b. Generate.

Gate signals GSu1 and GSu2 of switching elements Su1 and Su2 of boost converter 18 can be generated by a conventionally known method. In the present embodiment, a command value for boost converter 18 can be set based on corrected torque command value Trc, and gate signals GSu1 and GSu2 for boost converter 18 can be generated based on the command value.

Next, the operation of the rotating electric motor system 10 of this embodiment configured as described above will be introduced. FIG. 3A is a diagram showing each sensor detection value with respect to the torque command value of the rotating electric motor system 10 of the present embodiment, and FIG. 3B is an enlarged diagram showing the graph of the period tw shown in FIG. 3A. In each graph of FIGS. 3A and 3B, the dashed line indicates the command value, and the solid line indicates the sensor detection value. The horizontal axis of each graph in FIG. 3A is the same time axis in each graph in the same figure, and the horizontal axis of each graph in FIG. 3B is also the same time axis in each graph in the same figure. FIG. 3A shows graphs of the d-axis current command value idr (broken line) and the d-axis current detection value id (solid line), the q-axis current command value iqr (broken line) and the q-axis current detection value iq (solid line) in order from the top. ), a graph of field current command value ifr (broken line) and field current detection value if (solid line), a graph of field voltage detection value (solid line), a torque command value Tr (broken line) and torque detection value T ( solid line) is shown. Note that the field voltage is the voltage applied to the field winding 34 . Further, FIG. 3B shows, in order from the top, graphs of the enlarged field current command value ifr (broken line) and the field current detection value if (solid line), the enlarged torque command value Tr (broken line) and the torque detection value. A graph of the value T (solid line) is shown. FIG. 3A shows each value when the torque command value (see the bottom graph) is increased from 0 to a predetermined value, the torque command value is maintained at the predetermined value for a while, and then the torque command value is returned to 0 again. It is shown.

As shown in FIG. 3A, the rotary electric motor 30 is an SPM (surface magnet type motor), so the d-axis current command value idr (broken line) is set to 0 (A). When the torque command value rises sharply from 0 to a predetermined value, the q-axis current command value rises sharply and greatly, and the field voltage also rises sharply, reaching the maximum voltage during the period t1. Further, when the torque command value abruptly falls from a predetermined value to 0, the field voltage abruptly falls and becomes the maximum voltage (maximum voltage in the negative direction) only during the period t2. Here, referring to FIG. 3B , focusing on the time in which the torque command value rises sharply from 0 to a predetermined value, the responsiveness of the field current detection value if (solid line) to the field current command value ifr (broken line) is not very high. not good. The responsiveness is not so good even though the maximum field voltage is applied. This is because, for example, the field winding 34 has a large number of turns, so that the self-inductance of the field winding 34 and the mutual inductance with the three-phase winding 32 are high. On the other hand, the responsiveness of torque detection value T (solid line) to torque command value Tr (broken line) is very good. The torque (torque detection value) quickly follows the torque command value. The reason for this is that the q-axis current command value iqr and the q-axis current detection value iq (see FIG. 3A) rise sharply and greatly. In addition to the torque command value Tr, the field current command value ifr and the dq-axis current command values idr and iqr are determined by taking into consideration the deviation between the torque command value Tr and the torque estimated value Test (current torque estimated value) of the rotary electric motor 30. Therefore, the q-axis current command value iqr sharply rises to a large extent.

Here, the present embodiment and the prior art are compared. In the prior art, the torque command value Tr is input to the current command value setting unit 102 (see FIG. 2B) of this embodiment, instead of the post-correction torque command value Trc. That is, in the prior art, the dq-axis current command values idr and iqr and the field current command value if are set based on the torque command value Tr. FIGS. 4A and 4B are diagrams showing respective sensor detection values with respect to the torque command value of this conventional rotary motor system, and graphs corresponding to the graphs of FIGS. 3A and 3B are shown. As shown in FIG. 4A, when the torque command value abruptly rises from 0 to a predetermined value, the q-axis current command value abruptly rises, and the field voltage also abruptly rises to reach the maximum voltage during the period t1. Further, when the torque command value abruptly falls from a predetermined value to 0, the field voltage abruptly falls and becomes the maximum voltage (maximum voltage in the negative direction) only during the period t2. This is similar to the embodiment of the invention of FIG. 3A. However, in the prior art, the q-axis current command value iqr is set based on the torque command value Tr. The rising amount of the detected value iq is small. Therefore, as shown in FIG. 4B, the responsiveness of torque detection value T (solid line) to torque command value Tr (broken line) is very poor compared to the embodiment of the present invention.

According to the rotary electric motor control device 12 according to the embodiment of the present invention described above, in addition to the torque command value Tr, the difference between the torque estimated value Test (current torque estimated value) of the rotary electric motor 30 and the torque command value Tr is taken into consideration when setting the field current command value ifr and the dq-axis current command values idr and iqr. The torque of the rotary electric motor 30 can be made to reach the torque command value Tr in a shorter period of time than in the case where the When the torque command value Tr increases abruptly, the deviation between the estimated torque value Test and the torque command value Tr increases. The field current command value ifr and the dq-axis current command values idr and iqr (q-axis current command values when the d-axis current is controlled at 0 A) are set larger than when idr and iqr are set. , the torque can reach the torque command value Tr in a shorter time. At this time, even if the field current command value ifr reaches the maximum value, the dq-axis current command values idr and iqr (q-axis current command values when the d-axis current is controlled at 0 A) are set large. , the torque can be increased quickly. Further, even when the number of turns of the field winding 34 is large and the time required for the field current if to reach the field current command value ifr is long, the dq-axis currents id and iq (d-axis current id When controlled at 0 A, the q-axis current iq) increases, so the torque increases quickly. Further, since the dq-axis currents id and iq are feedback-controlled by the PI controller, the dq-axis currents id and iq do not increase unnecessarily.

Here, the operation of the rotating electric motor system of Patent Document 1 will be introduced. 5A and 5B are diagrams showing respective sensor detection values with respect to the torque command value of the rotary electric motor system of Patent Document 1, which correspond to the graphs of FIGS. 3A and 3B. The rotary motor system of Patent Document 1 supplies a d-axis current according to a torque command value, and delays the timing of increasing the d-axis current from the timing of starting the field current if. As shown in FIG. 5B, the configuration of Patent Document 1 is also inferior to the embodiment of the present invention in the responsiveness of torque detection value T (solid line) to torque command value Tr (broken line). Also from this result, it can be understood that the configuration of the embodiment of the present invention is excellent.

In the embodiment of the present invention described above, the rotary electric motor 30 is SPM. However, the rotating electric motor 30 may be an IPM (internal magnet motor). In this case, the d-axis current command value idr is not fixed at 0A, and various d-axis current command values idr are set based on the post-correction torque command value Trc.

Next, a control device 12 of another embodiment will be described. 6A and 6B are block diagrams of controller 12 of another embodiment. 2A and 2B described above and the control devices of FIGS. 6A and 6B are the configurations of the correction value calculation unit 120, the current command value setting unit 122, and the inverter control unit 126. have the same configuration. 6A and 6B corrects the d-axis current command value idr instead of correcting the torque command value Tr.

The correction value calculator 120 shown in FIG. 6A includes an adder 94 and a PI controller 96 (proportional integral controller). The correction value calculation unit 120 receives the estimated torque value Test from the torque estimation unit 82, calculates the deviation between the estimated torque value Test and the torque command value Tr of the rotary electric motor 30 with the adder 94, and calculates this deviation with the PI controller 96. A d-axis current command correction value idco is calculated by performing proportional integral control. Here, the d-axis current command correction value idco takes positive and negative values.

A current command value setting unit 122 shown in FIG. 6B sets the dq-axis current command values idr and iqr and the field current command value ifr based on the torque command value Tr. The inverter control unit 126 controls the inverter 26 based on the corrected d-axis current command value idrc obtained by adding the d-axis current command correction value idco and the d-axis current command value idr in the adder 98 and the q-axis current command value iqr. A gate signal GI for each switching element is generated.

7A and 7B are diagrams showing respective sensor detection values with respect to the torque command value of the rotating electric motor system including the control device of this other embodiment, and the graphs corresponding to those shown in FIGS. 3A and 3B are shown. there is The graph shown at the top of FIG. 7A is a graph of the corrected d-axis current command value idrc (broken line) and the d-axis current detection value id (solid line). As shown in FIG. 7A, when the torque command value rises sharply from 0 to a predetermined value, the corrected d-axis current command value and the q-axis current command value rise sharply, and the field voltage also rises sharply. is the maximum voltage. Further, when the torque command value abruptly falls from a predetermined value to 0, the field voltage abruptly falls and becomes the maximum voltage (maximum voltage in the negative direction) only during the period t2. As shown in FIG. 7B, it can be seen that the responsiveness of the torque detection value (solid line) to the torque command value (broken line) is good also in this other embodiment.

According to the control device of another embodiment described above, in addition to the d-axis current command value idr, the deviation between the torque estimated value Test (current torque estimated value) of the rotary electric motor 30 and the torque command value Tr is considered. Since the inverter 26 is controlled based on the d-axis current command value idrc after correction, the inverter 26 is controlled based on the d-axis current command value idr in which the deviation is not taken into consideration, and thus the inverter 26 is controlled in a shorter time. The torque of the rotating electric motor can be made to reach the torque command value Tr.

By the way, there is a rotating electric motor (variable magnetic field motor) in which the relationship between the d-axis current and the torque changes depending on the magnitude of the magnetic field current. 8A to 8C are diagrams showing examples of torque characteristics of such a rotating electric motor. 8A is a diagram showing the relationship between the dq-axis current and torque when the field current is 0 A, and FIG. 8B is a diagram showing the relationship between the dq-axis current and torque when the field current is 1/2 of the maximum value. FIG. 8C is a diagram showing the relationship between the dq-axis current and the torque when the field current is at its maximum value. 8A to 8C, the horizontal axis represents the d-axis current (0 at the right end, indicating that the negative current increases toward the left end), and the vertical axis represents the q-axis current (0 at the lower end, increasing the positive current toward the upper end). ), the gray scale indicates the magnitude of the torque. On the right side of each figure of FIGS. 8A to 8C, the grayscale shading and the magnitude relationship of torque are shown. Light colors indicate torque values near the center, and dark colors indicate torque values near the minimum or maximum. show. FIG. 8A (field current = 0 A) shows that the torque increases as the q-axis current increases (from the lower end to the upper end of the figure), and the torque in the TDR range shown in the figure is output. FIG. 8B (field current=maximum value/2) also shows that the torque increases as the q-axis current increases (from the lower end to the upper end of the figure). A range of torque values are shown to be output. FIG. 8C (field current=maximum value) also shows that the torque increases as the q-axis current increases (from the lower end to the upper end of the figure). Torque is shown to be output.

Here, focusing on FIGS. 8A and 8B, the torque increases as the negative current of the d-axis current becomes smaller (closer to 0). On the other hand, looking at FIG. 8C, the torque hardly changes depending on the d-axis current, or the torque increases as the negative current of the d-axis current increases (far from 0). Thus, the relationship between the d-axis current and the torque changes depending on the magnitude of the field current. In such a rotary electric motor, even if the configuration of Patent Document 1 and another embodiment of the present invention (the configuration of controlling the torque with the d-axis current) is used, the torque cannot quickly follow the torque command value. On the other hand, according to the first embodiment of the present invention (the control device in FIGS. 2A and 2B), even in such a rotary electric motor, the torque can quickly follow the torque command value. 8A to 8C show a rotating motor designed to flow the d-axis current in the negative direction. Even in a rotating electric motor in which the relationship between the d-axis current and the torque changes according to the control device shown in FIGS. 2A and 2B, the torque can quickly follow the torque command value.

Next, a configuration applicable to the rotating electric motor system of the present invention will be described. The rotary motor system 10 (see FIG. 1) described above has a configuration including the boost converter 18 . However, as shown in FIG. 9, a rotary motor system 90 may be provided that does not include the boost converter 18 and in which the output voltage vb of the battery 14 is applied between the bus lines 28a and 28b. That is, the voltage vc between the pair of busbars 28a and 28b to which the arms of the field converter 24 and the inverter 26 are connected may be used as the output voltage vb of the battery 14 (vc=vb).

Further, in the rotary motor systems 10 and 90 described above, the field converter 24 is an H-arm converter. However, the field converter 24 is not limited to the H-arm converter, and other configurations may be employed as appropriate.

In addition, as shown in FIG. 10, the rotating motor is subjected to sine wave PWM control (sine wave PWM mode) in order to reduce torque fluctuations in the low rotation speed region a1, and to the rotating motor in the high rotation speed region a3. It is known that rectangular wave control (rectangular mode) that can increase the applied effective voltage is applied, and overmodulation PWM control (overmodulation PWM mode) is applied in the intermediate rotational speed region a2. This is to apply the control mode to the rotating electric motor by switching the control mode according to the operating conditions (torque and rotation speed) of the rotating electric motor. When rectangular wave control is applied to the rotating motor, the inverter 26 is in a state where it outputs substantially the maximum voltage. performance may not improve. Therefore, the rotary motor may be controlled as follows. When PWM control (including sine wave PWM control and overmodulation PWM control, the same applies hereinafter) is applied to the rotating electric motor, the switching elements of the field converter and the inverter are controlled based on the corrected torque command value Trc ( 2B), and when rectangular wave control is applied to the rotary motor, the switching elements of the field converter and the inverter are controlled based on the torque command value Tr (conventional configuration is adopted). . Note that "controlling the switching elements of the field converter and the inverter based on the torque command value Tr" means controlling the switching elements of the field converter and the inverter without using the post-correction torque command value Trc. means Alternatively, the rotary motor may be controlled as follows. When PWM control is applied to the rotating motor, the switching elements of the inverter are controlled based on the corrected d-axis current command value idrc (the configuration of FIG. 6B is adopted), and rectangular wave control is applied to the rotating motor. In this case, the switching elements of the inverter may be controlled based on the torque command value Tr (conventional configuration may be employed). Note that "controlling the switching elements of the inverter based on the torque command value Tr when the rectangular wave control is applied to the rotating motor" means that the switching elements of the inverter are controlled without using the corrected d-axis current command value idrc. It means to control the element.

10, 90 rotating electric motor system, 12 control device, 14 battery, 17, 22 capacitor, 18 step-up converter, 20 reactor, 24 field converter, 26 inverter, 28a, 28b busbar, 30 rotating electric motor, 32 armature winding ( three-phase winding), 34 field winding, 36 rotation angle sensor, 38u, 38v, 40 current sensor, 60 current command map, 62a, 62b, 62c, 62d, 60e adder, 64a, 64b, 64c PI controller , 66 decoupling controller, 68 dq axis-3 phase converter, 70a, 70b PWM, 80a, 80b, 80c band stop filter (BSF), 82 torque estimator, 84a, 84b adder, 86 PI controller, 94, 98 adder 96 PI controller 100, 120 correction value calculator 102, 122 current command value setting unit 104 field converter controller 106, 126 inverter controller S1, S2, S3, S4 , Sa, Sb, Su1, Su2 switching elements, A0 arm, A11 first arm, A12 second arm, B1 U-phase arm, B2 V-phase arm, B3 W-phase arm.

Claims (4)

A control device that is applied to a rotary motor having a field winding and a three-phase winding, and that controls a field converter that supplies a field current to the field winding and an inverter that supplies a three-phase current to the three-phase winding. and
a torque estimation unit that obtains a torque estimation value of the rotating electric motor based on the field current and the dq-axis current corresponding to the three-phase current;
a correction value calculation unit that calculates a torque command correction value by proportional-integral control of the deviation between the estimated torque value and the torque command value of the rotary electric motor;
a current command value setting unit that sets a field current command value and a dq-axis current command value based on a corrected torque command value obtained by adding the torque command correction value and the torque command value;
a field converter control unit that controls switching elements of the field converter based on the field current command value;
an inverter control unit that controls switching elements of the inverter based on the dq-axis current command values;
A rotary electric motor control device characterized by: A control device that is applied to a rotary motor having a field winding and a three-phase winding, and that controls a field converter that supplies a field current to the field winding and an inverter that supplies a three-phase current to the three-phase winding. and
a torque estimation unit that obtains a torque estimation value of the rotating electric motor based on the field current and the dq-axis current corresponding to the three-phase current;
a correction value calculation unit that calculates a torque command correction value by proportional-integral control of the deviation between the estimated torque value and the torque command value of the rotary electric motor;
a current command value setting unit that sets a field current command value and a dq-axis current command value based on a corrected torque command value obtained by adding the torque command correction value and the torque command value;
a field converter control unit that controls switching elements of the field converter based on the field current command value;
an inverter control unit that controls switching elements of the inverter based on the dq-axis current command value;
PWM control and rectangular wave control are selectively applied to the rotating electric motor according to torque and rotation speed,
When PWM control is applied to the rotating electric motor, switching elements of the field converter and the inverter are controlled based on the corrected torque command value,
When rectangular wave control is applied to the rotating electric motor, the switching elements of the field converter and the inverter are controlled based on the torque command value.
A rotary electric motor control device characterized by: A control device that is applied to a rotary motor having a field winding and a three-phase winding, and that controls a field converter that supplies a field current to the field winding and an inverter that supplies a three-phase current to the three-phase winding. and
a torque estimation unit that acquires a torque estimation value of the rotary electric motor based on the field current and the dq-axis current corresponding to the three-phase current;
a correction value calculation unit that calculates a d-axis current command correction value by performing proportional integral control on the deviation between the estimated torque value and the torque command value of the rotary electric motor;
a current command value setting unit that sets a field current command value, a d-axis current command value, and a q-axis current command value based on the torque command value;
an inverter control unit that controls switching elements of the inverter based on the corrected d-axis current command value obtained by adding the d-axis current command correction value and the d-axis current command value, and the q-axis current command value;
a field converter control unit that controls switching elements of the field converter based on the field current command value;
A rotary electric motor control device characterized by: A control device for a rotary electric motor according to claim 3,
PWM control and rectangular wave control are selectively applied to the rotating electric motor according to torque and rotation speed,
When the PWM control is applied to the rotary electric motor, the switching element of the inverter is controlled based on the corrected d-axis current command value,
A switching element of the inverter is controlled based on the torque command value when the rectangular wave control is applied to the rotating electric motor.
A rotary electric motor control device characterized by:

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