JP7344749B2 - Rotating electric machine control method and rotating electric machine control system - Google Patents

Description

The present invention relates to a rotating electrical machine control method and a rotating electrical machine control system.

Patent Document 1 proposes a control device for driving a three-phase double-winding motor having two sets of three-phase windings. In this control device, a first current control system and a second current control system are provided separately for two sets of three-phase windings, and a voltage command from the first current control system is used to control the second current control system. and a second interference voltage to the first current control system based on the voltage command of the second current control system, and the first current is adjusted based on the calculated first and second interference voltage Compensate for mutual interference between the control system and the second current control system.

Patent No. 3938486

In a multi-phase rotating electrical machine, changing the d-axis voltage command value in one control system causes interference (change) not only in the d-axis current but also in the q-axis current in the control system. The effect of a change in the q-axis current on a change in the d-axis voltage command value in this one control system becomes a factor that increases interference with the d-axis and q-axis currents of the other control system. However, the control device of Patent Document 1 does not take any measures to solve this situation.

In view of these circumstances, the present invention more reliably suppresses interference with d-axis and q-axis currents in other control systems caused by changes in voltage command values in one control system in a multiplex multiphase rotating electric machine. An object of the present invention is to provide a rotating electrical machine control method and a rotating electrical machine control system that can control the rotating electrical machine.

According to an aspect of the present invention, in a multiplex multiphase rotating electric machine in which a stator is provided with a plurality of multiphase windings, a voltage according to a voltage command value set to the plurality of multiphase windings is supplied. A rotating electric machine control method for controlling the operation of a multiplex multiphase rotating electric machine is provided. In this rotating electrical machine control method, a voltage command value for the first multiphase winding is determined based on a torque command value based on a request of an external load and a rotational state parameter representing a rotational state of a rotor of the multiplex multiphase rotating electrical machine. The first d-axis voltage command value which is the d-axis component, the first q-axis voltage command value which is the q-axis component, and the second d-axis voltage command value and q which are the d-axis component of the voltage command value for the second polyphase winding. A second q-axis voltage command value, which is an axis component, is calculated.

Then, each vibration component with respect to the change in the first d-axis voltage command value in the second d-axis current, which is the d-axis component of the current supplied to the second polyphase winding, and the second q-axis current, which is the q-axis component, is calculated. , the second d-axis voltage command value and the second q-axis voltage command value are corrected based on each calculated vibration component, and the first d-axis current, which is the d-axis component of the current supplied to the first multiphase winding, and Calculate each vibration component with respect to the change in the second d-axis voltage command value in the first q-axis current, which is the q-axis component, and correct the first d-axis voltage command value and the first q-axis voltage command value based on each calculated vibration component. .

According to another aspect of the present invention, the first q-axis voltage command in the second d-axis current that is the d-axis component of the current supplied to the second multiphase winding and the second q-axis current that is the q-axis component Each vibration component for the change in value is calculated, the second d-axis voltage command value and the second q-axis voltage command value are corrected based on each calculated vibration component, and the current supplied to the first polyphase winding is adjusted. Each vibration component is calculated for a change in the second q-axis voltage command value in the first d-axis current, which is the d-axis component, and the first q-axis current, which is the q-axis component, and the first d-axis voltage command value is calculated based on each calculated vibration component. and correct the first q-axis voltage command value.

According to the present invention, it is possible to more reliably suppress interference with d-axis and q-axis currents in other control systems caused by a change in voltage command value in one control system in a multiplex multiphase rotating electric machine.

FIG. 1 is a block diagram illustrating the configuration of a motor control system according to an embodiment of the present invention. FIG. 2 is a flowchart illustrating the motor control method according to this embodiment. FIG. 3 is a timing chart for explaining the motor control method of Comparative Example 1. FIG. 4 is a timing chart for explaining the motor control method of Comparative Example 2. FIG. 5 is a timing chart for explaining the motor control method of the embodiment.

Embodiments of the present invention will be described below.

FIG. 1 is a block diagram illustrating the configuration of a motor control system 100 for executing a rotating electric machine control method (motor control method) according to this embodiment.

The motor control system 100 of this embodiment is a system that controls the operation of a motor 101 as a multiplex multiphase rotating electric machine in which a plurality of multiphase windings are provided on a stator.

The motor 101 can be used as a power source for various driving force requesting devices. In particular, the motor 101 is expected to be used as a drive source in any vehicle that runs using the driving force of an electric motor, such as an electric vehicle (EV) or a hybrid vehicle (HEV).

Here, the polyphase winding in this embodiment is a combination of a set of windings corresponding to each phase (for example, in the case of three-phase AC, U phase, V phase, and W phase). means a winding set consisting of

Furthermore, in the following description, a unit of a set of constituent elements that controls energization to a specific winding set among the plurality of polyphase windings will be referred to as a "system". For example, if the motor 101 is a so-called three-phase double-winding type motor, two three-phase windings are provided in the stator. Therefore, in this case, the motor control system 100 that controls the operation of the motor 101 has two systems that control the energization of the two winding sets.

In this embodiment, in particular, a motor control method in the motor control system 100 will be described on the premise that the motor 101 is configured as a three-phase double-wound permanent magnet synchronous motor. However, this does not prevent the motor control method of the present invention from being applied to a system having multiple multiphase rotating electric machines other than a three-phase double-wound permanent magnet synchronous motor.

Furthermore, in the following description, in the motor control system 100 including the motor 101 configured as a three-phase double-wound permanent magnet synchronous motor, the two systems described above will be referred to as "system 1" and "system 2", respectively. . In particular, if it is necessary to distinguish between each controlled variable (current, etc.) in system 1 and each controlled variable in system 2, add a subscript "1" or "2" to each controlled variable. .

Moreover, when each control amount in these systems 1 and 2 is comprehensively explained, a subscript "n" (n=1 or 2) is attached to each control amount. For example, the three-phase voltage command value in system 1 is "three-phase voltage command value (v ^* _u1 , v ^* _v1 , v ^* _w1 )" and the three-phase voltage command value in system 2 is "three-phase voltage command value (v ^* _u2 , v ^* _v2 , v ^* _w2 )" is collectively expressed as "three-phase voltage command value (v ^* _un , v ^* _vn , v ^* _wn )."

As shown in FIG. 1, the motor control system 100 of this embodiment includes a PWM converter 102, a three-phase voltage type inverter 103, a DC power supply 104, a current sensor 105, an A/D converter 106, A magnetic pole position detector 107, a pulse counter 108, a 3-phase/dq AC coordinate conversion section 109, an angular velocity calculation section 110, a look-ahead compensation section 111, a voltage command value calculation section 112, a voltage command value correction section 113, and , dq/3-phase AC coordinate converter 114. Note that the functions of each of these components are realized by a computer programmed to execute the functions as appropriate.

The PWM converter 102 sets the PWM_Duty of the switching elements (IGBT, etc.) of the two systems of three-phase voltage type inverters 103 based on the two systems of three-phase voltage command values (v ^* _un , v ^* _vn , v ^* _wn ). Generate drive signals (D ^* _uun , D ^* _uln , D ^* _vun , D ^* _vln , D ^* _wun , D ^* _wln ).

The inverter 103 operates the switching elements based on the PWM_Duty drive signal (D ^* _uun , D ^* _uln , D ^* _vun , D ^* _vln , D ^* _wun , D ^* _wln ) generated by the PWM converter 102, and converts the DC Converts the DC voltage from the power supply 104 into three-phase AC voltage (v _un , v _vn , v _wn ) according to the three-phase voltage command value (v ^* _un , v ^* _vn , v ^* _wn ), and supplies it to the motor 101 do.

The DC power supply 104 is configured by a power storage device such as a stacked lithium ion battery.

Current sensor 105 detects three-phase alternating current (i _un , i _vn , i _wn ) flowing through each polyphase winding of motor 101 . In addition, below, this detected value is also expressed as "three-phase alternating current detected value (i _uns , i _vns , i _wns )." Specifically, the current sensor 105 detects at least two phase currents (eg, u-phase current i _un , v-phase current i _vn ) among the three-phase alternating _currents (i _un , i vn , i _wn ). For example, when the current sensor 105 is attached to only two phases, the u-phase and the v-phase, the current detection value i _wns of the remaining one phase, the w-phase, can be determined by the following equation (1).

The A/D converter 106 converts the three-phase AC current detection values (i _uns , i _vns , i _wns ) detected by the current sensor 105 into digital signals.

The magnetic pole position detector 107 outputs A-phase, B-phase, and Z-phase pulses to the pulse counter 108 according to the rotor position of the motor 101 .

The pulse counter 108 calculates the electrical angle θ _re of the motor 101 based on the A-phase, B-phase, and Z-phase pulses from the magnetic pole position detector 107 . This electrical angle θ _re is a value corresponding to the actual value of the electrical angle of the motor 101, which is determined based on the mechanical angle θ _rm and the motor pole pair number p (number of magnetic pole pairs) determined by the structure of the motor 101. That is, the electrical angle θ _re corresponds to a rotational state parameter representing the rotational state of the rotor of the motor 101. The pulse counter 108 outputs the calculated electrical angle θ _re to the 3-phase/dq AC coordinate conversion section 109 , the angular velocity calculation section 110 , and the look-ahead compensation section 111 .

The three-phase/dq AC coordinate conversion unit 109 uses the electrical angle θ _re calculated by the pulse counter 108 to convert the three-phase AC current detection values (i _uns , i _vns , i _wns ) from a three-phase AC coordinate system (uvw axes) to an orthogonal two-axis DC coordinate system (dq axes).

Specifically, first, the 3-phase/dq AC coordinate conversion unit 109 calculates the electrical angle θ _n for each system n from the electrical angle θ _re based on the following equations (2) and (3).

Note that "θ _offset " in equations (2) and (3) means the phase difference between the electrical angle θ _re and the system 1. Further, “θ ₁₂ ” means a phase difference between system 2 and system 1. That is, "θ ₁₂ " corresponds to "θ ₂ - _{θ 1} ".

Further, the 3-phase/dq AC coordinate conversion unit 109 converts the dq-axis current (i _d1 , i _q1 ) of system 1 from the above-mentioned three-phase AC current detection value using the electrical angle θ _n based on the following equation (4). and calculate the dq-axis currents (i _d2 , i _q2 ) of system 2.

The 3-phase/dq AC coordinate conversion unit 109 converts the calculated dq-axis currents (i _d1 , i _q1 ) of system 1 and dq-axis currents (i _d2 , i _q2 ) of system 2 into motor control system 100 as appropriate. Feedback is provided to a control element (not shown).

In addition, in the following, the code "x" (x=d or q) that includes the d-axis component and the q-axis component regarding the controlled variable such as current will be used together with the code "n" that includes the above-mentioned systems 1 and 2. use Specifically, a display such as dq-axis current (i _xn ) is used.

The angular velocity calculation unit 110 calculates the electrical angular velocity ω _re by time-differentiating the electrical angle θ _re from the pulse counter 108 . Further, the angular velocity calculation unit 110 calculates the mechanical angular velocity ω _rm by dividing the electrical angular velocity ω _re by the number of motor pole pairs p. The angular velocity calculation unit 110 outputs the calculated electrical angular velocity ω _re to the look-ahead compensation unit 111 and outputs the mechanical angular velocity ω _rm to the voltage command value calculation unit 112 .

Based on the electrical angle θ _re from the pulse counter 108 and the electrical angular velocity ω _re from the angular velocity calculation unit 110, the look-ahead compensator 111 adds the product of the electrical angular velocity ω _re and the dead time of the control system. , calculate the electrical angle θ _{′ n} after look-ahead compensation for each system.

The voltage command value calculation unit 112 calculates a torque command value T ^* , a motor rotation speed (mechanical angular velocity A basic dq-axis voltage command value (v ^* _xn ), which is the basic value of the voltage command value, is calculated using the _DC voltage V _dc , which is the magnitude of the voltage supplied from the DC power supply 104, as input information.

Voltage command value correction section 113 corrects the basic dq-axis voltage command value (v ^* _xn ) from voltage command value calculation section 112 to obtain a corrected dq-axis voltage command value (v ^** _xn ). Specifically, the voltage command value correction unit 113 corrects the corrected dq-axis voltage command value so as to remove the vibration component of the dq-axis current ( _ixn ) caused by the change in the basic dq-axis voltage command value (v ^* _xn ). (v ^** _xn ) is calculated. In particular, in this embodiment, a corrected dq-axis voltage command value (v ^** _xn ) is calculated by applying a voltage command value correction filter C _mmf (s) to the basic dq-axis voltage command value (v ^* _xn ). Note that details of the calculation of the corrected dq-axis voltage command value (v ^** _xn ) in the voltage command value correction unit 113 will be described later.

The dq/3-phase AC coordinate converter 114 receives as input information the electrical angle θ _{′ n} after look-ahead compensation from the look-ahead compensation unit 111 and the corrected dq-axis voltage command value (v ^** _xn ) from the voltage command value correction unit 113. , calculate the three-phase voltage command values (v ^* _un , v ^* _vn , v ^* _wn ).

Specifically, the dq/3-phase AC coordinate converter 114 converts the corrected dq-axis voltage command value (v ^** _xn ) from the orthogonal two-axis DC coordinate system (dq-axis) to the three-phase Three-phase voltage command values (v ^* _un , v ^* _vn , v ^* _wn ) are determined by converting to an AC coordinate system (uvw axis).

Then, the dq/3-phase AC coordinate converter 114 outputs the calculated three-phase voltage command values (v ^* _un , v ^* _vn , v ^* _wn ) to the PWM converter 102.

FIG. 2 is a flowchart for explaining the flow of the motor control method executed by the motor control system 100 of this embodiment.

As shown in the figure, first, in step S110, the electrical angle θ _re is detected (magnetic pole position detector 107 and pulse counter 108).

In step S120, the electrical angle θ _re and the mechanical angular velocity ω _rm are calculated (angular velocity calculation unit 110).

In step S130, a basic dq-axis voltage command value (v ^* _xn ) is calculated (voltage command value calculation unit 112).

In step S140, a corrected dq-axis voltage command value (v ^** _xn ) is calculated (voltage command value correction unit 113).

In step S150, the motor 101 is driven based on the corrected dq-axis voltage command value (v ^** _xn ). Specifically, the corrected dq-axis voltage command value (v ^** _xn ) is converted into three-phase voltage command values (v ^* _un , v ^* _vn , v ^* _wn ) (dq/three-phase AC coordinate converter 114). , generate PWM_Duty drive signals ( ^{D *} _uun , D ^* _uln , D ^* _vun , D ^* _vln , D ^* _wun , D ^* _wln ) from the three-phase voltage command values (v ^* _un , v ^* _vn , v* _wn ) (PWM converter 102), and supplies three-phase AC voltage (v _un , v _vn , v _wn ) to the motor 101 by switching operation based on the drive signal (inverter 103).

The details of the voltage command value correction section 113 will be described below.

[Details of voltage command value correction section]
The voltage command value correction unit 113 of this embodiment is configured as a program that sets a voltage command value correction filter C _mmf (s) and applies this to the basic dq-axis voltage command value (v ^* _xn ). The voltage command value correction filter C _mmf (s) is set from the viewpoint of appropriately removing vibration components in the characteristics of the motor 101 from voltage to current. Below, a specific method for determining this voltage command value correction filter C _mmf (s) will be explained.

First, the voltage equation regarding the motor 101 of this embodiment configured as a three-phase double-wound permanent magnet synchronous motor is expressed by the following equation (6).

The definitions of each parameter in equation (6), including those already explained, are determined as follows.

i _d1 : d-axis current of the first system (first d-axis current)
i _q1 : 1st system q-axis current (1st q-axis current)
i _d2 : d-axis current of the second system (second d-axis current)
i _q2 : 2nd system q-axis current (2nd q-axis current)
v _d1 : d-axis voltage of the first system (first d-axis voltage)
v _q1 : 1st system q-axis voltage (1st q-axis voltage)
v _d2 : d-axis voltage of the second system (second d-axis voltage)
v _q2 : 2nd system q-axis voltage (2nd q-axis voltage)
R _a1 : Stator winding resistance of the first system R _a2 : Stator winding resistance of the second system φ _a1 : Rotor magnet magnetic flux of the first system φ _a2 : Rotor magnet magnetic flux of the second system L _d1 : First system d-axis static inductance of 1 system L _q1 : q-axis static inductance of 1st system L _d2 : d-axis static inductance of 2nd system L _q2 : q-axis static inductance of 2nd system M _d : 1st system d-axis static mutual inductance between the first and second systems M _q : q-axis static mutual inductance between the first and second systems L' _d1 : d-axis dynamic inductance of the first system L' _q1 : First system L' _d2 : d-axis dynamic inductance of the second system L' _q2 : Q-axis dynamic inductance of the second system M' _d : d-axis dynamic mutual inductance between the first and second systems Inductance M' _q : q-axis dynamic mutual inductance between the first and second systems ω _re : Electrical angular velocity s: Differential operator (operator obtained by Laplace transform of the differential operator "d/dt")

In addition, in the following, static inductance L _xn , dynamic inductance L' _xn , static mutual inductance M _x , dynamic mutual inductance M' _x , stator winding resistance R _an , and rotor in equation (6) The magnet magnetic flux φ _an is a parameter that can be detected or estimated by any known method. In this embodiment, these parameters correspond to characteristic parameters. Hereinafter, these will be collectively referred to as "characteristic parameters [L _xn , L' _xn , M _x , M' _x , _Ran , φ _an ]" as necessary.

Next, the second term on the right side of the above equation (6) is transferred to the left side to obtain the following equation (7).

Furthermore, if "v _q1 - ω _re φ _a1 " and "v _q2 - ω _re φ _a2 " on the left side of equation (7) are replaced with "v _{' q1} " and "v' _q2 ", respectively, the following equation (8 ) is obtained.

Note that A(s) in equation (8) corresponds to the fourth-order square matrix (4×4 matrix) on the right side of equation (7). That is, the matrix A(s) is expressed by the following equation (9).

Furthermore, by multiplying both sides of equation (8) by A ⁻¹ (s), which is the inverse matrix of matrix A(s), from the left side, the following equation (10) is obtained.

Here, A ^-1 (s) can be expressed by the following equation (11).

"detA" in equation (11) means the determinant of A(s). Furthermore, the i-th row and j-column component [b _ij ] of the matrix on the right side is a cofactor of the matrix A(s). Note that the cofactor of the matrix A(s) is obtained by multiplying the minor determinant obtained by removing the i-th row and j-column component from the matrix A(s) by (-1) ^i+j .

Here, the matrix A(s) defined by equation (9) is a fourth-order square matrix, and at least all diagonal components include first-order terms of the operator s. Therefore, the determinant detA becomes a fourth-order polynomial regarding the operator s. Specifically, the determinant detA can be expressed as the following equation (12).

The coefficients δ ₄ , δ ₃ , δ ₂ , δ ₁ , and δ ₀ in equation (12) are all the characteristic parameters [L _xn , L' _xn , M _x , M' _x , R _an , φ _an ] and It can be expressed using the electrical angular velocity ω _re . More specifically, the coefficients δ ₄ , δ ₃ , δ ₂ , δ ₁ , and δ ₀ are determined as shown in Equation (13) below.

Furthermore, the cofactor [b _ij ] on the right side of the above equation (11) is expressed by the minor determinant of the matrix A(s), which is a 4th order square matrix (that is, the determinant of a 3rd order square matrix), so It becomes a polynomial of degree 3 or less regarding the operator s. Specifically, the cofactor [b _ij ] can be expressed by the following equation (14).

Furthermore, the coefficients c3 _ij , c2 _ij , c1 _ij , and c0 _ij in the formula are calculated using the characteristic parameters [L _xn , L' _xn , M _x , M' _x , _Ran , φ _an ] and the electrical angular velocity ω _re It can be expressed as More specifically, it can be expressed by the following equations (15) to (18).

Here, as shown in equation (12), detA is a fourth-order polynomial with respect to operator s, so its reciprocal, 1/detA, has a term of second or higher order of operator s in the denominator (especially (4th order term). Therefore, in the transfer characteristic from voltage to current expressed by equation (10), 1/detA acts as an oscillating element. That is, the characteristics from voltage to current of the motor 101, which is a three-phase double-wound permanent magnet synchronous motor, is a vibration system.

Furthermore, the d-axis and the q-axis interfere with each other between system 1 and system 2 in motor 101. Specifically, using equations (10) and (11), when calculating the first d-axis current i _d1 , first q-axis current i _q1 , second d-axis current i _d2 , and second q-axis current i _q2 , the following is obtained. It is expressed as equation (19).

As can be understood from equation (19), when the first d-axis voltage v _d1 (first basic d-axis voltage command value v ^* _d1 ) changes, not only the first d-axis current i _d1 but also the first q-axis Changes due to the back electromotive force also occur in the current i _q1 , the second d-axis current i _d2 , and the second q-axis current i _q2 . Furthermore, when the first q-axis voltage v _q1 (first basic q-axis voltage command value v ^* _q1 ) changes, not only the first q-axis current i _q1 but also the first d-axis current i _d1 and the second d-axis current i _d2 and the second q-axis current i _q2 also change due to the back electromotive force. Furthermore, when the second d-axis voltage v _d2 (second basic d-axis voltage command value v ^* _d2 ) changes, not only the second d-axis current i _d2 but also the first d-axis current i _d1 and the first q-axis current i _q1 and the second q-axis current i _q2 also change due to the back electromotive force. Furthermore, when the second q-axis voltage v _q2 (second basic q-axis voltage command value v ^* _q2 ) changes, not only the second q-axis current i _q2 but also the first d-axis current i _d1 and the first q-axis current i _q1 and the second d-axis current i _d2 also change due to the back electromotive force.

In particular, each vibration component with respect to the change in the first basic d-axis voltage command value v ^* _d1 in the second d-axis current i _d2 and the second q-axis current i _q2 is calculated by the third and fourth equations of equation (19), respectively. "b31/detA" and "b41/detA". In addition, each vibration component with respect to _the change in the second basic d-axis voltage command value v ^* _d2 in the first d-axis current i _d1 and the first q-axis current i q1 is calculated by the first and second equations of equation (19), respectively. They become "b13/detA" and "b23/detA".

Furthermore, each vibration component with respect to the change in the first basic q-axis voltage command value v ^* _q1 in the second d-axis current i _d2 and the second q-axis current i _q2 is calculated by the third and fourth equations of equation (19), respectively. They become "b32/detA" and "b42/detA". In addition, each vibration component with respect to the change in the second basic q-axis voltage command value v ^* _q2 in the first d-axis current i _d1 and the first q-axis current i _q1 is calculated by the first equation and the second equation of equation (19), respectively. They become "b14/detA" and "b24/detA".

Therefore, if a change occurs in the d-axis or q-axis voltage command value in one of system 1 and system 2, an oscillating component will occur in the current of the other d-axis and q-axis. Therefore, by simply removing the current oscillation components in each of the systems 1 and 2 individually, it is not possible to remove the current oscillation components that occur across the systems and between the d-axis and the q-axis. Therefore, in the present embodiment, the voltage command value correction unit 113 can remove such current oscillation components that span between systems and between the dq axes from the basic dq-axis voltage command value (v ^* _xn ). A voltage command value correction filter C _mmf (s) is applied to obtain a corrected dq-axis voltage command value (v ^** _xn ).

That is, the corrected dq-axis voltage command value (v ^** _xn ) is determined by calculating C _mmf (s)·(v ^* _xn ). Then, by applying the corrected dq-axis voltage command value (v ^** _xn ) to the voltage portion on the right side of equation (10), the following equation (20) is obtained.

Therefore, from the viewpoint of removing current ^oscillation components, the voltage command value correction filter C _mmf (s ).

Specifically, the voltage command value correction filter C _mmf (s) can be determined as shown in the following equation (21).

Here, τ _m in Equation (21) is a time constant during the standard response of the d-axis current and the q-axis current. Further, δ ₀ can be expressed using the characteristic parameters [L _xn , L' _xn , M _x , M' _x , _Ran , φ _an ] and the electrical angular velocity ω _re . More specifically, it is a constant determined by the following equation (22).

Furthermore, the i-th row and j-column component [c _ij ] of the matrix on the right side of equation (21) is the characteristic parameter [L _xn , L' _xn , M _x , M' _x , _Ran , φ _an ] and the electrical angular velocity ω Using _re , it is determined as in the following equations (23) to (26).

_Corrected dq _- axis voltage command ^value (v ^** _xn ) as the final voltage command value, it is possible to more reliably remove vibration components in the characteristics of the motor 101 from voltage to current.

Next, the effects when the rotating electric machine control method of this embodiment is executed (example) will be explained in comparison with comparative examples 1 and 2. In particular, the results of simulations performed under predetermined conditions for the systems of Example, Comparative Example 1, and Comparative Example 2 will be described.

(Simulation conditions)
The same torque command value T ^* (>0) was applied in steps to all of the example, comparative example 1, and comparative example 2.

(Comparative example 1)
A system having the same configuration as the motor control system 100 except that it does not include the voltage command value correction unit 113 (hereinafter referred to as "comparative example system ref1") was prepared and a simulation was performed.

FIG. 3 shows simulation results for Comparative Example 1. As shown in the figure, at time t0, the basic dq-axis voltage command value (v ^* _xn ) changed stepwise as the torque command value T ^* was applied in steps. After this time t0, the d-axis current (i _dn ) and the q-axis current (i _qn ) oscillated. Further, the d-axis current (i _dn ) and the q-axis current (i _qn ) oscillate toward convergence to a steady value through time t1 and time t2, and converge to a substantially steady value at time t3.

As described above, in the comparative example system ref1 which does not have a configuration for suppressing current oscillation, due to the resonance characteristics of the motor 101 that is the controlled object and the mutual interference characteristics between the d-axis and the q-axis including between the systems 1 and 2, The d-axis current (i _dn ) and the q-axis current (i _qn ) will oscillate.

(Comparative example 2)
Instead of the voltage command value correction unit 113, a system (hereinafter referred to as "comparative example system ref2") equipped with a configuration that performs low-pass filter processing on the basic dq-axis voltage command value (v ^* _xn ) is prepared and the simulation is performed. went.

FIG. 4 shows simulation results for Comparative Example 2. As shown in the figure, in the comparative example system ref2, the voltage command value obtained by low-pass filtering the basic dq-axis voltage command value (v ^* _xn ) with respect to the applied step-like torque command value T ^* is The profile changed according to the time constant determined by . Correspondingly, the d-axis current (i _dn ) and the q-axis current (i _qn ) gradually approached steady values without oscillating.

In this manner, in the comparative example system ref2 that performs low-pass filter processing on the basic dq-axis voltage command value (v ^* _xn ), it is possible to suppress vibrations in the d-axis current (i _dn ) and the q-axis current (i _qn ). On the other hand, the d-axis current (i _dn ) and the q-axis current (i _qn ) change relatively slowly with respect to the application of the torque command value T ^* . In other words, control responsiveness decreases.

(Example)
A simulation was performed using the motor control system 100 described in this embodiment.

FIG. 5 shows simulation results of the example. As _shown in the figure, in the example, the corrected dq-axis voltage command value ( ^{v **} . Correspondingly, the d-axis current (i _dn ) and the q-axis current (i _qn ) converged to steady values earlier than in Comparative Example 2 without substantially oscillating.

In this way, the motor control system 100 that uses the corrected dq-axis voltage command value (v ^** _xn ) performs low-pass filter processing while suppressing vibrations in the d-axis current (i _dn ) and the q-axis current (i _qn ). The control responsiveness is higher than that of the comparative example system ref2. That is, in the motor control system 100 of the embodiment, high control responsiveness is ensured while suitably suppressing current vibration.

The configuration of the rotating electric machine control method of the present embodiment described above and its effects will be explained.

In this embodiment, in a motor 101 as a multiplex multiphase rotating electric machine in which a stator is provided with a plurality of multiphase windings, voltage command values (three-phase voltage command values (v ^* _un , v ^* _vn , v ^* _wn )) A rotating electric machine control method is provided for controlling the operation of the motor 101 by supplying a voltage according to the voltage.

In this rotating electric machine control method, the torque command value T ^* based on the external load request and the rotational state parameter (electrical angle θ _re ) representing the rotational state of the rotor of the motor 101 are used to control the first polyphase winding. The first d-axis voltage command value (first basic d-axis voltage command value v ^* _d1 ), which is the d-axis component of the voltage command value, and the first q-axis voltage command value, which is the q-axis component (first basic q-axis voltage command value v ^* _q1 ), the second d-axis voltage command value (second basic d-axis voltage command value v ^* _d2 ), which is the d-axis component of the voltage command value for the second polyphase winding, and the second q-axis, which is the q-axis component. A voltage command value (second basic q-axis voltage command value v ^* _q2 ) is calculated.

Then, the first basic d-axis voltage command value v ^* _d1 at the second d-axis current i _d2 which is the d-axis component of the current supplied to the second polyphase winding and the second q-axis current i _q2 which is the q-axis component Each vibration component (see the first term of the third formula and the first term of the fourth formula in formula (19)) for the change in is calculated, and the second basic d-axis voltage command value v ^* _d2 is calculated based on each calculated vibration component. and corrects the second basic q-axis voltage command value v ^* _q2 (third and fourth columns of the column vector on the right side of equation (20)).

Further, a second basic d-axis voltage command value v ^* _d2 at the first d-axis current i _d1 which is the d-axis component of the current supplied to the first polyphase winding and the first q-axis current i _q1 which is the q-axis component Each vibration component (see the third term of the first equation and the third term of the second equation in equation (19)) for the change in is calculated, and the first basic d-axis voltage command value v ^* _d1 is calculated based on each calculated vibration component. and correct the first basic q-axis voltage command value v ^* _q1 (first and second columns of the column vector on the right side of equation (20)).

As a result, vibration components of the second d-axis current i _d2 and second q-axis current i _q2 due to changes in the first basic d-axis voltage command value v ^* _d1 , as well as changes in the second basic d-axis voltage command value v ^* _d2 It is possible to suppress vibration components of the first d-axis current i _d1 and the first q-axis current i _q1 caused by . That is, in the motor 101 configured as a multi-phase rotating electric machine, when the d-axis component of the voltage command value changes in one system, the vibration of the q-axis component of the current that occurs in the same system due to the change is suppressed. Therefore, interference with the d-axis component and q-axis component of the current of other systems can be suppressed more reliably.

Furthermore, in the rotating electrical machine control method of the present embodiment, the second d-axis current i _d2 which is the d-axis component of the current supplied to the second multiphase winding, and the second q-axis current i _q2 which is the q-axis component of the current supplied to the second multiphase winding are 1. Calculate each vibration component (see the second term of the third formula and the second term of the fourth formula in formula (19)) for changes in the basic q-axis voltage command value v ^* _q1 , and calculate the vibration component based on each calculated vibration component. The second basic d-axis voltage command value v ^* _d2 and the second basic q-axis voltage command value v ^* _q2 are corrected (third and fourth columns of the column vector on the right side of equation (20)). Further, the second basic q-axis voltage command value v ^* _q2 at the first d-axis current i _d1 which is the d-axis component of the current supplied to the first polyphase winding and the first q-axis current i _q1 which is the q-axis component Each vibration component (see the fourth term of the first equation and the fourth term of the second equation in equation (19)) with respect to the change in is calculated, and the first basic d-axis voltage command value v ^* _d1 is calculated based on each calculated vibration component. and correct the first basic q-axis voltage command value v ^* _q1 (first and second columns of the column vector on the right side of equation (20)).

As a result, vibration components of the second d-axis current i _d2 and second q-axis current i _q2 due to changes in the first basic q-axis voltage command value v ^* _q1 , as well as changes in the second basic q-axis voltage command value v ^* _q2 It is possible to suppress vibration components of the first d-axis current i _d1 and the first q-axis current i _q1 caused by . That is, in the motor 101 configured as a multi-phase rotating electric machine, when the q-axis component of the voltage command value changes in one system, the vibration of the d-axis component of the current that occurs in the same system due to the change is suppressed. Therefore, interference with the d-axis component and q-axis component of the current of other systems can be suppressed more reliably.

Furthermore, in this embodiment, the second basic d-axis voltage command value v ^* _d2 and the second basic q-axis voltage command value v ^* _q2 are corrected using a signal obtained by filtering the first basic d-axis voltage command value v ^* _d1 . ((1/τ _m s+1) in Equation (21)), the electrical angle θ _re , and the characteristic parameters [L _xn , L' _xn , M _x , M' _x , R _an , φ _an ] (see equations (21) to (26)). Furthermore, the first basic d-axis voltage command value v ^* _d1 and the first basic q-axis voltage command value v ^* _q1 are corrected using a signal obtained by filtering the second basic d-axis voltage command value v ^* _d2 (Equation (21) _{( 1 / τ m s + 1} )) in (see formulas (21) to (26)).

This makes it possible to achieve the effect of suppressing current oscillations that may occur across the d and q axes of the same system and between different systems, depending on the characteristics determined by the specifications of the motor 101 and the like. That is, it is possible to expand the specifications of motors to which the rotating electric machine control method of this embodiment can be applied, and further improve its versatility. In addition, depending on the purpose of simplifying calculations, etc., the second basic d-axis voltage command value v ^* _d2 and the second basic q-axis voltage command value v ^* _q2 may be corrected to the first basic d-axis voltage command value v ^* Executed using a signal obtained by filtering _d1 , the electrical angle θ _re which is a rotational state parameter, and one of the characteristic parameters [L _xn , L' _xn , M _x , M' _x , Ran , _{φ an ]} You may do so. In addition, the first basic d-axis voltage command value v ^* _d1 and the first basic q-axis voltage command value v ^* _q1 are corrected using the signal obtained by filtering the second basic d-axis voltage command value v ^* _d2 and the rotation state parameter. It may be performed using a certain electrical angle θ _re and any one of the characteristic parameters [L _xn , L' _xn , M _x , M' _x , _Ran , φ _an ].

Furthermore, in this embodiment, a motor control system 100 is provided as a rotating electrical machine control system in which the above-described rotating electrical machine control method is executed.

The motor control system 100 controls voltage command values (three-phase voltage command values) set to a plurality of polyphase windings in a motor 101 as a multiplex multiphase rotating electric machine in which a plurality of polyphase windings are provided on a stator. The operation of the motor 101 is controlled by supplying voltages corresponding to v ^* _un , v ^* _vn , v ^* _wn )).

In particular, the motor _control system 100 controls the voltage command value ( ^basic The first d-axis voltage command value (first basic d-axis voltage command value v ^* _d1 ) is the d-axis component of the dq-axis voltage command value (v ^* _xn )) and the first q-axis voltage command value (first 1 basic q-axis voltage command value v ^* _q1 ), a second d-axis voltage command value (second basic d-axis voltage command value v ^* _d2 ), which is the d-axis component of the voltage command value for the second polyphase winding, and It has a voltage command value calculation unit 112 that calculates a second q-axis voltage command value (second basic q-axis voltage command value v ^* _q2 ), which is a q-axis component. The motor control system 100 also includes a voltage command value correction section 113 that corrects the voltage command value calculated by the voltage command value calculation section 112.

Then, the voltage command value correction unit 113 calculates the first basic value in the second d-axis current i _d2 which is the d-axis component of the current supplied to the second polyphase winding and the second q-axis current i _q2 which is the q-axis component. Calculate each vibration component (see the first term of the third formula and the first term of the fourth formula in formula (19)) with respect to the change in the d-axis voltage command value v ^* _d1 , and calculate the second basic value based on each calculated vibration component. The d-axis voltage command value v ^* _d2 and the second basic q-axis voltage command value v ^* _q2 are corrected (the third and fourth columns of the column vector on the right side of equation (20)).

Further, the voltage command value correction unit 113 calculates a second basic value in the first d-axis current i _d1 which is the d-axis component of the current supplied to the first polyphase winding and the first q-axis current i _q1 which is the q-axis component. Calculate each vibration component (see the third term of the first equation and the third term of the second equation in equation (19)) for changes in the d-axis voltage command value v ^* _d2 , and calculate the first basic value based on each calculated vibration component. The d-axis voltage command value v ^* _d1 and the first basic q-axis voltage command value v ^* _q1 are corrected (first and second columns of the column vector on the right side of equation (20)).

Further, the voltage command value correction unit 113 corrects the first basic value in the second d-axis current i _d2 which is the d-axis component of the current supplied to the second polyphase winding and the second q-axis current i _q2 which is the q-axis component. Calculate each vibration component (see the second term of the third formula and the second term of the fourth formula in formula (19)) for the change in the q-axis voltage command value v ^* _q1 , and calculate the second basic value based on each calculated vibration component. The d-axis voltage command value v ^* _d2 and the second basic q-axis voltage command value v ^* _q2 are corrected (the third and fourth columns of the column vector on the right side of equation (20)).

Further, the voltage command value correction unit 113 calculates a second basic value in the first d-axis current i _d1 which is the d-axis component of the current supplied to the first polyphase winding and the first q-axis current i _q1 which is the q-axis component. Calculate each vibration component (see the 4th term of the first equation and the 4th term of the second equation of equation (19)) for the change in the q-axis voltage command value v ^* _q2 , and calculate the first basic value based on each calculated vibration component. The d-axis voltage command value v ^* _d1 and the first basic q-axis voltage command value v ^* _q1 are corrected (first and second columns of the column vector on the right side of equation (20)).

Thereby, a suitable system configuration for executing the rotating electric machine control method of this embodiment is realized.

Although the embodiments of the present invention have been described above, the configurations described in the above embodiments merely show a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention.

For example, in the embodiment described above, it is assumed that the type of rotor of the motor 101 is a permanent magnet rotor. However, the rotor of the motor 101 is not limited to this, and other types of rotors such as a wire-wound rotor or a cage rotor may be used.

Further, in the motor control system 100 of the present embodiment, an example in which the voltage command value correction unit 113 is employed has been described on the premise that a feedforward configuration is adopted for setting the voltage command value. However, the present invention is not limited to this, and may be applied to a system that feeds back each detected value (current, power, torque, etc.) representing the operating state of the motor 101 to a predetermined feedback controller to output a voltage command value (basic voltage command value). , voltage command value correction section 113 may be employed.

Note that in a system having a feedback configuration, the responsiveness from the voltage command value outputted by the feedback controller to the current changes depending on the designed response time constant of the feedback controller. In consideration of this point, when employing the voltage command value correction section 113 in a system having a feedback configuration, it is preferable to employ means for suppressing a decrease in control responsiveness in the system.

An example of such a means is to set the time constant τ _m in equation (21) to a value sufficiently smaller than the above-mentioned design response time constant. In addition, as another example of this means, instead of the standard response filter section (1/(τ _m +1)) in equation (21), the transfer characteristic from the voltage command value to the detected current value of the feedback controller can be properly adjusted. (especially strictly proper).

Further, in each of the above embodiments, the case where the number of systems is two has been described, but in a system where the number of systems is three or more, correction of the voltage command value according to the configuration of the present invention may be made between any two systems as appropriate. may be applied.

100 Motor control system 101 Motor 102 PWM converter 103 Inverter 104 DC power supply 105 Current sensor 106 A/D converter 107 Magnetic pole position detector 108 Pulse counter 109 3-phase/dq AC coordinate conversion unit 110 Angular velocity calculation unit 111 Read-ahead compensation unit 112 Voltage command value calculation unit 113 Voltage command value correction unit 114 dq/3-phase AC coordinate converter

Claims (4)

In a multiplex multiphase rotating electrical machine in which a stator is provided with a plurality of multiphase windings, the multiplex multiphase rotating electrical machine is A rotating electric machine control method for controlling operation,
Based on the torque command value based on the external load request and the rotational state parameter representing the rotational state of the rotor of the multi-phase rotating electric machine, the d-axis component of the voltage command value for the first multiphase winding is determined. A first q-axis voltage command value which is a d-axis voltage command value and a q-axis component, and a second d-axis voltage command value which is a d-axis component of the voltage command value for the second polyphase winding and a q-axis component which is a second d-axis voltage command value and a q-axis component. Calculate the 2q-axis voltage command value,
Calculating each vibration component with respect to a change in the first d-axis voltage command value in a second d-axis current that is a d-axis component of the current supplied to the second polyphase winding and a second q-axis current that is a q-axis component of the current. , correcting the second d-axis voltage command value and the second q-axis voltage command value based on each calculated vibration component,
Calculate each vibration component with respect to a change in the second d-axis voltage command value in a first d-axis current that is a d-axis component of the current supplied to the first polyphase winding and a first q-axis current that is a q-axis component of the current. , correcting the first d-axis voltage command value and the first q-axis voltage command value based on each calculated vibration component ,
Correction of the second d-axis voltage command value and the second q-axis voltage command value is performed using a signal obtained by filtering the first d-axis voltage command value, the rotational state parameter, and a characteristic parameter representing the characteristics of the multiplex multiphase rotating electric machine. Execute using at least one of
The first d-axis voltage command value and the first q-axis voltage command value are corrected using a signal obtained by filtering the second d-axis voltage command value and at least one of the rotational state parameter and the characteristic parameter. and execute it.
Rotating electric machine control method. In a multiplex multiphase rotating electrical machine in which a stator is provided with a plurality of multiphase windings, the multiplex multiphase rotating electrical machine is A rotating electric machine control method for controlling operation,
Based on the torque command value based on the external load request and the rotational state parameter representing the rotational state of the rotor of the multi-phase rotating electric machine, the d-axis component of the voltage command value for the first multiphase winding is determined. A first q-axis voltage command value which is a d-axis voltage command value and a q-axis component, and a second d-axis voltage command value which is a d-axis component of the voltage command value for the second polyphase winding and a q-axis component which is a second d-axis voltage command value and a q-axis component. Calculate the 2q-axis voltage command value,
Calculating each vibration component with respect to a change in the first q-axis voltage command value in a second d-axis current that is a d-axis component of the current supplied to the second multiphase winding and a second q-axis current that is a q-axis component. , correcting the second d-axis voltage command value and the second q-axis voltage command value based on each calculated vibration component,
Calculating each vibration component with respect to a change in the second q-axis voltage command value in a first d-axis current that is a d-axis component of the current supplied to the first polyphase winding and a first q-axis current that is a q-axis component. , correcting the first d-axis voltage command value and the first q-axis voltage command value based on each calculated vibration component ,
Correction of the second d-axis voltage command value and the second q-axis voltage command value is performed using a signal obtained by filtering the first d-axis voltage command value, the rotational state parameter, and a characteristic parameter representing the characteristics of the multiplex multiphase rotating electric machine. Execute using at least one of
The first d-axis voltage command value and the first q-axis voltage command value are corrected using a signal obtained by filtering the second d-axis voltage command value and at least one of the rotational state parameter and the characteristic parameter. and execute it.
Rotating electric machine control method. In a multiplex multiphase rotating electrical machine in which a stator is provided with a plurality of multiphase windings, the multiplex multiphase rotating electrical machine is A rotating electrical machine control system for controlling operation,
Based on the torque command value based on the external load request and the rotational state parameter representing the rotational state of the rotor of the multi-phase rotating electric machine, the d-axis component of the voltage command value for the first multiphase winding is determined. A first q-axis voltage command value which is a d-axis voltage command value and a q-axis component, and a second d-axis voltage command value which is a d-axis component of the voltage command value for the second polyphase winding and a q-axis component which is a second d-axis voltage command value and a q-axis component. a voltage command value calculation unit that calculates a 2q-axis voltage command value;
a voltage command value correction unit that corrects the voltage command value calculated by the voltage command value calculation unit;
The voltage command value correction section includes:
Calculating each vibration component with respect to a change in the first d-axis voltage command value in a second d-axis current that is a d-axis component of the current supplied to the second polyphase winding and a second q-axis current that is a q-axis component of the current. , correcting the second d-axis voltage command value and the second q-axis voltage command value based on each calculated vibration component,
Calculate each vibration component with respect to a change in the second d-axis voltage command value in a first d-axis current that is a d-axis component of the current supplied to the first polyphase winding and a first q-axis current that is a q-axis component of the current. , correcting the first d-axis voltage command value and the first q-axis voltage command value based on each calculated vibration component ,
Correction of the second d-axis voltage command value and the second q-axis voltage command value is performed using a signal obtained by filtering the first d-axis voltage command value, the rotational state parameter, and a characteristic parameter representing the characteristics of the multiplex multiphase rotating electric machine. Execute using at least one of
The first d-axis voltage command value and the first q-axis voltage command value are corrected using a signal obtained by filtering the second d-axis voltage command value and at least one of the rotational state parameter and the characteristic parameter. and execute it.
Rotating electrical machine control system. In a multiplex multiphase rotating electrical machine in which a stator is provided with a plurality of multiphase windings, the operation of the multiplex multiphase rotating electrical machine is controlled by supplying a voltage according to a voltage command value to the multiple polyphase windings. A rotating electrical machine control system that
Based on the torque command value based on the external load request and the rotational state parameter representing the rotational state of the rotor of the multi-phase rotating electric machine, the d-axis component of the voltage command value for the first multiphase winding is determined. A first q-axis voltage command value which is a d-axis voltage command value and a q-axis component, and a second d-axis voltage command value which is a d-axis component of the voltage command value for the second polyphase winding and a q-axis component which is a second d-axis voltage command value and a q-axis component. a voltage command value calculation unit that calculates a 2q-axis voltage command value;
a voltage command value correction unit that corrects the voltage command value calculated by the voltage command value calculation unit;
The voltage command value correction section includes:
Calculating each vibration component with respect to a change in the first q-axis voltage command value in a second d-axis current that is a d-axis component of the current supplied to the second multiphase winding and a second q-axis current that is a q-axis component. , correcting the second d-axis voltage command value and the second q-axis voltage command value based on each calculated vibration component,
Calculating each vibration component with respect to a change in the second q-axis voltage command value in a first d-axis current that is a d-axis component of the current supplied to the first polyphase winding and a first q-axis current that is a q-axis component. , correcting the first d-axis voltage command value and the first q-axis voltage command value based on each calculated vibration component ,
Correction of the second d-axis voltage command value and the second q-axis voltage command value is performed using a signal obtained by filtering the first d-axis voltage command value, the rotational state parameter, and a characteristic parameter representing the characteristics of the multiplex multiphase rotating electric machine. Execute using at least one of
The first d-axis voltage command value and the first q-axis voltage command value are corrected using a signal obtained by filtering the second d-axis voltage command value and at least one of the rotational state parameter and the characteristic parameter. and execute it.
Rotating electrical machine control system.

Images