JPH1014273A - Controller for permanent magnet synchronous motor for driving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stabilize a current control system, while minimizing the flux current even when the output voltage of an inverter approaches a maximum level by receiving the magnitude and the angle of a voltage vector and the sum of a torque angle correction value and a permanent magnet flux angle and delivering a polyphase PWM voltage command to an inverter. SOLUTION: A PWM voltage generating section 17 receives the magnitude and the angle of a voltage vector, outputted from a voltage vector magnitude limiting section 14, and the sum of a torque angle correction value and a permanent magnet flux angle and delivering a polyphase PWM voltage command to an inverter INV. When the magnitude of the voltage vector exceeds the maximum level of inverter output, the voltage vector is fixed, a weakening flux density is minimized and high speed torque control performance required for idling control can be ensured by torque angle control. Consequently, the current control system can be stabilized, while enhancing the efficiency.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a control device for a permanent magnet synchronous motor for driving a vehicle.

[0002]

2. Description of the Related Art Conventionally, in controlling a permanent magnet synchronous motor for driving a vehicle, when performing high-speed operation in which the inverter output voltage is close to a maximum value, the back electromotive voltage generated by the permanent magnet exceeds the inverter output maximum voltage. In order to prevent the control from becoming unstable, a large amount of weak magnetic flux current was supplied with a margin.

[0003]

However, if a large amount of flux-weakening current continues to flow, the efficiency of the motor and the inverter decreases, which is not desirable. An object of the present invention is to provide a control device for a permanent magnet synchronous motor for driving a vehicle, which can achieve both stability and efficiency improvement of a current control system.

[0004]

According to one aspect of the present invention, there is provided a vehicle driving permanent magnet for controlling a vehicle driving permanent magnet synchronous motor by an inverter for converting DC power to AC power. In the control device for a synchronous motor, a rotation angular speed calculation unit that calculates a motor rotation angular speed by using a permanent magnet magnetic flux angle of the vehicle driving permanent magnet synchronous motor as an input, and a magnetic flux direction that calculates a magnetic flux direction current command using the rotation angular speed as an input. A current command calculating unit, the magnetic flux direction current command, and a voltage command calculating unit that calculates a magnetic flux direction voltage command and a torque direction voltage command by using the torque command as an input; and the magnetic flux direction voltage command and the torque direction voltage command. As inputs, a polar coordinate converter for calculating the magnitude of the voltage vector and the angle of the voltage vector, and the magnitude of the voltage vector as an input. When the magnitude of the input voltage vector exceeds the maximum voltage that can be output by the inverter, the magnitude of the voltage vector is limited, and the magnitude of the voltage vector is output as a new magnitude of the voltage vector. An actual torque calculating unit that calculates an actual torque value by using the magnetic flux direction voltage instruction, the torque direction voltage instruction, the actual torque current value, the actual magnetic flux direction current value, and the rotational angular velocity as inputs, and the torque command And a torque angle control unit that calculates the torque angle correction value so that the torque actual value follows the torque command, using the torque actual value as input.
Inputting the sum of the magnitude of the voltage vector output from the magnitude limiter of the voltage vector, the angle of the voltage vector, the torque angle correction value, and the permanent magnet magnetic flux angle, inputs a multi-phase PWM voltage command. This is a control device for a permanent magnet synchronous motor for driving a vehicle, the control device including a PWM voltage generating unit that outputs the voltage to the inverter.

According to the first aspect of the invention, when the magnitude of the voltage vector exceeds the maximum value of the inverter output voltage, the magnitude of the voltage vector is fixed to minimize the flux-weakening current. At the same time, high-speed torque control performance required for idling control and the like can be secured by torque angle control.

To achieve the above object, a second aspect of the present invention is the magnetic flux current command calculating section, wherein the motor rotational angular velocity output from the rotational angular velocity calculating section is input and a magnetic flux direction current feedforward command value is inputted. , A magnetic flux direction current correction value, a voltage vector size limiter, and a magnetic flux direction current correction value based on a deviation from the magnitude of each voltage vector output from the polar coordinate converter. The sum of a magnetic flux direction current correction value calculation unit, a magnetic flux direction current feedforward command value output from the magnetic flux direction current feedforward calculation unit, and a magnetic flux direction current correction value output from the magnetic flux direction current correction value calculation unit. A permanent magnet synchronous motor for driving the vehicle according to claim 1, further comprising: an adder for calculating the output of the magnetic flux direction current command value calculator. A control unit of the machine.

According to the second aspect of the present invention, the magnetic flux current command calculation unit is composed of the magnetic flux direction current feedforward calculation unit, the magnetic flux direction current correction value calculation unit, and the addition unit. Is unnecessary.

According to a third aspect of the present invention, there is provided a control apparatus for a permanent magnet synchronous motor for driving a vehicle, wherein the permanent magnet synchronous motor for driving the vehicle is controlled by an inverter for converting DC power into AC power. A rotation angular velocity calculation unit that calculates a motor rotation angular velocity by using a permanent magnet magnetic flux angle of the vehicle driving permanent magnet synchronous motor as an input,
A magnetic flux direction current command calculation unit that calculates a magnetic flux direction current command using the rotation angular velocity as an input, a torque direction voltage command,
A permanent magnet magnetic flux estimating unit that calculates a permanent magnet magnetic flux estimated value by inputting a magnetic flux direction current actual value, a torque current actual value, and a motor rotation angular velocity output from the rotation angular velocity arithmetic unit, and the magnetic flux direction current command A torque command, and a permanent magnet magnetic flux estimation value output from the permanent magnet magnetic flux estimating unit as an input, a magnetic flux direction voltage instruction and a voltage instruction calculating unit that calculates the torque direction voltage instruction, and the magnetic flux direction voltage instruction, With the torque direction voltage command as an input, a polar coordinate conversion unit that calculates the magnitude of the voltage vector and the angle of the voltage vector, and the magnitude of the voltage vector output from the polar coordinate conversion unit as an input, the input voltage vector If the magnitude exceeds the maximum voltage that can be output from the inverter, the magnitude of the voltage vector is limited to limit the magnitude of the new voltage vector. The magnitude limiter of the voltage vector to be output as the magnetic flux direction voltage command, the torque direction voltage command, the torque current actual value, the magnetic flux direction current actual value, and the rotation speed output from the rotation speed calculation unit , An actual torque calculation unit for calculating an actual torque value, the torque command, and a torque angle such that the actual torque value output from the actual torque calculation unit is input so that the actual torque value follows the torque command. A torque angle control unit that calculates a correction value, a magnitude of a voltage vector output from the voltage vector magnitude limiting unit, an angle of a voltage vector output from the polar coordinate conversion unit, and an output from the torque angle control unit. A PWM voltage generating unit that receives a sum of the corrected torque angle value and the permanent magnet magnetic flux angle and outputs a multi-phase PWM voltage command to the inverter. A control device for both driving permanent magnet synchronous motor.

According to the third aspect of the present invention, since the permanent magnet magnetic flux estimating section is provided, in addition to the operation of the first aspect of the present invention, control is possible even if the temperature of the permanent magnet changes. It is.

According to a fourth aspect of the present invention, there is provided a control apparatus for a permanent magnet synchronous motor for driving a vehicle, wherein the permanent magnet synchronous motor for driving the vehicle is controlled by an inverter for converting DC power to AC power. A rotation angular velocity calculation unit that calculates a motor rotation angular velocity by using a permanent magnet magnetic flux angle of the vehicle driving permanent magnet synchronous motor as an input,
A magnetic flux direction current command calculation unit that calculates a magnetic flux direction current command by using the rotation angular velocity as an input; a voltage command calculation unit that calculates a magnetic flux direction voltage command and a torque direction voltage command by using the magnetic flux direction current command and the torque command as inputs. A polar coordinate conversion unit that calculates the magnitude of the voltage vector and the angle of the voltage vector by using the magnetic flux direction voltage command and the torque direction voltage command as inputs, and the input voltage that receives the magnitude of the voltage vector as input. When the magnitude of the vector exceeds the maximum voltage that can be output from the inverter, a magnitude limiter for the magnitude of the voltage vector that limits the magnitude of the voltage vector and outputs the magnitude as a magnitude of the new voltage vector; Inputting the actual value and the actual torque current value,
Using a motor equivalent circuit constant, a torque calculation unit for calculating a torque actual value, and the torque command and the torque actual value output from the actual torque calculation unit as inputs, so that the torque actual value follows the torque command. A torque angle control unit that calculates a torque angle correction value, a magnitude of a voltage vector output from the voltage vector magnitude limiting unit, an angle of a voltage vector output from the polar coordinate conversion unit, and the torque angle control unit. A permanent magnet synchronous motor control device for a vehicle having a PWM voltage generating unit that outputs a multi-phase PWM voltage command to the inverter with a sum of a torque angle correction value output from the controller and a permanent magnet magnetic flux angle as an input. is there. According to the invention corresponding to claim 4, the same operation and effect as in claim 1 can be obtained.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION

<First Embodiment> An embodiment of the present invention will be described below with reference to the drawings. A first embodiment will be described with reference to FIGS. In the first embodiment shown in FIG. 1, the control device of the vehicle driving permanent magnet synchronous motor SM includes a magnetic flux direction current command value calculation unit 11, a voltage command calculation unit 12, a polar coordinate conversion unit 13, and a voltage vector conversion unit. A size limiter 14;
Actual torque calculation unit 15, torque angle control unit 16, PWM
It comprises a voltage generator 17 and a rotational angular velocity calculator 18. In FIG. 1, W is a DC overhead wire, PG is a pantograph, and INV is an inverter.

The magnetic flux direction current command value calculating section 11 receives a motor angular velocity (motor angular frequency) ωr described later and outputs a magnetic flux direction current command IdRef by the following calculation.

Now, the direction of the magnetic flux of the permanent magnet is d-axis, and the direction perpendicular thereto is the q-axis. IdRef is obtained by the following equation (1) according to the magnitude of the motor rotation angular frequency. When ωr ≧ ωr0, IdRef = {(ωr0−ωr) · Φf｝ ÷ (ωr · Ld) (1) When ωr <ωr0, IdRef = 0, where ωr0 is a constant angular frequency and Φf is a permanent magnet magnetic flux ,
Ld is the d-axis inductance.

The operation of the voltage command calculator 12 will be described with reference to FIG. The voltage command calculation unit 12 includes a current command calculation unit 12
1 and a voltage feedforward operation unit 122.

The current command calculating section 121 outputs a magnetic flux direction current command value IdR output from the magnetic flux direction current command value calculating section 11.
ef and the torque command value TorqRef as inputs,
), The magnetic flux direction current command IdRef1 and the torque current IqRef are obtained and output.

IdRef1 = IdRef IqRef = TorqRef {Φf + (Ld−Lq) · IdRef1} (2) where Lq is output from the current command calculator 121 in the q-axis inductance / voltage feedforward calculator 122. Magnetic flux direction current command IdR
ef1 and the torque current command IqRef, and the magnetic flux direction voltage command VdRef and the torque direction voltage command VqRef
) And (4).

VdRef = Rd · IdRef1-ωr · Lq · IqRef (3) VqRef = Rq · IqRef + ωr · (Ld · IdRef1 + Φf) (4) where Rd is a d-axis resistance and Rq is a q-axis resistance.

The polar coordinate converter 13 receives the magnetic flux direction voltage command VdRef and the torque direction voltage command VqRef output from the voltage command calculator 12 and performs the following calculations.
The magnitude | V | of the voltage vector and the angle δ of the voltage vector with respect to the magnetic flux axis direction are output.

[0019]

(Equation 1)

The voltage vector magnitude limiting unit 14 receives the magnitude | V | of the voltage vector output from the polar coordinate transformation unit 13 and receives the magnitude | V | Lim of the new voltage vector by the following conditional branch. Is output.

(1) When | V | ≧ | V | Ref, | V | Lim = | V | Ref (2) When | V | <| V | Ref, | V | Lim = | V | actual torque The calculation unit 15 includes a magnetic flux direction voltage command VdRef and a torque direction voltage command VqR output from the voltage command calculation unit 12.
ef, magnetic flux direction current actual value Id, and torque current actual value Iq
And the motor rotational angular velocity ωr output from the rotational angular velocity calculator 18 as an input, to obtain and output the actual torque value by the calculation of the following equation (7).

Torq = ｛VdRef · Id + VqRef · Iq｝ ÷ ωr (7) The torque angle control unit 16 receives the torque command value TorqRef and the actual torque value Torq output from the actual torque calculation unit 15 as the following ( 8) The torque angle correction value Δθ is output by the proportional integral control represented by the equation (8).

Δθ = {(Kp · s + Ki) × (TorqRef−Torq)} ÷ s (8) where s: differential operator Kp: proportional gain, Ki: integral gain.

The operation of the PWM voltage generator 17 will be described with reference to FIG. In the PWM voltage generator 17, the magnitude | V | Lim of the voltage vector output from the voltage vector magnitude limiter 14, the torque angle correction value Δθ output from the torque current controller, and the rotor phase θr And an inverter phase θ1 which is the sum of the three values of the voltage vector angle δ output from the polar coordinate conversion unit 16 and receives a voltage command VuPW
M, VvPWM and VwPWM are output.

Here, a case where a permanent magnet synchronous motor is driven using an NPC (neutral point clamp type) inverter will be described as an example. Using the input inverter phase θ1,
u, v, w The inverter phases θu, θv, θw are (9
) To (11).

Θu = θ1 + π / 2 (9) θv = θ1 + π / 2−2π / 3 (10) θw = θ1 + π / 2−4π / 3 (11) Using the U-phase inverter phase θu, the following (12) ), The U-phase PWM voltage command VuPWM is output by the calculation of the equations (13).

VuPWM = + Vdc / 2 (0 ≦ θu <π) (12) VuPWM = −Vdc / 2 (π ≦ θu <2π) (13) Similarly, the V-phase PWM voltage command VvPWM and the W-phase voltage Command Vw
PWM is also output as in the following equations (14) to (17).

VvPWM = + Vdc / 2 (0 ≦ θv <π) (14) VvPWM = −Vdc / 2 (π ≦ θv <2π) (15) VwPWM = + Vdc / 2 (0 ≦ θw <π) (16) VwPWM = −Vdc / 2 (π ≦ θw <2π) (17) In the rotation angular velocity calculating unit 18, the permanent magnet magnetic flux angle θr detected by the sensor 19 is input and the following (1)
The motor rotational angular velocity ωr is calculated and output by the calculation of equation 8).

Ωr = s · θr (18) (s is a differential operator) According to the above-described first embodiment, when the magnitude of the voltage vector exceeds the maximum value of the inverter output voltage, the voltage vector By fixing the magnitude of, the flux-weakening current can be minimized to a necessary minimum, and the high-speed torque control performance required for idling control and the like can be secured by the torque angle control.

<Second Embodiment> A second embodiment corresponding to the control device for a permanent magnet synchronous motor for driving a vehicle according to claim 2 will be described with reference to FIG.

A control device 1 for a permanent magnet synchronous motor for driving a vehicle according to a second embodiment includes a magnetic flux current command value calculation unit 1
1, a voltage command calculator 12, a polar coordinate converter 13, a voltage vector size limiter 14, and an actual torque calculator 15
, A torque angle control unit 16, a PWM voltage generation unit 17,
It comprises a rotation angular velocity calculation unit 18.

The magnetic flux direction current command calculation unit 11 includes a magnetic flux direction current feedforward calculation unit 111 and a magnetic flux direction current correction value calculation unit 112. The motor rotational angular velocity ωr is input, and the magnetic flux direction current feedforward command value IdRef FF is calculated and output. The magnetic flux direction current correction value calculation unit 112 calculates the magnetic flux direction current correction value using the command value | V | Lim of the magnitude of the voltage vector and the magnitude of the voltage vector | V | Output. And IdRef FF
And the magnetic flux direction current command value calculation unit 11 outputs the sum IdRef of the magnetic flux direction current correction value.

More specifically, the motor rotation angular velocity ωr, the magnitude | V | Lim of the voltage vector output from the voltage vector magnitude limiting unit 14, and the magnitude of the voltage vector output from the polar coordinate transformation unit 13 With | V | as an input, the magnetic flux direction current command value IdRef is obtained and output by calculation of the following equation (19).

When ωr ≧ ωr0, IdRef = {(ωr0−ωr) · Φf｝ ÷ (ωr · Ld) + ΔIdRef (19) When ωr <ωr0, IdRef = ΔIdRef, where ωr0 is a constant angular frequency and Φf Is the permanent magnet flux,
Ld is the d-axis inductance.

Here, ΔIdRef is obtained by the following equation (20). ΔIdRef = {Kpd · s · Kid} × (| V | Lim− | V |)} s (20) where s is a differential operator, Kpd: proportional gain, Kid: integral gain.

The operation of the other components is the same as in the first embodiment. According to the second embodiment described above, since the magnetic flux current command calculation unit includes the magnetic flux direction current feedforward calculation unit, the magnetic flux direction current correction value calculation unit, and the addition unit, fine adjustment is not required. It is.

<Third Embodiment> A third embodiment corresponding to the control device for a permanent magnet synchronous motor for driving a vehicle according to the present invention will be described with reference to FIGS.

The control device 1 for a permanent magnet synchronous motor for driving a vehicle according to the third embodiment includes a magnetic flux current command value calculation unit 11, a voltage command calculation unit 12, a polar coordinate conversion unit 13 as shown in FIG. The voltage vector magnitude limiter 14, the actual torque calculator 15, the torque angle controller 16, the PWM voltage generator 17, the rotational angular velocity calculator 18, and the permanent magnet magnetic flux estimator 21 are provided.

In the permanent magnet magnetic flux estimating section 21, FIG.
The magnetic flux direction voltage command VqRef output from the voltage command calculation unit 12, the motor rotation angular velocity ωr, the magnetic flux direction current actual value Id, and the torque current actual value Iq are input as shown in FIG. The magnetic flux estimation value Φf-H is obtained and output.

Φf−H = (VqRef−Rq · Iq) ÷ ω
r− (Ld · Id) (21) The current command calculation unit 121 and the voltage feedforward calculation unit 122, which are components of the voltage command calculation unit 12, use the permanent magnet flux φf output from the permanent magnet flux estimation unit 21. Using H, each operates as follows.

In the current command calculation section 121, the magnetic flux direction current command value IdRef output from the magnetic flux direction current command value calculation section 11, the torque command value TorqRef, and the permanent magnetic flux estimation output from the permanent magnet magnetic flux estimation section 21. With the value Φf−H as input, the magnetic flux direction current command Id is calculated by the following calculation.
Ref 1 and torque current IqRef are obtained and output.

IdRef 1 = IdRef (22) IqRef = TorqRef {Φf−H + (Ld−Lq) · IdRef1} (23) where Ld is d-axis inductance and Lq is q-axis inductance.

In the voltage feedforward calculation unit 122, the magnetic flux direction current command IdRef output from the current command calculation unit 121, the torque current command IqRef, and the permanent magnet flux estimation value Φ output from the permanent magnet flux estimation unit 21
With f−H as input, a magnetic flux direction voltage command VdRef and a torque direction voltage command VqRef are obtained by the following calculation.

VdRef = Rd · IdRef1-ωr · Lq · IqRef (24) VqRef = Rq · IqRef + ωr · (Ld · IdRef1 + Φf−H) (25) where Rd is the d-axis resistance and Rq is the q-axis. The operation of the other components is the same as that of the first embodiment.

According to the third embodiment described above, since the permanent magnet magnetic flux estimating section 21 is provided, in addition to the operation of the first embodiment, control can be performed even when the temperature of the permanent magnet changes. It is.

<Fourth Embodiment> A fourth embodiment corresponding to the control apparatus for a permanent magnet synchronous motor for driving a vehicle according to the present invention will be described with reference to FIG.

A magnetic flux current command value calculation unit 11, a voltage command calculation unit 12, a polar coordinate conversion unit 13, a voltage vector size limit unit 14, an actual torque calculation unit 15, a torque angle control unit 16, a PWM And a voltage generator 17.

The actual torque calculator 15 receives the actual torque current value Iq and the actual magnetic flux direction current value Id, and estimates and outputs the actual torque Torq by the following calculation.

Torq = p ｛Φf + (Ld−Lq) · Id｝ · Iq (26) (p is the number of motor pole pairs) A magnetic flux current command value calculation unit 11, a voltage command calculation unit 12,
Polar coordinate converter 13 and voltage vector magnitude limiter 14
The operations of the torque angle controller 16 and the PWM voltage generator 17 are the same as in the first embodiment. According to the fourth embodiment described above, the same functions and effects as those of the first embodiment can be obtained.

[0050]

According to the control apparatus for a permanent magnet synchronous motor for driving a vehicle according to the present invention, current control is performed while minimizing the flux-weakening current even in high-speed operation in which the inverter output voltage is close to the maximum value. The system can be prevented from becoming unstable.

[Brief description of the drawings]

FIG. 1 is a functional block diagram for explaining an overall configuration of a first embodiment of a control device for a permanent magnet synchronous motor for driving a vehicle according to the present invention.

FIG. 2 is a diagram illustrating a configuration of a voltage command calculation unit in FIG.

FIG. 3 is a view for explaining the operation of a PWM voltage generator of FIG. 1;

FIG. 4 is a diagram illustrating the operation of a magnetic flux direction current command calculation unit according to a second embodiment of the present invention.

FIG. 5 is a functional block diagram for explaining an overall configuration of a third embodiment of the control device for a permanent magnet synchronous motor for driving a vehicle according to the present invention.

FIG. 6 is a diagram illustrating an operation of a permanent magnet magnetic flux estimating unit according to a third embodiment.

FIG. 7 is a functional block diagram for explaining the overall configuration of a fourth embodiment of the control device for a permanent magnet synchronous motor for driving a vehicle according to the present invention.

[Explanation of symbols]

 SM: vehicle driving permanent magnet synchronous motor, 11: magnetic flux direction current command calculator, 12: voltage command calculator, 13: polar coordinate converter, 14: voltage vector size limiter, 15: actual torque calculator, 16 ... Torque angle control unit, 17 ... PWM voltage generation unit, 18 ... Rotation angular velocity calculation unit, W ... DC overhead wire, PG ... Pantograph, INV ... Inverter.

Continued on the front page (72) Inventor Yosuke Nakazawa 1 Toshiba-cho, Fuchu-shi, Tokyo Inside the Fuchu factory, Toshiba Corporation

Claims (4)

[Claims] 1. A control apparatus for a permanent magnet synchronous motor for driving a vehicle, wherein the permanent magnet synchronous motor for driving a vehicle is controlled by an inverter for converting DC power to AC power. A rotational angular velocity computing unit that computes a motor rotational angular velocity by inputting a magnetic flux direction current command computing unit that computes a magnetic flux direction current command by using the rotational angular velocity as an input; A voltage command calculation unit that calculates a direction voltage command and a torque direction voltage command, and a polar coordinate conversion unit that calculates the magnitude of a voltage vector and the angle of the voltage vector by using the magnetic flux direction voltage command and the torque direction voltage command as inputs. With the magnitude of the voltage vector as an input, the magnitude of the input voltage vector can be output from the inverter. When the maximum voltage is exceeded, a voltage vector magnitude limiting unit that limits the magnitude of the voltage vector and outputs the magnitude as a new voltage vector magnitude, the magnetic flux direction voltage command, the torque direction voltage command, and torque A current actual value, a magnetic flux direction current actual value, and an input of the rotational angular velocity, an actual torque calculation unit that calculates a torque actual value, and the torque command and the actual torque value are input, and the actual torque value is a torque command. A torque angle control unit that calculates a torque angle correction value to follow up, a magnitude of a voltage vector output from the voltage vector magnitude limiting unit, an angle of the voltage vector, the torque angle correction value, A permanent magnet for driving a vehicle, comprising: a PWM voltage generator for outputting a multi-phase PWM voltage command to the inverter with a sum of the permanent magnet flux angle and the sum as an input. The control device of the electric motor. 2. The magnetic flux current command calculation unit, comprising: a magnetic flux direction current feedforward calculation unit configured to calculate a magnetic flux direction current feedforward command value by using a motor rotation angular velocity output from the rotation angular velocity calculation unit as an input; A vector size limiting unit, a magnetic flux direction current correction value calculating unit that calculates a magnetic flux direction current correction value based on a deviation between the magnitude of each voltage vector output from the polar coordinate conversion unit, and the magnetic flux direction current feed. The sum of the magnetic flux direction current feedforward command value output from the forward calculation unit and the magnetic flux direction current correction value output from the magnetic flux direction current correction value calculation unit is calculated and output as the output of the magnetic flux direction current command value calculation unit. The control device for a permanent magnet synchronous motor for driving a vehicle according to claim 1, further comprising: an adding unit that performs the operation. 3. A control apparatus for a permanent magnet synchronous motor for driving a vehicle, wherein the permanent magnet synchronous motor for driving a vehicle is controlled by an inverter for converting DC power to AC power. A rotation angular velocity calculation unit that calculates a motor rotation angular velocity by using the input as an input; a magnetic flux direction current command calculation unit that calculates a magnetic flux direction current command by using the rotation angular velocity as an input; a torque direction voltage command; a magnetic flux direction current actual value; A permanent magnet magnetic flux estimating unit that calculates a permanent magnet magnetic flux estimated value by inputting the actual current value and the motor rotation angular speed output from the rotation angular speed calculating unit; the magnetic flux direction current command; the torque command; Calculate the magnetic flux direction voltage command and the torque direction voltage command by using the permanent magnet flux estimation value output from the magnet flux estimation unit as an input. A voltage command calculation unit, a polar coordinate conversion unit that receives the magnetic flux direction voltage command and the torque direction voltage command as inputs, and calculates a magnitude of a voltage vector and an angle of the voltage vector; and a voltage vector output from the polar coordinate conversion unit. When the magnitude of the input voltage vector exceeds the maximum voltage that can be output from the inverter, the magnitude of the voltage vector is limited, and the magnitude of the voltage vector is output as a new magnitude of the voltage vector. A size limiting unit, the magnetic flux direction voltage command, the torque direction voltage command,
A torque actual value, a magnetic flux direction current actual value, and a rotation speed output from the rotation speed calculation unit as an input, an actual torque calculation unit that calculates a torque actual value, the torque command, and the actual torque calculation unit A torque angle control unit that calculates a torque angle correction value so that the actual torque value follows the torque command, with the actual torque value output from the input as an input, and a voltage vector output from the voltage vector magnitude limiting unit. The multi-phase PWM voltage command is input using a sum of a magnitude, an angle of a voltage vector output from the polar coordinate conversion unit, a torque angle correction value output from the torque angle control unit, and a permanent magnet magnetic flux angle as inputs. A control device for a permanent magnet synchronous motor for driving a vehicle, comprising: a PWM voltage generating unit that outputs the voltage to an inverter. 4. A control device for a permanent magnet synchronous motor for driving a vehicle, wherein the permanent magnet synchronous motor for driving a vehicle is controlled by an inverter for converting DC power into AC power, wherein a permanent magnet magnetic flux angle of the permanent magnet synchronous motor for driving the vehicle is provided. A rotational angular velocity computing unit that computes a motor rotational angular velocity by inputting a magnetic flux direction current command computing unit that computes a magnetic flux direction current command by using the rotational angular velocity as an input; A voltage command calculation unit that calculates a direction voltage command and a torque direction voltage command, and a polar coordinate conversion unit that calculates the magnitude of a voltage vector and the angle of the voltage vector by using the magnetic flux direction voltage command and the torque direction voltage command as inputs. With the magnitude of the voltage vector as an input, the magnitude of the input voltage vector is the output of the inverter. If the maximum voltage exceeds the maximum voltage, the voltage vector size is limited and the voltage vector size limiter, which is output as a new voltage vector size, and the magnetic flux direction current actual value and torque current actual value are input. A torque calculation unit that calculates an actual torque value using an electric motor equivalent circuit constant, and the torque actual value follows the torque command using the torque command and the actual torque value output from the actual torque calculation unit as inputs. A torque angle control unit that calculates the torque angle correction value, a magnitude of the voltage vector output from the voltage vector magnitude limiting unit, an angle of the voltage vector output from the polar coordinate conversion unit, and the torque angle. PWM that outputs a multi-phase PWM voltage command to the inverter by using a sum of a torque angle correction value output from a control unit and a permanent magnet magnetic flux angle as an input Pressure generating portion and the control apparatus for a vehicle driving permanent magnet synchronous motor having a.