Classifications

• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
  • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
  • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage

Definitions

• Rotating electrical machine control device rotating electrical machine control method, and rotating electrical machine control program
• the present invention relates to a rotating electrical machine control device, a rotating electrical machine control method, and a rotating electrical machine control program, and more particularly to a rotating electrical machine control device, a rotating electrical machine control method, and a rotating electrical machine control that compensate torque when the torque of the rotating electrical machine decreases.
• a rotating electrical machine control device a rotating electrical machine control method, and a rotating electrical machine control that compensate torque when the torque of the rotating electrical machine decreases.
• the magnetic flux of the permanent magnet changes depending on the temperature, and demagnetization occurs particularly at high temperatures, resulting in a decrease in torque. Therefore, the magnetic flux of the permanent magnet is estimated using a temperature sensor or the like, and the torque of the motor or the like is compensated.
• Japanese Laid-Open Patent Publication No. Hei 10-2 2 9 7 0 0 discloses that in a rotating electrical machine using a permanent magnet as a field, the rate of demagnetization of the permanent magnet increases as the temperature rises.
• the magnetic flux of the permanent magnet is estimated based on the output V IP of the IP controller of the q axis, and the torque current command is calculated using this estimated magnetic flux value.
• Japanese Patent Laid-Open No. 2 0 2-9 5 3 0 0 states that in constant output operation using field weakening in a permanent magnet synchronous motor, the number of winding flux linkages is constant. However, it is actually stated that the number of flux linkages decreases as the temperature of the permanent magnet increases.
• Japanese Patent Laid-Open Publication No. 5- 1 8 4 1 9 2 discloses the electric temperature and the ambient temperature of an electric motor used in an electric motor used in a cryogenic environment. It is disclosed that the operation of the electric motor is stopped or the heat is activated when the temperature sensor or the thermostat is detected and the temperature is lower than the limit demagnetization temperature.
• Japanese Patent Application Laid-Open No. 2 0 0 2-3 5 9 9 96 describes that the torque is estimated from the electric power and the rotational speed of the motor and is used for torque compensation.
• the estimated value of the current torque is obtained from the estimated power obtained by the power calculation unit and the motor speed, and the torque deviation is detected by comparing with the torque command, and the detected torque deviation is set to 0. It is stated that torque feedback to converge is performed.
• Japanese Patent Laid-Open No. 2 0 0 3-8 8 1 9 7 in the torque control of an induction motor, a DC input current is obtained from a DC voltage and a DC current supplied to a power unit, and this is calculated as a rotational speed. It is stated that the estimated torque is obtained by dividing by and used as the estimated torque feedback amount.
• the magnetic flux of a permanent magnet is estimated based on the temperature of the permanent magnet to compensate for a decrease in torque due to demagnetization of the permanent magnet.
• An object of the present invention is to provide a rotating electrical machine control device, a rotating electrical machine control method, and a rotating electrical machine control program that can compensate for a change in torque from a new viewpoint.
• the Another object of the present invention is to provide a rotating electrical machine control device, a rotating electrical machine control method, and a rotating electrical machine control program that can eliminate a cause other than demagnetization of a permanent magnet and compensate for a change in torque.
• a rotating electrical machine control device includes a voltage acquisition unit that acquires a driving voltage value of a rotating electrical machine, a current detection unit that detects a driving current value of the rotating electrical machine, an acquired driving voltage value, and a detected driving current Power calculating means for calculating drive power from the value, torque estimating means for obtaining a torque estimated value of the rotating electrical machine from the calculated drive power and the rotational speed of the rotating electrical machine, torque command value and torque estimated value
• a current command compensation means for compensating the current command value, and compensating for the torque of the rotating electrical machine.
• the current command compensation means obtains a torque error from the torque command value and the torque estimated value, obtains a torque error to be zero, obtains a q-axis current compensation value, and compensates the q-axis current command value.
• the current command compensation means obtains a q-axis current command value that matches the torque estimated value with the torque command value based on the torque command value, the corresponding q-axis current command value, and the torque estimated value. It is preferable to compensate the q-axis current command value to the obtained value. Further, the current command compensation means obtains a torque error from the torque command value and the estimated torque value, and calculates the torque error and the current estimated q-axis current value. It is preferable to obtain a d-axis current correction value that makes the torque error zero based on the above and compensate the d-axis current command value.
• a tracking unit that feeds back the drive current value of the rotating electrical machine to a current command value, and a tracking determination that determines whether the tracking unit is in a stable tracking or a transient state with respect to the torque command value. It is preferable that the current command compensation unit performs compensation when the tracking unit is in stable tracking.
• the follow-up determination means is based on the d-axis current deviation which is a deviation between the d-axis current estimated value and the d-axis current command value obtained from the drive current value of the rotating electrical machine, or the q-axis current estimated value. Based on q-axis current deviation, which is the deviation between q-axis current command value or Based on both the d-axis current deviation and the q-axis current deviation, it is preferable to judge whether the tracking is in a stable state or in a transient state.
• the rotating electrical machine control device further comprises error cause determination means for determining whether or not the cause of the error between the torque command value and the torque estimated value is due to a predetermined control condition that is arbitrarily determined in advance.
• the compensation means does not perform compensation.
• the rotating electrical machine control device includes: a voltage acquisition unit that acquires a driving voltage value of a rotating electrical machine having a permanent magnet used for driving; and a current detection unit that detects a driving current value of the rotating electrical machine.
• a power calculation means for calculating drive power from the detected drive voltage value and the detected drive current value, a torque estimation means for obtaining a torque estimate value of the rotating electrical machine from the calculated drive power and the rotational speed of the rotating electrical machine,
• a demagnetizing factor calculating means for obtaining a demagnetizing factor of the permanent magnet based on a comparison between the obtained current estimated torque value and a preliminarily obtained estimated torque value in a normal state, and according to the obtained demagnetizing factor. It is characterized by compensating the torque of the rotating electrical machine.
• the rotating electrical machine control method includes a voltage acquisition step for acquiring a driving voltage value of the rotating electrical machine, a current detection step for detecting the driving current value of the rotating electrical machine, and the acquired driving voltage value and detection.
• a power calculation step of calculating drive power from the calculated drive current value a torque estimation step of obtaining a torque estimate value of the rotating electrical machine from the calculated drive power and the rotational speed of the rotating electrical machine, a torque command value and a torque
• a current command compensation process for compensating the current finger and the command value based on the estimated value, and compensating for the torque of the rotating electrical machine.
• a rotating electrical machine control program is a rotating electrical machine control program that is executed on a rotating electrical machine control device and compensates for the torque of the rotating electrical machine, and is a voltage acquisition processing procedure for acquiring a drive voltage value of the rotating electrical machine.
• a current detection processing procedure for detecting the drive current value of the rotating electrical machine, a power calculation processing procedure for calculating drive power from the acquired drive voltage value and the detected drive current value, and the calculated drive power and rotation A torque estimation processing procedure for obtaining an estimated torque value of the rotating electrical machine from the rotational speed of the electrical machine, and a current command compensation processing procedure for compensating the current command value based on the torque command value and the torque estimated value are executed. It is characterized by that.
• the drive voltage value and drive current value of the rotating electrical machine are obtained by at least one of the above configurations, the drive power is calculated from these values, and the torque of the rotating electrical machine is calculated from the calculated drive power and the rotational speed of the rotating electrical machine. Based on the torque command value and the torque estimated value, the current command value can be compensated and the change in torque can be compensated.
• the torque T of the rotating electrical machine driven and controlled by the d-axis current I d and q-axis current I q is p, the number of pole pairs, ⁇ is the magnetic flux, L d is the d-axis inductance, and L q is the q-axis inductance.
• ⁇ ⁇ ⁇ I q + (L d — L q ) I d I q ⁇ . Therefore, by obtaining I q corresponding to the torque error, and using this as the q-axis current compensation value, the current q-axis current command value can be compensated to compensate for the change in torque.
• the q-axis current command value that matches the estimated torque value to the torque command value is obtained, and the calculated value is changed to q Compensate the shaft current command value.
• torque T is proportional to q-axis current I q , so if you know the torque command value, the corresponding q-axis current command value, and the current estimated torque value, the estimated torque value is converted to the torque command value. Since the q-axis current to be matched is known, the change in torque can be compensated by using this as the new q-axis current command value.
• the torque error is obtained from the torque command value and the estimated torque value, and based on the torque error and the current q-axis current estimated value, the d-axis current correction value for obtaining zero torque error is obtained. Compensate the value.
• the torque change can be compensated by obtaining I d corresponding to the torque error according to the above equation and compensating the current d-axis current command value using this as the d-axis current compensation value.
• the tracking means when the drive current value of the rotating electrical machine is fed back to the current command value by the tracking means, it is determined whether the tracking means is in a stable tracking or transient state with respect to the torque command value. Value compensation will be performed. If the current command value is compensated in a transient state, the current command value may be raised and the actual torque may cause overshoot. Therefore, the target torque compensation can be achieved by compensating the current command value during stable tracking. Further, it is determined whether or not the cause of the error between the torque command value and the torque estimation value is due to a predetermined control condition that is arbitrarily determined in advance. Do not do it. As a result, torque compensation can be performed by eliminating the case of torque deviation caused by other control conditions, and causes other than demagnetization of the permanent magnet can be eliminated.
• the drive voltage value and the drive current value of the rotating electrical machine having the permanent magnet used for driving are obtained by at least one of the above-described configurations, the drive power is calculated from these values, and the calculated drive power and the rotating electrical machine are calculated.
• the torque of the rotating electrical machine is estimated from the rotational speed, and the demagnetizing factor of the permanent magnet is obtained based on a comparison between the estimated current torque estimated value and the torque estimated value obtained in a normal state in advance.
• the demagnetization of the permanent magnet of the rotating electrical machine is detected without using a temperature sensor for monitoring the demagnetization of the permanent magnet at a low temperature, and the torque of the rotating electrical machine is compensated based on this. You can. Brief Description of Drawings
• FIG. 1 is a diagram showing a configuration of a rotating electrical machine control device that performs drive control of a vehicle motor generator in an embodiment according to the present invention.
• FIG. 2 is a diagram for explaining a torque surge of an actual torque that can be caused by compensating the current command value based on the estimated torque value when the follow-up to the torque command value is in a transient state in the embodiment according to the present invention. It is.
• FIG. 3 is a diagram for explaining the stability of the d-axis current estimated value used for the follow-up determination in the embodiment according to the present invention.
• FIG. 4 is a diagram illustrating a configuration for compensating for a torque error by compensating for the q-axis current command value in the embodiment according to the present invention.
• FIG. 5 is a diagram for explaining another configuration for compensating the torque error by compensating the q-axis current command value in the embodiment according to the present invention.
• FIG. 6 is a diagram illustrating a configuration for compensating for a torque error by compensating for the d-axis current command value in the embodiment according to the present invention.
• the rotating electric machine is described as a motor generator (M / G) having both functions of an electric motor and a generator.
• M / G motor generator
• the rotating electric machine may have only a function of an electric motor or a function of only a generator. I do not care.
• the number of phases may be other than three phases as long as the rotating electrical machine is controlled by the d-axis current command value and the q-axis current command value.
• the normal control of the rotating electrical machine is described as being performed by feeding back the drive current of the rotating electrical machine to the current command value, but other control methods may be used.
• FIG. 1 is a diagram illustrating a configuration of a rotating electrical machine control device 40 that performs drive control of a vehicle generator.
• the motor generator that is the target of drive control
• the motor / generator 30 is a three-phase synchronous rotating electric machine that has a function of a drive motor that drives a vehicle and a regenerative generator that recovers regenerative energy and includes a permanent magnet.
• the drive circuit 10 includes a power supply battery 1 2, a low-voltage side smoothing capacitor 14, a boost converter 1 6, a high-voltage side smoothing capacitor 1 8, and an inverse circuit 2 0. This circuit has a function of supplying a phase drive signal.
• the rotating electrical machine control device 40 performs arithmetic processing based on the torque command value 4 2, supplies the drive voltage signal converted to PWM to the inverter circuit 20 of the drive circuit 10 0, and the motor generator 3 This is a control device having a function of performing a desired drive by feeding back the drive current value 32 from 0 to the current command. Also, rotating electrical machine control device
• the rotating electrical machine control device 40 can be configured by a computer that can execute signal processing, arithmetic processing, and the like. It can be executed by software, and can be realized by software. Specifically, it can be realized by executing a corresponding rotating electrical machine control program.
• the rotating electrical machine control device 40 is generally composed of three signal processing flows.
• the first component is a part that generates a three-phase drive signal to be supplied to the inverter circuit 20 from the torque command value 42.
• the second component is the part that detects the drive current value 3 2 from the motor generator 30 and feeds it back to the current command.
• the drive current value 3 2 is coordinate-transformed 5 6, This corresponds to the loop that is input to each current command value via the subtractor 48.
• the third component is the calculation of the drive power and rotation speed of the motor / generator / motor / torque, and the estimated torque value is obtained.
• the current command value is compensated, and the torque change is compensated.
• the power calculation 5 8, the rotation speed calculation 60, the torque estimation 6 2, and the current command compensation unit 70 correspond to the first component and the second component are the torque command values.
• this is a conventionally known technique for controlling the motor generator 30 to a desired state using current feedback. Specifically, it is configured as follows. That is, when the torque command value 42 is given, the d and q current maps 44 stored in advance are searched, and the d-axis current command value and the q-axis current command value corresponding to the torque command are determined. The determined current command values are shown in Fig. 1 as I d and I q command values 4 6.
• the drive current value 3 2 detected by the generator 30 is a three-phase drive current, which is converted into a d-axis current I d and a q-axis current I q by coordinate conversion 56 and subtracted by two In the unit 48, the Id command value and Iq command value are subtracted and fed back.
• the d-axis current I d and q-axis current I q after feedback are converted to the d-axis voltage command value V d and q-axis voltage command value V q by the proportional integrator 50 , and further three-phase driven by the coordinate conversion 52 voltage value Vu, V v, is converted to V w.
• This three-phase drive voltage value 53 is transmitted as a drive voltage value to power calculation 58 described later.
• the three-phase drive voltage value 53 is converted into a PWM signal by 1 ⁇ conversion 54 and supplied to the inverter circuit 20.
• the third component uses the signals processed by the first and second components to —Evening ⁇ To compensate for torque change of generator 30.
• the torque change of the motor / generometer 30 naturally occurs in the normal drive control process, but here it is reduced mainly by demagnetization due to the temperature characteristics of the permanent magnet of the motor / generator 30. It is intended to compensate for torque.
• a torque change of the generator / generator 30 due to a change in the environment or the like can also be compensated.
• the third component is configured as follows. That is, the drive current value 32 is detected from the three-phase drive signal line for the motor generator 30 by appropriate current detection means such as a current probe, and is input to the power calculation 58. If the values of at least two of the three phase components are detected, the remaining phase components can be obtained by calculation. Although FIG. 1 shows detection of two components I v and I w , other phase component combinations may be used. Further, as described above, the three-phase drive voltage value 53 calculated by the coordinate conversion 52 of the first component is acquired and input to the power calculation 58. In addition, the electric angle 34 detected by the angle sensor in the motor generator 30 is input to the power calculation 58. The power calculation 5 8 calculates the estimated drive power of the motor / generator 30 based on the input drive current value 32, drive voltage value 53, and electrical angle 34.
• the electrical angle 34 detected by the angle sensor of the motor / generator 30 is input to the rotational speed calculation 60, and the rotational speed of the motor / generator 30 is calculated. Then, the calculated drive power and the calculated rotational speed are input to the torque estimation 62.
• the rotational speed is converted into an angular velocity, and a torque estimated value as an estimated value of the current torque of the motor / generator 30 is calculated by dividing the driving power by the angular velocity.
• the calculated estimated torque value is input to the current command compensator 70.
• the torque command value 42 is also input to the current command compensation unit 70.
• the current command compensation unit 70 has a function of compensating the current command value in order to compensate for a torque change that cannot be compensated for by the feedback from the second component. Since the feedback by the second component is the feedback of the drive current value 32 of the generator 30, the torque change that cannot be compensated by this is the torque regardless of the drive current value 32. Is something that changes. For example, As described above, there is a torque change due to demagnetization of the permanent magnet caused by the temperature of the motor generator 30.
• the current command compensation unit 70 has four functions: a compensation value calculation module 72, a follow-up determination module 74, an error cause determination module 76, and a demagnetization determination module 78.
• the compensation value calculation module 72 has a function of obtaining a current command compensation value necessary for matching the torque estimate value with the torque command value based on the input torque estimate value and the torque command value.
• the tracking determination module 7 4 and the error cause determination module 7 6 perform current command compensation based on the estimated torque value. It has a function not to perform.
• the demagnetization determination module 7 8 obtains in advance a torque estimate value in a normal state in which permanent magnet demagnetization does not occur, and compares this with the current torque estimate value to determine the demagnetization state of the permanent magnet. Has a function to judge.
• the compensation value calculation module 7 2 compensates for a deviation or error between the estimated torque value and the torque command value based on the formula of the torque T of the rotating electrical machine that is driven and controlled by the d-axis current I d and the q-axis current I q . It has a function to calculate the axis current Id or q-axis current Iq .
• the tracking determination module ⁇ 4 is a function that determines whether the tracking status is stable tracking or transient when tracking processing is performed for the torque command value 42 by current feedback by the second component. Have When determining that the current state is a transient state, compensation of the current command value based on the estimated torque value will cause overshoot of the actual torque, etc., so compensation for the current command value based on the estimated torque value will not be performed. In other words, it has a function to compensate for the current command value based on the estimated torque value when it is determined that stable tracking is being performed.
• FIG. 5 is a diagram for explaining an actual torque overshoot or torque that can occur by compensating the current command value.
• the horizontal axis represents time
• the vertical axis represents torque
• torque command value 4 2 actual torque value 100
• current command value compensated torque command value 4 Three changes are shown.
• the torque command value 42 changes at time tl
• the actual torque value 100 starts following from time t 1 accordingly.
• the actual torque value 1 0 0 is in a transient state during this period.
• the torque estimation estimates the actual torque value
• the estimated torque value between time t1 and t2 becomes the actual torque value 100 during that period. Therefore, the difference between the torque command value 4 2 and the actual torque value 100 during this period is the torque error 100.
• An amount corresponding to the torque error 10 2 is added to the torque command value 4 2 as a compensation amount 10 3 during the next sampling period from time t 2 to time t 3.
• the estimated torque value is obtained even though the follow-up state is a transient state.
• torque compensation is performed by compensating the current command value based on this, the torque command value 42 is raised.
• the actual torque value 100 0 rises rapidly and causes an overshoot after time t 3.
• the difference between the torque command value 4 2 and the actual torque value 1 0 0 from time t 4 to t 5 is the torque error 1 0 4, which corresponds to this torque error 1 0 4
• the amount to be compensated is subtracted from the torque command value 4 2 as the compensation amount 1 0 5 during the next sampling period from time t 5 to t 6.
• the actual torque value 100 0 causes an undershoot.
• the follow-up state is a transient state.
• the tracking determination module 7 4 determines whether the tracking state is stable tracking or transient when tracking processing is performed for the torque command value 4 2, and determines that stable tracking is in progress. Current command value based on the estimated torque value We will compensate for this.
• FIG. 3 is a diagram for explaining the stability of the d-axis current estimated value.
• the horizontal axis is time
• the vertical axis is d-axis current
• the change of the d-axis current estimated value calculated from the drive current value 3 2 is shown for the d-axis current command value 110. .
• the d-axis current deviation 1 1 4 within the specified range which is the deviation between the d-axis current command value 1 1 0 and the d-axis current estimated value 1 1 2
• the d-axis current deviation 1 1 4 within the specified range which is the deviation between the d-axis current command value 1 1 0 and the d-axis current estimated value 1 1 2
• tracking is performed based on the q-axis current deviation, which is the deviation between the q-axis current command value and the q-axis current estimated value. Judgment may be made as to whether it is medium or not. It is preferable to determine whether or not tracking is in progress based on both the d-axis current deviation and the q-axis current deviation.
• the d-axis current deviation or the q-axis current deviation exceeds the predetermined range, it is determined that the current state is in a transient state, and both the d-axis current deviation and the q-axis current deviation are within the predetermined range. It is preferable to judge that stable tracking is in progress.
• the error cause determination module 76 has a function of determining whether or not the cause of the error between the torque command value and the torque estimated value is due to a predetermined control condition arbitrarily determined in advance. If the current command value based on the estimated torque value is compensated when the cause of the error is due to the predetermined control condition, the predetermined control condition may not be executed correctly, so the current command value based on the estimated torque value is compensated. It has a function that does not. Examples of the predetermined control condition include a case where the torque command is changed at a large frequency per unit time, such as vibration suppression control. In this case, the frequency of the torque command per unit time can be compared with a threshold value to determine whether or not a predetermined control condition is met.
• the demagnetization determination module 7 8 obtains an estimated torque value in advance in a normal state where the demagnetization of the permanent magnet does not occur, for example, when the temperature of the permanent magnet of the motor / generator 30 is equal to or higher than room temperature. And the current estimated torque value to determine the demagnetization state of the permanent magnet.
• the change in magnetic flux can be obtained from the deviation ⁇ between the estimated torque value when it is known that no demagnetization has occurred and the current estimated torque value.
• the motor 30 determines that the permanent magnet of the generator 30 is in a demagnetized state when the torque estimated value continues to exceed the predetermined period and exceeds the predetermined torque deviation ⁇ . Based on this, the current command value can be compensated, or the torque command value 42 can be compensated directly to compensate for the reduced torque.
• the demagnetization factor of the permanent magnet can be obtained as follows. That is, the magnetic flux in the normal state, the torque at that time is 1, the current magnetic flux is 0 2, the current torque and T 2.
• the demagnetization factor of the permanent magnet can be obtained from the estimated torque value without measuring the magnetic flux of the permanent magnet and without measuring the temperature of the permanent magnet.
• the current command value can be compensated based on the calculated demagnetization factor, or the torque command value 42 can be compensated directly to compensate for the reduced torque.
• FIG. 4 shows how this is done.
• FIG. 4 shows an extracted I d, part relating Iq command value 46 of Figure 1.
• the estimated torque value obtained by the torque estimation 62 is input to the subtractor 82 and (torque command value 42—torque estimation Value) is calculated to obtain the torque error ⁇ .
• the obtained ⁇ I q is input to the subtractor 86, and (q-axis current command value + AI q ) is calculated to obtain a new q-axis current command value that can compensate for the torque error ⁇ .
• the q-axis current compensation value can be obtained by making the torque error zero, and the q-axis current command value can be compensated.
• the q-axis current command value that matches the estimated torque value with the torque command value is obtained, and the calculated value is A method for compensating the q-axis current command value is described. This method is a method to obtain the q-axis current compensation value only from the calculation without performing proportional integral control.
• T_ est kl q0
• FIG. 5 shows how this is done.
• FIG. 5 shows a part of FIG. 1 extracted as in FIG. That torque estimated value obtained by the torque estimation 62, torque command value 42 is input to the I q command compensation 86, the above operation or the like is performed, q-axis current compensation value ⁇ I q is obtained.
• the obtained ⁇ I q is input to the subtractor 88, and (q-axis current command value + AI q ) is calculated to obtain a new q-axis current command value that can compensate for the torque error ⁇ .
• the q-axis current compensation value can be obtained by making the torque error zero, and the q-axis current command value can be compensated.
• Example 4 a method for compensating for the d-axis current command value by obtaining a d-axis current correction value that makes the torque error zero based on the torque error and the current q-axis current estimated value will be described.
• This method compensates for the torque error by increasing the reluctance torque.
• the magnet torque of the first term while the magnetic flux is dependent on the temperature, the inductance L d constituting the Rirakutansuto torque, since L q hardly depends on the temperature, this method of the There is an advantage that it is hardly affected by temperature.
• the torque error ⁇ when compensating with ⁇ I d is ⁇ 2 p ⁇ (L d ⁇ L q ) IJ AI d , except for I d .
• ⁇ T and the current of the q-axis current value obtains a d-axis current compensation value delta I d from the above equation, by adding the d-axis current command value, it can be compensated .DELTA..tau.
• FIG. 6 shows how this is done.
• Fig. 6 shows a part of Fig. 1 as shown in Figs. That is, the estimated torque value obtained by the torque estimation 62 is input to the subtractor 82 and (torque command value 42 ⁇ torque estimated value) is calculated to obtain the torque error ⁇ .
• the obtained torque error ⁇ and the current q-axis current estimated value are input to I d command compensation 90, and d-axis current compensation value ⁇ to compensate by increasing the relaxation torque for ⁇ according to the above formula I d is required.
• the obtained ⁇ I d is input to the subtractor 92, and (d-axis current command value + ⁇ I d ) is calculated to be a new d-axis current command value that can compensate for the torque error ⁇ . In this way, the d-axis current compensation value that makes the torque error zero can be obtained, and the d-axis current command value can be compensated.
• the present invention is used for a rotating electrical machine control device, a rotating electrical machine control method, and a rotating electrical machine control program.
• a rotating electrical machine control device For example, for three-phase synchronous rotating electrical machines for vehicles and rotating electrical machines other than Used for all control

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