WO2015146841A1

WO2015146841A1 - Control device for rotating electric machine, and information processing device

Info

Publication number: WO2015146841A1
Application number: PCT/JP2015/058518
Authority: WO
Inventors: 亘土方; 渡辺　隆男; 英滋土屋; 祥平松本; 雅英上村; 村上　新; 遠山　智之
Original assignee: 株式会社豊田自動織機
Priority date: 2014-03-27
Filing date: 2015-03-20
Publication date: 2015-10-01
Also published as: JP2015192494A; JP6237405B2

Abstract

In the present invention, a current command value setting unit (136) uses first and second magnetic interference models to calculate current command values (I_{in_d_ref}, I_{in_q_ref}) for a rotor winding (30) and current command values (I_{out_d_ref}, I_{out_q_ref}) for a stator winding (20), on the basis of an evaluation function (f) expressing a weighted heat generation amount for the rotor winding (30) and the stator winding (20). The first magnetic interference model represents the relationship of the interlinkage magnetic flux (ϕ_in) of the rotor winding (30) with respect to the current (I_in) of the rotor winding (30) and the current (I_out) of the stator winding (20), and the second magnetic interference model represents the relationship of the interlinkage magnetic flux (ϕ_out) of the stator winding (20) with respect to the current (I_in) of the rotor winding (30) and the current (I_out) of the stator winding (20).

Description

Rotating electrical machine control device and information processing device

The present invention relates to a control device that controls a current of a rotating electrical machine and an information processing device that calculates a current command value of the rotating electrical machine.

A control apparatus for a rotating electrical machine according to Patent Document 1 below is driven by a first rotor that is provided with windings and mechanically coupled to an engine, and a permanent magnet that is electromagnetically coupled to the windings of the first rotor. A second rotor mechanically coupled to the shaft; a stator having a winding electromagnetically coupled to a permanent magnet of the second rotor; and a slip ring electrically connected to the winding of the first rotor A brush that is in electrical contact with the slip ring, a first inverter that controls power transfer between the battery and the stator winding, and a winding of the battery and the first rotor via the slip ring and the brush. And a second inverter that is controlled so as to be able to exchange power. In Patent Document 1, the power transmitted from the engine to the first rotor is transmitted to the second rotor by electromagnetic coupling between the windings of the first rotor and the permanent magnets of the second rotor. The drive shaft can be driven. At that time, the torque acting between the first rotor and the second rotor is controlled by controlling the current of the winding of the first rotor by the switching control of the second inverter. Further, the electromagnetic force between the stator winding and the permanent magnet of the second rotor allows the second rotor to generate power by using the electric power supplied to the stator winding via the first inverter. The shaft can be driven. In that case, the torque which acts between a stator and a 2nd rotor is controlled by controlling the electric current of the coil | winding of a stator by switching control of a 1st inverter.

Japanese Unexamined Patent Publication No. 2000-50585 JP 2011-205741 A JP 2009-33917 A JP 2009-73472 A JP 2009-274536 A

In the rotating electrical machine of Patent Document 1, the torque between the first rotor and the second rotor is controlled by the current of the first rotor winding, and the torque between the stator and the second rotor is controlled by the current of the stator winding. Yes. Therefore, depending on the current value of the winding of the first rotor and the current value of the winding of the stator, for example, the amount of heat generated by the winding of the first rotor, the amount of heat generated by the stator winding, or the first rotor In some cases, the performance of the rotating electrical machine may decrease, such as a decrease in torque between the second rotor and a torque between the stator and the second rotor.

The present invention has an object to improve the performance of a rotating electrical machine capable of applying torque between the first rotor and the second rotor and between the stator and the second rotor. Another object of the present invention is to calculate a current command value for improving the performance of the rotating electrical machine.

The control apparatus and information processing apparatus for a rotating electrical machine according to the present invention employ the following means in order to achieve at least a part of the above-described object.

A control device for a rotating electrical machine according to the present invention is a control device for a rotating electrical machine that controls a current of the rotating electrical machine, and the rotating electrical machine includes a first rotor provided with a rotor winding, and a stator winding. And a second rotor facing the first rotor and the stator and capable of rotating relative to the first rotor, and the magnetic flux generated by the current in the rotor winding is the second. Torque acts between the first rotor and the second rotor according to the action on the rotor, and the stator and the second according to the magnetic flux generated by the current of the stator winding acting on the second rotor. Torque acts between the rotors, and the interlinkage magnetic flux of the stator winding can be adjusted by the current of the rotor winding, and the interlinkage magnetic flux of the rotor winding can be adjusted by the current of the stator winding And the control device includes a constraint including a condition using at least one of a current of the rotor winding and a current of the stator winding. However, the current command value of the rotor winding and the current command value of the stator winding for optimizing the evaluation function which is a function of the current of the rotor winding and the current of the stator winding, A current command value calculation unit that calculates using the second magnetic interference model is provided, and the first magnetic interference model shows the relationship between the rotor winding current and the stator winding current interlinkage magnetic flux with respect to the stator winding current. The second magnetic interference model represents the rotor winding current and the relationship of the interlinkage magnetic flux of the stator winding with respect to the stator winding current, and the rotor winding current calculated by the current command value calculation unit The gist is to control the current of the rotor winding and the current of the stator winding based on the current command value and the current command value of the stator winding.

In one aspect of the present invention, it is preferable that the first and second magnetic interference models include a model formula relating to a magnetomotive force obtained by synthesizing a rotor winding current and a stator winding current in a set ratio.

In one aspect of the present invention, the set ratio is 1: C, and C is preferably a coefficient representing the degree of magnetic interference.

In one aspect of the present invention, it is preferable that the first and second magnetic interference models further include a model formula representing a degree of change in the interlinkage magnetic flux due to magnetic saturation.

In one aspect of the present invention, it is preferable that the first and second magnetic interference models have a model related to the d-axis flux linkage and a model related to the q-axis flux linkage.

In one aspect of the present invention, the constraint condition is that the torque between the first rotor and the second rotor is equal to the first torque command value, and the torque between the stator and the second rotor is the second torque command value. The evaluation function includes equal conditions, and the evaluation function is a function obtained by adding the heat generation amount of the rotor winding and the heat generation amount of the stator winding by weighting according to a temperature difference between the rotor winding and the stator winding. Is preferred.

In one aspect of the present invention, it is preferable that the current command value calculation unit increases the weighting of the heat generation amount of a winding having a high temperature among the rotor winding and the stator winding in the evaluation function.

In one aspect of the present invention, the constraint condition is that the torque between the first rotor and the second rotor is equal to the first torque command value, and the torque between the stator and the second rotor is the second torque command value. It is preferable that the evaluation function includes an equal condition, and the evaluation function is a function representing a total loss due to copper loss and iron loss of the rotating electrical machine.

In one aspect of the present invention, the constraint condition is that the voltage of the rotor winding is not more than the first limit value, the condition that the voltage of the stator winding is not more than the second limit value, and the current of the rotor winding It is preferable to include at least one of a condition that is less than or equal to the third limit value and a condition that the stator winding current is less than or equal to the fourth limit value.

In one aspect of the present invention, the current command value calculation unit sets the current command value of the rotor winding and the current command value of the stator winding so that the evaluation function is substantially minimum within a range that satisfies the constraint condition. It is preferable to calculate.

In one aspect of the present invention, the evaluation function is preferably a function obtained by adding a torque between the first rotor and the second rotor and a torque between the stator and the second rotor with a predetermined weight. is there.

In one aspect of the present invention, the constraint condition includes a condition in which a torque between the first rotor and the second rotor is equal to a first torque command value, and the evaluation function is between the stator and the second rotor. A function representing torque is preferable.

In one aspect of the present invention, the constraint condition includes a condition in which a sum of a torque between the first rotor and the second rotor and a torque between the stator and the second rotor is equal to the third torque command value. The evaluation function is preferably a function representing an absolute value of torque between the first rotor and the second rotor.

In one aspect of the present invention, the constraint condition includes a condition that a current of the stator winding is equal to or lower than a fifth limit value, and the evaluation function is a function representing a torque between the stator and the second rotor. Is preferred.

In one aspect of the present invention, the constraint condition includes a condition that the current of the rotor winding is equal to or less than a sixth limit value, and the evaluation function is a function representing a torque between the first rotor and the second rotor. It is preferable that

In one aspect of the present invention, the current command value calculator calculates the current command value of the rotor winding and the current command value of the stator winding so that the evaluation function is substantially maximum within a range that satisfies the constraint conditions. It is preferable to calculate.

In one aspect of the present invention, power conversion can be performed between the power storage device and the stator winding by the first power conversion device, and between the power storage device and the rotor winding by the second power conversion device. The first and second limit values are set to values smaller than the voltage of the power storage device, and the third limit value is set to a value smaller than the capacity of the second power conversion device. The fourth limit value is preferably set to a value smaller than the capacity of the first power conversion device.

An information processing apparatus according to the present invention is an information processing apparatus that calculates a current command value of a rotating electrical machine, and the rotating electrical machine includes a first rotor provided with a rotor winding and a stator winding. And a second rotor facing the first rotor and the stator and capable of rotating relative to the first rotor, and the magnetic flux generated by the current in the rotor winding is the second. Torque acts between the first rotor and the second rotor according to the action on the rotor, and the stator and the second according to the magnetic flux generated by the current of the stator winding acting on the second rotor. Torque acts between the rotors, and the interlinkage magnetic flux of the stator winding can be adjusted by the current of the rotor winding, and the interlinkage magnetic flux of the rotor winding can be adjusted by the current of the stator winding The information processing apparatus includes a constraint condition including a condition using at least one of a current of the rotor winding and a current of the stator winding. And a rotor winding current command value and a stator winding current command value for optimizing an evaluation function that is a function of the rotor winding current and the stator winding current, A current command value calculation unit that calculates using the second magnetic interference model is provided, and the first magnetic interference model shows the relationship between the rotor winding current and the stator winding current interlinkage magnetic flux with respect to the stator winding current. The second magnetic interference model represents the relationship between the stator winding current and the stator winding current with respect to the stator winding current and the stator winding current.

According to the present invention, the first magnetic interference model representing the relationship of the interlinkage magnetic flux of the rotor winding to the current of the rotor winding and the current of the stator winding, the current of the rotor winding and the stator winding To optimize an evaluation function that is a function of the rotor winding current and the stator winding current using a second magnetic interference model representing the relationship of the stator winding linkage flux to the current of By calculating the current command value of the rotor winding and the current command value of the stator winding, the current command value for improving the performance of the rotating electrical machine can be calculated. Furthermore, the performance of the rotating electrical machine can be improved by controlling the current of the rotor winding and the current of the stator winding based on the calculated current command value.

It is a figure which shows schematic structure of a hybrid drive device provided with the control apparatus of the rotary electric machine which concerns on embodiment of this invention. It is a figure which shows the structural example of a rotary electric machine. It is a figure which shows the structural example of a rotary electric machine. It is a figure which shows the structural example of a rotary electric machine. It is a figure which shows the flow of the d-axis magnetic flux when the d-axis current flows through the rotor winding. It is a figure which shows the flow of the q-axis magnetic flux when the q-axis current flows into the rotor winding. It is a figure which shows the flow of d-axis magnetic flux in case a d-axis current flows into a stator winding. It is a figure which shows the flow of the q-axis magnetic flux when the q-axis current flows through the stator winding. T _in = _0, T out = current for torque 90 Nm _I _in, is a diagram showing an example of the relationship between _{I out.} It is a functional block diagram which shows the structural example of an electronic control unit. It is a flowchart which shows an example of the process performed by the electronic control unit. In _{_{T in = 0, T out =}} 90Nm constraint is a diagram showing an example of a heating value of the relationship between the rotor windings against current _{I in} the rotor windings. In _{_{T in = 0, T out =}} 90Nm constraint is a diagram showing an example of the relationship between the heating value of the stator windings for current _{I in} the rotor windings. It is a figure which shows an example of the time change of temperature (tau) _in of a rotor winding, and temperature (tau) _out of a stator winding. It is a functional block diagram which shows the structural example of an electronic control unit and information processing apparatus. It is a figure which shows the other structural example of a rotary electric machine. It is a figure which shows the other structural example of a rotary electric machine. It is a figure which shows the other structural example of a rotary electric machine. It is a figure which shows the other structural example of a rotary electric machine. It is a figure which shows the other structural example of a rotary electric machine. It is a figure which shows the other structural example of a rotary electric machine.

Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described with reference to the drawings.

1 to 4 are diagrams showing an outline of a configuration of a hybrid drive system including a control device for a rotating electrical machine according to an embodiment of the present invention. FIG. 1 shows an overview of the overall configuration, and FIGS. An outline of 10 configurations is shown. The hybrid drive system according to the present embodiment is provided between an engine (internal combustion engine) 36 provided as a prime mover capable of generating power (mechanical power), and between the engine 36 and a drive shaft 37 (wheel 38). A transmission (mechanical transmission) 44 capable of changing the transmission ratio, and a rotating electrical machine 10 provided between the engine 36 and the transmission 44 and capable of generating power (mechanical power) and generating power. Prepare. Note that the hybrid drive system according to the present embodiment can be used as a power output system for driving a vehicle, for example.

The rotating electrical machine 10 includes a stator 16 fixed to a stator case (not shown), a first rotor 28 that can rotate relative to the stator 16, a stator 16 and a first rotor 28 in a radial direction perpendicular to the rotor rotation axis, and a predetermined amount. The second rotor 18 is opposed to the stator 16 and the first rotor 28 with a gap. In the example shown in FIGS. 1 to 4, the stator 16 is disposed at a position radially outside the first rotor 28 and spaced from the first rotor 28, and the second rotor 18 is disposed in a radial direction with the stator 16. It is disposed at a position between the first rotor 28. That is, the first rotor 28 is disposed opposite to the second rotor 18 at a position radially inward of the second rotor 18, and the stator 16 is disposed opposite to the second rotor 18 at a position radially outward from the second rotor 18. Has been. Since the first rotor 28 is mechanically connected to the engine 36, the power from the engine 36 is transmitted to the first rotor 28. On the other hand, the second rotor 18 is mechanically coupled to the drive shaft 37 via the transmission 44, so that the power from the second rotor 18 is shifted by the transmission 44 to the drive shaft 37 (wheel 38). It is transmitted after. In the following description, the first rotor 28 is an input side rotor, and the second rotor 18 is an output side rotor.

The stator 16 includes a stator core 51 and a plurality of (for example, three-phase) stator windings 20 disposed on the stator core 51 along the circumferential direction thereof. In the stator core 51, a plurality of teeth 51a protruding radially inward (toward the output-side rotor 18) are arranged at intervals along the circumferential direction of the stator, and each stator winding 20 is formed of these teeth 51a. The magnetic poles are configured by being wound around. When a plurality of phases (for example, three phases) of alternating current flows through the plurality of stator windings 20, the stator windings 20 can generate a rotating magnetic field that rotates in the stator circumferential direction. In the example shown in FIGS. 3 and 4, one magnetic pole is formed for each of the six teeth 51 a around which the three-phase stator winding 20 is wound.

The input-side rotor 28 includes a rotor core 52 and a plurality of (for example, three-phase) rotor windings 30 disposed on the rotor core 52 along the circumferential direction thereof. In the rotor core 52, a plurality of teeth 52a protruding radially outward (toward the output-side rotor 18) are arranged at intervals along the circumferential direction of the rotor, and each rotor winding 30 is formed of these teeth 52a. The magnetic poles are configured by being wound around. When a plurality of phases (for example, three phases) of alternating current flows through the plurality of rotor windings 30, the rotor windings 30 can generate a rotating magnetic field that rotates in the circumferential direction of the rotor. In the example shown in FIGS. 3 and 4, one magnetic pole is formed for each of the three teeth 52 a around which the three-phase rotor winding 30 is wound.

The output-side rotor 18 has a plurality (16 in the example shown in FIGS. 3 and 4) of permanent magnets 33 that are spaced apart from each other (equally spaced) in the circumferential direction of the rotor and are adjacent to each other in the circumferential direction of the rotor. A plurality of soft magnetic materials 53 (same number as the

permanent magnets

33, 16 in the example shown in FIGS. 3 and 4) disposed between the permanent magnets 33. Each of the plurality of soft magnetic materials 53 divided and arranged at equal intervals in the circumferential direction of the rotor includes an inner peripheral surface (first surface) 61 facing the input-side rotor 28 (tooth 52a) with a predetermined gap, and a stator. 16 (teeth 51a) and an outer peripheral surface (second surface) 62 facing a predetermined gap, a side surface (third surface) 63 facing (contacting) the magnetic pole surface of one of the adjacent permanent magnets 33, A side surface (fourth surface) 64 that faces (contacts) the magnetic pole surface of the other adjacent permanent magnet 33, and allows magnetic flux to pass between the inner peripheral surface 61 and the outer peripheral surface 62. In the example shown in FIGS. 3 and 4, the magnetic pole surface of each permanent magnet 33 is arranged to be inclined with respect to the radial direction, and the side surfaces 63 and 64 of each soft magnetic material 53 are also inclined to the radial direction. Yes. In the example shown in FIGS. 3 and 4, in each soft magnetic material 53, the rotor circumferential width of the inner circumferential surface 61 is equal to the interval between the teeth 52 a that are separated by three in the rotor circumferential direction, and the rotor on the outer circumferential surface 62. The circumferential width is equal to the interval between the teeth 51a that are separated by six in the circumferential direction of the rotor. In the following description, when it is necessary to distinguish between the plurality of permanent magnets 33, the following description will be made using the reference numerals 33-1, 33-2, 33-3. When it is necessary to distinguish between the plurality of soft magnetic materials 53, the following explanation will be made using the reference numerals 53-1, 53-2, and the inner peripheral surface 61, outer peripheral surface 62,

side surface

63, 64 will be described below using reference numerals 61-1, 61-2, 62-1, 62-2, 63-1, 63-2, 64-1, 64-2.

In each soft magnetic material 53, the magnetic pole surface of the permanent magnet 33 facing the side surface 63 and the magnetic pole surface of the permanent magnet 33 facing the side surface 64 have the same polarity, and the same polarity of the permanent magnet 33 adjacent in the circumferential direction of the rotor. The two are connected via a soft magnetic material 53. For example, in the soft magnetic material 53-1, the magnetic pole surface of the permanent magnet 33-1 in contact with the side surface 63-1 is the N pole surface, and the magnetic pole surface of the permanent magnet 33-2 in contact with the side surface 64-1 is the N pole surface. Surface. On the other hand, in the soft magnetic material 53-2 adjacent to the soft magnetic material 53-1 in the circumferential direction of the rotor with the permanent magnet 33-2 interposed therebetween, the magnetic pole surface of the permanent magnet 33-2 facing the side surface 63-2 is the S pole. The magnetic pole surface of the permanent magnet 33-3 that is a surface and is in contact with the side surface 64-2 is the S pole surface. Therefore, in the soft magnetic material 53 (for example, soft magnetic materials 53-1, 53-2) adjacent in the rotor circumferential direction, the magnetic pole surfaces of the permanent magnet 33 facing the side surfaces 63, 64 have opposite polarities, and the rotor In the circumferential direction, the soft magnetic material 53 whose side surfaces 63 and 64 are in contact with the N pole surface of the permanent magnet 33 and the soft magnetic material 53 whose side surfaces 63 and 64 are in contact with the S pole surface of the permanent magnet 33 are alternately arranged. . In addition to the permanent magnet 33, a gap 54 for increasing the magnetic resistance is provided between the soft magnetic materials 53 (for example, the soft magnetic materials 53-1, 53-2) adjacent in the rotor circumferential direction. . It is also possible to provide a nonmagnetic material instead of the gap 54. However, soft magnetic materials 53 (for example, soft magnetic materials 53-1, 53-2) adjacent in the circumferential direction of the rotor may be connected by a bridge.

The flow of field magnetic flux by the permanent magnet 33 is shown in FIG. As shown by the arrows in FIG. 4, in the soft magnetic material 53-1, the field magnetic flux generated by the permanent magnet 33-1 flows from the side surface 63-1 to the inner peripheral surface 61-1 and the outer peripheral surface 62-1, and is permanently The field magnetic flux generated by the magnet 33-2 flows from the side surface 64-1 to the inner peripheral surface 61-1 and the outer peripheral surface 62-1. For the input-side rotor 28, the inner peripheral surface 61-1 of the soft magnetic material 53-1 functions as an N pole surface, and the field magnetic flux is input from the inner peripheral surface 61-1 of the soft magnetic material 53-1. It acts on the rotor 28 (the teeth 52a). For the stator 16, the outer peripheral surface 62-1 of the soft magnetic material 53-1 functions as an N pole surface, and the field magnetic flux is transferred from the outer peripheral surface 62-1 of the soft magnetic material 53-1 to the stator 16 (tooth 51a). Act on. On the other hand, in the soft magnetic material 53-2, the field magnetic flux generated by the permanent magnet 33-2 flows from the inner peripheral surface 61-2 and the outer peripheral surface 62-2 to the side surface 63-2, and the field magnet generated by the permanent magnet 33-3. Magnetic flux flows from the inner peripheral surface 61-2 and the outer peripheral surface 62-2 to the side surface 63-3. For the input side rotor 28, the inner peripheral surface 61-2 of the soft magnetic material 53-2 functions as an S pole surface, and the field magnetic flux is transferred from the input side rotor 28 (tooth 52a) to the soft magnetic material 53-2. It acts on the inner peripheral surface 61-2. For the stator 16, the outer peripheral surface 62-2 of the soft magnetic material 53-2 functions as an S pole surface, and the field magnetic flux is transferred from the stator 16 (tooth 51a) to the outer peripheral surface 62-2 of the soft magnetic material 53-2. Act on. Thus, the inner peripheral surface 61 and the outer peripheral surface 62 of the same soft magnetic material 53 function as magnetic pole surfaces having the same polarity. In the circumferential direction of the rotor, the inner peripheral surface 61 that functions as the N pole surface and the inner peripheral surface 61 that functions as the S pole surface are alternately arranged, and functions as the outer peripheral surface 62 that functions as the N pole surface and the S pole surface. The outer peripheral surfaces 62 are alternately arranged. In each soft magnetic material 53, magnetic flux can be easily passed between the inner peripheral surface 61 and the outer peripheral surface 62, between the side surfaces 63 and 64 and the inner peripheral surface 61, and between the side surfaces 63 and 64 and the outer peripheral surface 62. Therefore, it is preferable that no gap and nonmagnetic material are provided, and it is preferable that a portion having a high magnetic resistance is not provided.

The chargeable / dischargeable power storage device 42 provided as a direct current power source can be constituted by a secondary battery, for example, and stores electrical energy. Inverter 40 provided as a first power conversion device that performs power conversion between power storage device 42 and stator winding 20 includes a switching element and a diode (rectifier element) connected in reverse parallel to the switching element. It can be realized by a known configuration, and can be supplied to each phase of the stator winding 20 by converting DC power from the power storage device 42 to AC (for example, three-phase AC) by switching operation of the switching element. . Furthermore, the inverter 40 can also convert power in a direction in which alternating current flowing in each phase of the stator winding 20 is converted into direct current and electric energy is collected in the power storage device 42. Thus, the inverter 40 can perform bidirectional power conversion between the power storage device 42 and the stator winding 20.

The slip ring 95 is mechanically coupled to the input side rotor 28, and is further electrically connected to each phase of the rotor winding 30. The brush 96 whose rotation is fixed is pressed against the slip ring 95 to be in electrical contact. The slip ring 95 rotates with the input-side rotor 28 while sliding with respect to the brush 96 (maintaining electrical contact with the brush 96). The brush 96 is electrically connected to the inverter 41. An inverter 41 provided as a second power conversion device that performs power conversion between any of the power storage device 42 and the inverter 40 and the rotor winding 30 includes a switching element and a diode (rectifier connected in reverse parallel to the switching element). Element), the DC power from the power storage device 42 is converted into alternating current (for example, three-phase alternating current) by the switching operation of the switching element, and the rotor is connected via the brush 96 and the slip ring 95. It is possible to supply each phase of the winding 30. Furthermore, the inverter 41 can also perform power conversion in a direction in which an alternating current flowing in each phase of the rotor winding 30 is converted into a direct current. At that time, AC power of the rotor winding 30 is extracted by the slip ring 95 and the brush 96, and the extracted AC power is converted to DC by the inverter 41. The electric power converted into direct current by the inverter 41 can be supplied to each phase of the stator winding 20 after being converted into alternating current by the inverter 40. That is, the inverter 40 can convert either (at least one) of the DC power from the inverter 41 and the DC power from the power storage device 42 into AC and supply it to each phase of the stator winding 20. In addition, the power converted into direct current by the inverter 41 can be recovered by the power storage device 42. Thus, the inverter 41 can perform bidirectional power conversion between any of the power storage device 42 and the inverter 40 and the rotor winding 30.

The electronic control unit 50 is configured as a microprocessor centered on a CPU, and includes a ROM that stores a processing program, a RAM that temporarily stores data, and an input / output port. The electronic control unit 50 controls the switching operation of the switching element of the inverter 40 and controls the power conversion in the inverter 40, thereby controlling the alternating current flowing in each phase of the stator winding 20, and switching the switching element of the inverter 41. The AC current flowing in each phase of the rotor winding 30 is controlled by controlling the power conversion in the inverter 41 by controlling the switching operation. Furthermore, the electronic control unit 50 also controls the operating state of the engine 36 and the speed ratio of the transmission 44.

When a three-phase alternating current flows through the three-phase stator winding 20 by the switching operation of the inverter 40, the stator winding 20 generates a rotating magnetic field that rotates in the circumferential direction of the stator, and a magnetic flux generated by the current of the stator winding 20 is generated. It acts on the output side rotor 18. Accordingly, an electromagnetic interaction (attraction and repulsion) between the rotating magnetic field generated by the alternating current of the stator winding 20 and the field magnetic flux generated by the permanent magnet 33 flowing between the outer peripheral surface 62 and the side surfaces 63 and 64 of the soft magnetic material 53. By the action), the torque _Tout can be applied between the stator 16 and the output side rotor 18, and the output side rotor 18 can be rotationally driven. That is, the electric power supplied from the power storage device 42 to the stator winding 20 via the inverter 40 can be converted into the power (mechanical power) of the output-side rotor 18, and the stator 16 and the output-side rotor 18 are connected to the synchronous motor ( PM motor part). Furthermore, it is possible to convert the power of the output side rotor 18 into the electric power of the stator winding 20 and collect it in the power storage device 42 via the inverter 40. The electronic control unit 50 controls the torque (PM motor torque) T acting between the stator 16 and the output side rotor 18 by controlling the amplitude and phase angle of the alternating current flowing through the stator winding 20 by the switching operation of the inverter 40, for example. _out can be controlled.

In addition, an induced electromotive force is generated in the rotor winding 30 as the input side rotor 28 rotates relative to the output side rotor 18 to cause a rotation difference between the input side rotor 28 and the output side rotor 18. A rotating magnetic field is generated when an induced current (alternating current) flows through the rotor winding 30 due to the induced electromotive force, and a magnetic flux generated by the current of the rotor winding 30 acts on the output-side rotor 18. Accordingly, an electromagnetic interaction between the rotating magnetic field generated by the induced current of the rotor winding 30 and the field magnetic flux generated by the permanent magnet 33 flowing between the inner peripheral surface 61 and the side surfaces 63 and 64 of the soft magnetic material 53 causes an input side rotor 28 and the torque T _in can exert between the output side rotor 18, the output side rotor 18 can be rotated. Therefore, power (mechanical power) can be transmitted between the input side rotor 28 and the output side rotor 18, and the input side rotor 28 and the output side rotor 18 can function as an induction electromagnetic coupling unit.

When generating the torque (electromagnetic coupling torque) T _in between the input side rotor 28 and the output side rotor 18 by the induced current in the rotor windings 30, the electronic control unit 50, an induced current flows through the rotor winding 30 The switching operation of the inverter 41 is performed so as to allow this. In that case, the electronic control unit 50 controls the alternating current flowing through the rotor winding 30 by the switching operation of the inverter 41, thereby causing an electromagnetic coupling torque T _in acting between the input side rotor 28 and the output side rotor 18. Can be controlled. On the other hand, the electronic control unit 50 maintains the switching element of the inverter 41 in the OFF state and stops the switching operation, so that the induced current does not flow through the rotor winding 30 and the input side rotor 28 and the output side rotor 18 are not connected. Torque T _in stops working.

When the engine 36 is generating power, the power of the engine 36 is transmitted to the input side rotor 28, and the input side rotor 28 is rotationally driven in the engine rotation direction. When the rotational speed of the input side rotor 28 becomes higher than the rotational speed of the output side rotor 18, an induced electromotive force is generated in the rotor winding 30. The electronic control unit 50 performs the switching operation of the inverter 41 so as to allow the induced current to flow through the rotor winding 30. In response to the magnetic flux generated by the current of the rotor winding 30 acting on the output-side rotor 18, electromagnetic coupling torque Tin _{in the} engine rotation direction acts on the output-side rotor 18 from the input-side rotor 28. Driven in the direction of engine rotation. Thus, the power from the engine 36 transmitted to the input side rotor 28 is transmitted to the output side rotor 18 by electromagnetic coupling between the rotor winding 30 of the input side rotor 28 and the permanent magnet 33 of the output side rotor 18. The The power transmitted to the output side rotor 18 is transmitted to the drive shaft 37 (wheels 38) after being shifted by the transmission 44, and used for forward driving of the load such as forward drive of the vehicle. Therefore, the wheel 38 can be rotationally driven in the forward direction using the power of the engine 36, and the vehicle can be driven in the forward direction. Further, since the rotation difference between the input side rotor 28 and the output side rotor 18 can be allowed, the engine 36 does not stall even if the rotation of the wheels 38 is stopped. Therefore, the rotating electrical machine 10 can function as a starting device, and there is no need to separately provide a starting device such as a friction clutch or a torque converter.

Further, AC power generated in the rotor winding 30 is taken out via the slip ring 95 and the brush 96. The extracted AC power is converted into DC by the inverter 41. Then, by the switching operation of the inverter 40, the DC power from the inverter 41 is converted into AC by the inverter 40 and then supplied to the stator winding 20, whereby an AC current flows through the stator winding 20 and rotates to the stator 16. A magnetic field is formed. The torque T _out in the engine rotation direction can be applied from the stator 16 to the output side rotor 18 in response to the magnetic flux generated by the current of the stator winding 20 acting on the output side rotor 18. As a result, a torque amplification function for amplifying the torque of the output side rotor 18 in the engine rotation direction can be realized. It is also possible to collect DC power from the inverter 41 in the power storage device 42.

Further, by controlling the switching operation of the inverter 40 so that electric power is supplied from the power storage device 42 to the stator winding 20, the wheel 38 is rotated in the normal rotation direction using the power of the engine 36, and the stator winding 20. The rotational drive of the wheel 38 in the forward rotation direction can be assisted by the power of the output-side rotor 18 generated using the power supplied to the wheel. Further, at the time of load deceleration operation, the electronic control unit 50 controls the switching operation of the inverter 40 so that power is recovered from the stator winding 20 to the power storage device 42, so that the load power is transmitted to the stator winding 20 and the permanent magnet. The electric power of the stator winding 20 can be converted by the electromagnetic coupling with 33 and recovered in the power storage device 42.

In addition, when EV (Electric Vehicle) traveling is performed by driving the load using the power of the rotating electrical machine 10 without using the power of the engine 36 (rotating and driving the wheel 38), the electronic control unit 50 is connected to the inverter 40. By controlling the switching operation, drive control of the load is performed. For example, the electronic control unit 50 controls the switching operation of the inverter 40 so that the DC power from the power storage device 42 is converted into AC and supplied to the stator winding 20, thereby supplying power to the stator winding 20. Is converted into power of the output-side rotor 18 by electromagnetic coupling between the stator winding 20 and the permanent magnet 33, and the drive shaft 37 (wheel 38) is rotationally driven. Thus, even if the engine 36 is not generating power, the wheels 38 can be rotationally driven by supplying power to the stator winding 20.

When starting the engine 36, the electronic control unit 50 converts the DC power from the power storage device 42 into AC and supplies it to the rotor winding 30 via the brush 96 and the slip ring 95. By controlling the switching operation, a torque Tin _{in the} engine rotation direction is applied from the output side rotor 18 to the input side rotor 28 by the alternating current of the rotor winding 30. Thereby, the cranking of the engine 36 is performed.

Here, in the stator 16 and the output-side rotor 18, the magnetic flux that passes through the rotor circumferential direction center position of the outer peripheral surface 62 of the outer peripheral surface 62 of the soft magnetic material 53 in the direction in which the magnetomotive force by the permanent magnet 33 acts on the stator 16. Is the d-axis (magnetic flux axis), and the position shifted by 90 ° in electrical angle from the d-axis (the rotor circumferential end position of the outer peripheral surface 62) is the q-axis (torque axis). And on the outer peripheral surface 62 of the soft magnetic material 53, the stator winding 20 for maximizing the d-axis magnetic flux passing through the rotor circumferential center position (minimizing the q-axis magnetic flux passing through the rotor circumferential end position). The current of the stator winding 20 for maximizing the q-axis magnetic flux passing through the rotor circumferential end position (minimizing the d-axis magnetic flux passing through the rotor circumferential center position) is the q-axis current. And Similarly, in the input side rotor 28 and the output side rotor 18, the direction in which the magnetomotive force by the permanent magnet 33 acts on the input side rotor 28, more specifically, the center in the rotor circumferential direction of the inner peripheral surface 61 of the soft magnetic material 53. The direction of the magnet magnetic flux passing through the position is taken as the d-axis, and the position shifted from the d-axis by an electrical angle of 90 ° (rotor circumferential end position of the inner peripheral surface 61) is taken as the q-axis. Then, on the inner peripheral surface 61 of the soft magnetic material 53, the rotor winding 30 for maximizing the d-axis magnetic flux passing through the rotor circumferential center position (minimizing the q-axis magnetic flux passing through the rotor circumferential end position). Current in the rotor winding 30 for maximizing the q-axis magnetic flux passing through the rotor circumferential end position (minimizing the d-axis magnetic flux passing through the rotor circumferential center position) Let it be current.

FIG. 5 shows the flow of the d-axis magnetic flux when the d-axis current flows through the rotor winding 30. As indicated by the arrows in FIG. 5, the d-axis magnetic flux due to the d-axis current of the rotor winding 30 acts on the inner peripheral surface 61-1 of the soft magnetic material 53-1 from the input side rotor 28 (tooth 52a), and soft The magnetic material 53-1 flows from the inner peripheral surface 61-1 to the outer peripheral surface 62-1, and acts on the stator 16 (the teeth 51a) to interlink with the stator winding 20. Further, the d-axis magnetic flux flowing through the stator 16 acts on the outer peripheral surface 62-2 of the soft magnetic material 53-2 from the teeth 51a, and the soft magnetic material 53-2 moves from the outer peripheral surface 62-2 to the inner peripheral surface 61-2. The flow returns to the input side rotor 28 (tooth 52a). As indicated by the arrows in FIGS. 4 and 5, the d-axis magnetic flux due to the d-axis current of the rotor winding 30 behaves in the opposite direction to the field magnetic flux generated by the permanent magnet 33 for the input side rotor 28 and is permanent for the stator 16. It behaves in the same direction as the field magnetic flux generated by the magnet 33. Therefore, the field magnet acting on the stator 16 by the permanent magnet 33 is generated by generating the d-axis flux by the d-axis current of the rotor winding 30 so as to weaken the field flux acting on the input side rotor 28 by the permanent magnet 33. Magnetic flux can be strengthened. In addition, the field magnet acting on the stator 16 by the permanent magnet 33 is generated by generating the d-axis flux by the d-axis current of the rotor winding 30 so that the field flux acting on the input side rotor 28 by the permanent magnet 33 is strengthened. Magnetic flux can be weakened. In this way, the d-axis magnetic flux due to the d-axis current of the rotor winding 30 flows between the inner peripheral surface 61 and the outer peripheral surface 62 of the soft magnetic material 53 and acts on the stator 16, thereby causing a chain to the stator winding 20. Affects the magnetic flux.

On the other hand, the flow of the q-axis magnetic flux when the q-axis current flows through the rotor winding 30 is shown in FIG. As shown in FIG. 6, the q-axis magnetic flux due to the q-axis current of the rotor winding 30 acts on the inner peripheral surface 61-1 of the soft magnetic material 53-1, from the input side rotor 28 (tooth 52a), and the soft magnetic material. It flows through 53-1. However, compared with the d-axis magnetic flux, the q-axis magnetic flux acting on the stator 16 (the teeth 51a) from the outer peripheral surface 62-2 of the soft magnetic material 53-1 is small, and the q-axis magnetic flux flowing through the soft magnetic material 53-1 is small. Most of them return from the inner peripheral surface 61-1 of the soft magnetic material 53-1 to the input side rotor 28 (tooth 52a). The flow of the q-axis magnetic flux in the soft magnetic material 53-2 is the same as that of the soft magnetic material 53-1. Therefore, compared to the d-axis magnetic flux, the q-axis magnetic flux due to the q-axis current of the rotor winding 30 has less influence on the linkage magnetic flux to the stator winding 20.

FIG. 7 shows the flow of the d-axis magnetic flux when the d-axis current flows through the stator winding 20. As shown by the arrows in FIG. 7, the d-axis magnetic flux due to the d-axis current of the stator winding 20 acts on the outer peripheral surface 62-1 of the soft magnetic material 53-1, from the stator 16 (tooth 51a), and the soft magnetic material 53 -1 flows from the outer peripheral surface 62-1 to the inner peripheral surface 61-1, and acts on the input side rotor 28 (tooth 52a) to interlink with the rotor winding 30. Further, the d-axis magnetic flux flowing through the input side rotor 28 acts on the inner peripheral surface 61-2 of the soft magnetic material 53-2 from the teeth 52a, and the soft magnetic material 53-2 is changed from the inner peripheral surface 61-2 to the outer peripheral surface 62. -2 to return to the stator 16 (the teeth 51a). As shown by arrows in FIGS. 4 and 7, the d-axis magnetic flux due to the d-axis current of the stator winding 20 behaves in the opposite direction to the field magnetic flux generated by the permanent magnet 33 for the stator 16 and is permanent for the input-side rotor 28. It behaves in the same direction as the field magnetic flux generated by the magnet 33. Therefore, by generating a d-axis magnetic flux by the d-axis current of the stator winding 20 so as to weaken the field magnetic flux acting on the stator 16 by the permanent magnet 33, the field magnet acting on the input-side rotor 28 by the permanent magnet 33. Magnetic flux can be strengthened. Further, the field magnet acting on the input side rotor 28 by the permanent magnet 33 is generated by generating the d-axis flux by the d-axis current of the stator winding 20 so as to strengthen the field flux acting on the stator 16 by the permanent magnet 33. Magnetic flux can be weakened. In this way, the d-axis magnetic flux due to the d-axis current of the stator winding 20 flows between the outer peripheral surface 62 and the inner peripheral surface 61 of the soft magnetic material 53 and acts on the input-side rotor 28, so that the rotor winding 30. Affects the flux linkage.

On the other hand, the flow of the q-axis magnetic flux when the q-axis current flows through the stator winding 20 is shown in FIG. As shown in FIG. 8, the q-axis magnetic flux due to the q-axis current of the stator winding 20 acts on the outer peripheral surface 62-1 of the soft magnetic material 53-1, from the stator 16 (tooth 51a), and the soft magnetic material 53-1. Flowing. However, compared to the d-axis magnetic flux, the q-axis magnetic flux acting on the input-side rotor 28 (tooth 52a) from the inner peripheral surface 61-1 of the soft magnetic material 53-1 is small, and the q flowing through the soft magnetic material 53-1. Most of the axial magnetic flux returns from the outer peripheral surface 62-1 of the soft magnetic material 53-1 to the stator 16 (tooth 51a). The flow of the q-axis magnetic flux in the soft magnetic material 53-2 is the same as that of the soft magnetic material 53-1. Therefore, compared with the d-axis magnetic flux, the q-axis magnetic flux due to the q-axis current of the stator winding 20 has less influence on the linkage magnetic flux to the rotor winding 30.

Therefore, when an alternating current is passed through the rotor winding 30 and the stator winding 20, the d-axis magnetic flux component due to the d-axis current component of the rotor winding 30 is the field magnetic flux generated by the permanent magnet 33 acting on the input-side rotor 28. While weakening, the field magnetic flux by the permanent magnet 33 which acts on the stator 16 can be strengthened. That is, the d-axis magnetic flux component due to the d-axis current component of the rotor winding 30 can be used as the field-weakening magnetic flux of the rotor winding 30 and the field-enhancing magnetic flux of the stator winding 20. This strong field magnetic flux interacts with the q-axis current component of the stator winding 20, so that additional torque is generated between the stator 16 and the output-side rotor 18 in addition to the magnet torque and reluctance torque. can get. In this case, unlike the conventional strong field control, the field weakening of the rotor winding 30 itself is used, so that the counter electromotive voltage of the rotor winding 30 is suppressed and the stator 16 and the output-side rotor 18 are controlled. The torque T _out can be amplified.

Similarly, when an alternating current is passed through the rotor winding 30 and the stator winding 20, the d-axis magnetic flux component due to the d-axis current component of the stator winding 20 weakens the field magnetic flux due to the permanent magnet 33 acting on the stator 16. At the same time, the field magnetic flux by the permanent magnet 33 acting on the input side rotor 28 can be increased. In other words, the d-axis magnetic flux component due to the d-axis current component of the stator winding 20 can be used as the field weakening magnetic flux of the stator winding 20 and the strong field magnetic flux of the rotor winding 30. This strong field magnetic flux interacts with the q-axis current component of the rotor winding 30, whereby additional torque is generated between the input side rotor 28 and the output side rotor 18, and a torque amplification effect is obtained. In this case, unlike the conventional strong field control, the field weakening of the stator winding 20 itself is used, and therefore, the input side rotor 28 and the output side rotor 18 are suppressed while suppressing the back electromotive voltage of the stator winding 20. The torque T _in between can be amplified. Therefore, the torque T _in between the input side rotor 28 and the output side rotor 18 and the torque T _out between the stator 16 and the output side rotor 18 are mutually reduced while suppressing the back electromotive voltage of the rotor winding 30 and the stator winding 20. A synergistic effect can be obtained. As a result, the amount of permanent magnets 33 can be reduced.

Further, when an alternating current is passed through the rotor winding 30 and the stator winding 20, the d-axis magnetic flux component due to the d-axis current component of the rotor winding 30 causes the field magnetic flux generated by the permanent magnet 33 acting on the input-side rotor 28. While strengthening, the field magnetic flux by the permanent magnet 33 which acts on the stator 16 can also be weakened. Thus, while suppressing the back EMF of the stator winding 20, it is possible to amplify the torque T _in between the output side rotor 18 and the input side rotor 28. Similarly, the d-axis magnetic flux component due to the d-axis current component of the stator winding 20 strengthens the field magnetic flux due to the permanent magnet 33 acting on the stator 16 and the field magnetic flux due to the permanent magnet 33 acting on the input-side rotor 28. It can also be weakened. Thus, the torque T _out between the stator 16 and the output side rotor 18 can be amplified while suppressing the back electromotive voltage of the rotor winding 30.

Thus, in the rotating electrical machine 10, the magnetic flux due to the current of the rotor winding 30 and the magnetic flux due to the current of the stator winding 20 interfere with each other, and the interlinkage magnetic flux to the stator winding 20 due to the current of the rotor winding 30. Can be adjusted, and the flux linkage to the rotor winding 30 can be adjusted by the current of the stator winding 20. When using magnetic interference between the magnetic flux due to the current of the rotor winding 30 and the magnetic flux due to the current of the stator winding 20, the torque T _in between the input side rotor 28 and the output side rotor 18, and between the stator 16 and the output side rotor 18. There are an infinite number of combinations of the current I _in of the rotor winding 30 and the current I _out of the stator winding 20 _in order to set the torque T _out of the rotor to the required value. For example, FIG. 9 shows the relationship between combinations of I _in and I _out that generate T _in = 0 and T _out = 90 Nm. In FIG. 9, the current advance angle β _in = 90 ° of the rotor winding 30 and the current advance angle β _out = 30 ° of the stator winding 20, and the horizontal axis I _in and the vertical axis I _out are I _in It is normalized by dividing by I _out (current value not using magnetic interference) that generates T _out = 90 Nm at = 0. As shown in FIG. 9, it can be seen that there are innumerable combinations of I _in and I _out that generate T _in = 0 and T _out = 90 Nm by using magnetic interference.

FIG. 10 shows an example of a functional block diagram of the electronic control unit 50 for controlling the current I _in of the rotor winding 30 and the current I _out of the stator winding 20 of the rotating electrical machine 10. The coupling torque command value calculation unit 135 acts between the input-side rotor 28 and the output-side rotor 18 based on, for example, the accelerator opening A (required driving force of the wheel 38) and the vehicle speed V (rotational speed of the wheel 38). A command value T _{in_ref} of the electromagnetic coupling torque to be calculated is calculated. The MG torque command value calculation unit 155 is based on, for example, the accelerator opening A (the requested driving force of the wheel 38) and the electromagnetic coupling torque command value T _{in_ref} calculated by the coupling torque command value calculation unit 135. A command value T _{out_ref} of the MG torque acting between the rotor 16 and the output side rotor 18 is calculated.

The current command value setting unit 136 is based on the electromagnetic coupling torque command value T _{in_ref} calculated by the coupling torque command value calculating unit 135 and the MG torque command value T _{out_ref} calculated by the MG torque command value calculating unit 155. Te, set the d-axis current command value _{I In_d_ref} and q-axis current command value _{I In_q_ref} the rotor windings 30, and a d-axis current command value _{I Out_d_ref} and q-axis current command value _{I Out_q_ref} stator windings 20. The model storage unit 172 stores a model formula (physical formula) for calculating the linkage flux Φ _in of the rotor winding 30 and the linkage flux Φ _out of the stator winding 20. As described above, in the rotary electric machine 10, the magnetic flux due to the current I _out of the flux and the stator winding 20 by current I _in the rotor windings 30 are mutually magnetically interfere with one another, the rotor windings 30 flux linkage [Phi _in not only changed by the current _{I in} the rotor windings 30, also varies with current _{I out} of the stator winding 20, the function of the current _{I out} of the current _{I in} and the stator windings 20 of the rotor windings 30 Become. Similarly, the interlinkage magnetic flux Φ _out of the stator winding 20 is also a function of the current I _in of the rotor winding 30 and the current I _out of the stator winding 20. Therefore, the model storage unit 172, magnetic interference model representing the relationship between flux linkage [Phi _in the rotor windings 30 with respect to the current _{I out} of the current _{I in} and the stator windings 20 of the rotor windings 30 (first magnetic interference model) And a magnetic interference model (second magnetic interference model) representing the relationship of the interlinkage magnetic flux Φ _out of the stator winding 20 with respect to the current I _in of the rotor winding 30 and the current I _out of the stator winding 20. The current command value setting unit 136 reads the first and second magnetic interference models stored in the model storage unit 172, satisfies the set constraints, and optimizes the evaluation function f related to the performance of the rotating electrical machine 10. of the rotor winding 30 of the current command value _{_I in_d_ref, I in_q_ref} and stator windings 20 of the current command value _{I out_d_ref,} the _{I out_q_ref,} is calculated using the first and second magnetic interference model. The constraint condition here includes a condition using at least one of the current I _in of the rotor winding 30 and the current I _out of the stator winding 20, and the evaluation function f here is the current of the rotor winding 30. I _in and the current I _out of the stator winding 20, for example, the amount of heat generated by the rotor winding 30 and the amount of heat generated by the stator winding 20 by weighting according to the temperature difference between the rotor winding 30 and the stator winding 20. It is possible to use a function representing the added weighted heat generation amount. At that time, the temperature τ _in of the rotor winding 30 is detected by the rotor winding temperature sensor 81, and the temperature τ _out of the stator winding 20 is detected by the stator winding temperature sensor 82.

The rotor winding current control unit 140 includes a d-axis current command value I _{in_d_ref} and a q-axis current command value I in which the d-axis current I _{in_d} and the q-axis current I _{in_q} of the rotor winding 30 are set by the current command value setting unit 136. The switching operation of the inverter 41 (power conversion in the inverter 41) is controlled so as to match each of _{in_q_ref} . The stator winding current control unit 160 includes a d-axis current command value I _{out_d_ref} and a q-axis current command value I in which the d-axis current I _{out_d} and the q-axis current I _{out_q} of the stator winding 20 are set by the current command value setting unit 136. The switching operation of the inverter 40 (power conversion in the inverter 40) is controlled so as to match each _{out_q_ref} . Thus, the electromagnetic coupling torque T _in between the input side rotor 28 and the output side rotor 18 is controlled to coincide with the torque command value T _{in_ref} , and the MG torque T _out between the stator 16 and the output side rotor 18 is Control is performed so as to coincide with the torque command value _{Tout_ref} .

In the rotating electrical machine 10, the electromagnetic coupling torque T _in between the input side rotor 28 and the output side rotor 18 is expressed by the following equation (1), and the MG torque T _out between the stator 16 and the output side rotor 18 is 2), the voltage V _in of the rotor winding 30 is expressed by the following equation (3), and the voltage V _out of the stator winding 20 is expressed by the following equation (4). The current I _in is expressed by the following equation (5), and the current I _out of the stator winding 20 is expressed by the following equation (6). The evaluation function f representing the weighted heat generation amount of the rotor winding 30 and the stator winding 20 is expressed by the following equation (7). (1) to _{(7), I IN - D} is d-axis current of the rotor winding _{30, I} in_q the q-axis current of the rotor winding _{30, I OUT_D} the d-axis current of the stator windings _{20, I OUT_Q} the stator q-axis current in the winding 20, [Phi _{iN - d} is d-axis flux linkage of the rotor windings _30, Φ in_q the q-axis flux linkage of the rotor windings 30, [Phi _{OUT_D} the d-axis flux linkage of the stator windings 20, [Phi _{OUT_Q} the q-axis flux linkage of the stator windings _20, induced by _{R in} the phase resistance of the rotor winding _30, the phase resistance _{R out} the stator windings _{20, P in} is the input side rotor 28 and the output side rotor 18 the number of poles of electromagnetic coupling _{portions, P out} is the number of poles of the PM motor with the stator 16 and the output rotor 18, the omega _in angular velocity of the input side rotor 28, the omega _out is the angular velocity of the output side rotor 18 In the equation (7), α, 1−α is a weighting coefficient that satisfies 0 ≦ α ≦ 1, and is set according to the temperature difference τ _out −τ _in between the stator winding 20 and the rotor winding 30.

In the first magnetic interference model, the d-axis linkage magnetic flux Φ _{in_d} (model relating to the d-axis linkage flux) of the rotor winding 30 is a function of I _{in_d} , I _{in_q} , I _{out_d} , I _{out_q} (8 ) Expression.

In the numerator on the right side of the equation (8), C _d2 is a coefficient _indicating the degree of d-axis magnetic interference, and _fm′2 is the d-axis magnetomotive force due to the magnetomotive force of the permanent magnet 33. _{_{_{(I in_d -C d2 * I out_d}}} -f m'2) _{is, I IN - D} and set the _{I OUT_D} ratio _1: model equation relating the synthesized d JikuOkoshi magnetic force _{C _d2,} the magnetomotive force due to _{I IN - D} and I _The sum of magnetomotive force of d axis acting on the input side rotor 28 in consideration of magnetic interference with the magnetomotive force due to _{out_d} . Then, _{L d} is the induction coupling portion of the d-axis inductance _{_{(I in_d = I out_d = 0}} ), L dd represents the rate of change due to _{I OUT_D} the d-axis inductance of the inductive electromagnetic coupling _portions, _(L d ₊ L _dd * | _{Iout_d} |) represents the d-axis inductance of the induction electromagnetic coupling unit when there is no load ( _{Iin_d} = 0). Therefore, the numerator on the right side of the equation (8) corresponds to the product of the sum of the d-axis magnetomotive force and the d-axis inductance of the induction electromagnetic coupling unit when there is no load, and no magnetic saturation occurs in the d-axis magnetic circuit. in _represents a d-axis flux linkage of the rotor winding 30 in consideration of the magnetic interference between the magnetic flux by the magnetic flux and _{I OUT_D} by _{I iN - d.}

On the other hand, in the denominator on the right side of equation (8), C _d1 is a coefficient representing the degree of magnetic interference on the d axis, f _m′1 is the d axis magnetomotive force due to the magnetomotive force of the permanent magnet 33, and kdd is the induction electromagnetic coupling unit. It is an inherent constant, and | I in — _d −C _d1 * I _out — d −f _m′1 | represents the magnitude of the sum of magnetomotive forces of the d axis. M _dd represents the saturation coefficient of the d-axis magnetic circuit, M _ddd represents the rate of change due to I _{out_d} of the saturation coefficient of the d-axis magnetic circuit, and (M _dd + M _ddd * | I _{out_d} |) represents the d axis according to I _{out_d.} This corresponds to a coefficient representing the degree of magnetic saturation. Therefore, (M _dd + M _ddd * | I _out — _d |) * | I in _—d −C _d1 * I out _—d −f _m′1 | ^kdd is the degree of change in d-axis linkage magnetic flux due to magnetic saturation caused by d-axis magnetomotive force Is equivalent to the d-axis magnetic saturation due to the d-axis magnetomotive force. _{Also, C q1} is a coefficient representing the degree of magnetic interference of the q-axis, Kdq is induced electromagnetic coupling portions specific _{_{_{constants, | I in_q + C q1 *}}} I out_q | _is caused by the magnetomotive force and _{I OUT_Q} by _{I In_q} It represents the magnitude of the q-axis magnetomotive force sum in consideration of magnetic interference with the magnetic force. M _dq represents the saturation coefficient of the q-axis magnetic circuit, M _dqd represents the rate of change due to I _{out_d} of the saturation coefficient of the q-axis magnetic circuit, and (M _dq + M _dqd * | I _{out_d} |) represents the q-axis according to I _{out_d} This corresponds to a coefficient representing the degree of magnetic saturation. Therefore, (M _dq + M _dqd * | I _out — _d |) * | I in _—q + C _q1 * I out _—q | ^kdq is a model formula representing the degree of change in d-axis flux linkage due to magnetic saturation caused by q-axis magnetomotive force. This corresponds to the d-axis magnetic saturation due to the q-axis magnetomotive force. The denominator on the right side of equation (8) is a model equation representing the degree of change in d-axis flux linkage due to magnetic saturation, and corresponds to the d-axis magnetic saturation due to d-axis and q-axis magnetomotive force. As a result, equation (8) represents the d-axis flux linkage of the rotor winding 30 in consideration of magnetic interference between the magnetic flux due to I _{in_d} and the magnetic flux due to I _{out_d} when magnetic saturation occurs in the d-axis magnetic circuit. .

In addition, since _fm′1 in the denominator on the right side of the equation (8) changes the d-axis magnetomotive force due to the magnetic saturation of the d-axis magnetic circuit due to the magnetic flux caused by the q-axis current, the q-axis currents I _{in_q} and I _{out_q} It can be expressed by the following equation (9) which is a function. Similarly, _fm′2 in the numerator on the right side of the equation (8) _can also be represented by the following equation (10) that is a function of the q-axis currents I _{in_q} and I _{out_q} . In the expressions (9) and (10), C ₁₁ , C ₁₂ , C ₁₃ , C ₂₁ , C ₂₂ , and C ₂₃ are coefficients representing the degree of magnetic interference, and f _m′1 and f _m′2 are q This is an exponential function of (I in — _q + C _q1 * I out — _q ) representing the total magnetomotive force of the shaft.

In the first magnetic interference model, the q-axis linkage magnetic flux Φ _{in_q} (model relating to the q-axis linkage flux) of the rotor winding 30 is a function of I _{in_d} , I _{in_q} , I _{out_d} , I _{out_q} as follows: It can be expressed by equation (11).

(11) In the molecule of the right side of the equation, _{f M'3} _is the magnetomotive force by the _{I OUT_Q} represents magnetic interference degree in magnetomotive force due to _{I In_q,} representing the influence of the magnetomotive force of the permanent magnet 33. _{_{_{(I in_q -I out_q * f m'3}}} ) _is a _{I In_q} and _{I OUT_Q} preset ratio 1: model equation relating to q JikuOkoshi force synthesized in _{f _M'3,} magnetomotive force and _{I OUT_Q} by _{I In_q} The q-axis magnetomotive force sum acting on the input side rotor 28 in consideration of the magnetic interference with the magnetomotive force due to. L _q represents the q-axis inductance (I _{in_q} = I _{out_q} = 0) of the induction electromagnetic coupling unit, L _qq represents the rate of change due to I _{out_q} of the q-axis inductance of the induction electromagnetic coupling unit, and (L _q + L _qq * | _{Iout_q} |) represents the q-axis inductance of the induction electromagnetic coupling unit when there is no load (I _{in_q} = 0). Therefore, the numerator on the right side of equation (11) corresponds to the product of the q-axis magnetomotive force sum and the q-axis inductance of the induction electromagnetic coupling unit when there is no load, and no magnetic saturation occurs in the q-axis magnetic circuit. in _represents a q-axis flux linkage of the rotor winding 30 in consideration of the magnetic interference between the magnetic flux by the magnetic flux and _{I OUT_Q} by _{I in_q.}

On the other hand, in the denominator on the right side of equation (11), C _d3 is a coefficient indicating the degree of magnetic interference of the d axis, f ₀ is the d axis magnetomotive force due to the magnetomotive force of the permanent magnet 33, and kqd is specific to the induction electromagnetic coupling unit. It is a constant, and | I in — _d + C _d3 * I _out — d −f ₀ | represents the magnitude of the sum of magnetomotive forces of the d axis. M _qd represents the saturation coefficient of the d-axis magnetic circuit, M _qdq represents the rate of change of the saturation coefficient of the d-axis magnetic circuit due to I _{out_q} , and (M _qd + M _qdq * | I _{out_q} |) represents the d axis according to I _{out_q} This corresponds to a coefficient representing the degree of magnetic saturation. _{_{_{_{Therefore, (M qd + M qdq *}}}} | I out_q |) * | I in_d + C d3 * I out_d -f 0 | kqd the model representing the degree of q-axis flux linkage changes due to magnetic saturation caused by the d JikuOkoshi force Which corresponds to the q-axis magnetic saturation due to the d-axis magnetomotive force. C _q3 and C _q30 are coefficients indicating the degree of magnetic interference on the q axis, kqq is a constant specific to the induction electromagnetic coupling unit, and | I _{in_q} + (C _q30 + C _q3 * | I _{out_q} |) * I _{out_q} | Represents the size of the total magnetomotive force of the d-axis. M _qq represents the saturation coefficient of the q-axis magnetic circuit, M _qqq represents the rate of change of the saturation coefficient of the q-axis magnetic circuit due to I _{out_q} , and (M _qq + M _qqq * | I _{out_q} |) represents the q axis according to I _{out_q} This corresponds to a coefficient representing the degree of magnetic saturation. _{_{_{_{Therefore, (M qq + M qqq *}}}} | I out_q |) * | I in_q + (C q30 + C q3 * | I out_q |) * I out_q | kqq is, q Jikukusari交due to magnetic saturation caused by the q JikuOkoshi force It is a model formula representing the degree of magnetic flux change, and corresponds to the q-axis magnetic saturation due to the q-axis magnetomotive force. The denominator on the right side of equation (11) is a model equation that represents the degree of change in the q-axis flux linkage due to magnetic saturation, and corresponds to the magnetic saturation of the q-axis due to the d-axis and q-axis magnetomotive force. As a result, Equation (11) represents the q-axis interlinkage magnetic flux of the rotor winding 30 in consideration of magnetic interference between the magnetic flux due to I _{in_q} and the magnetic flux due to I _{out_q} when magnetic saturation occurs in the q-axis magnetic circuit. .

Note that f ₀ in the denominator on the right side of the equation (11) is a function of the q-axis currents I _{in_q} and I _{out_q} because the d-axis magnetomotive force changes due to magnetic saturation of the d-axis magnetic circuit due to the magnetic flux caused by the q-axis current. It can be expressed by the following formula (12). In the equation (12), C _o10 , C _o1 , C _o20 , C _o2 , C _o30 , C _o3 , C _q40 , and C _q4 are coefficients representing the degree of magnetic interference. On the other hand, _{f M'3} in molecules of the right-hand side of (11), since the q JikuOkoshi force is changed by the magnetic saturation of the q-axis magnetic circuit according to the d-axis current-induced magnetic flux, d-axis current _I IN - _D, the _{I OUT_D} It can be expressed by the following equation (13) that is a function. In the equation (13), C ₃₁ , C ₃₂ , C ₃₃ , C ₃₄ , and C _d4 are coefficients representing the degree of magnetic interference.

Similarly, in the second magnetic interference model, the d-axis linkage magnetic flux Φ _{out_d} (model relating to the d-axis linkage flux) of the stator winding 20 is a function of I _{in_d} , I _{in_q} , I _{out_d} , I _{out_q} (14).

In molecules of the right-hand side of _{_{_{(14), (I out_d -C d2 * I}}} in_d -f m'2) _is set to _{I OUT_D} and _{I IN - D} Ratio _1: model equation involving d JikuOkoshi force synthesized in _{C d2} , and _the consideration of the magnetic interference between the magnetomotive force due to the magnetomotive force and _{I iN - d} by _{I OUT_D,} represents the magnetomotive force sum of the d-axis acting on the stator 16. L _d represents the d-axis inductance of the PM motor unit (I _{out_d} = I _{in_d} = 0), L _dd represents the rate of change of the d-axis inductance of the PM motor unit due to I _{in_d} , and (L _d + L _dd * | I _{in_d} |) Represents the d-axis inductance of the PM motor unit when there is no load (I _{out_d} = 0). Therefore, the numerator on the right side of the equation (14) indicates the d-axis _linkage of the stator winding 20 in consideration of the magnetic interference between the magnetic flux due to _{Iout_d} and the magnetic flux due to _{Iin_d} when no magnetic saturation occurs in the d-axis magnetic circuit. Represents magnetic flux.

On the other hand, in the denominator on the right side of the equation (14), kdd is a constant specific to the PM motor unit, and | I _{out_d} −C _d1 * I _{in_d} −f _m′1 | represents the magnitude of the sum of magnetomotive forces of the d axis. To express. M _dd represents the saturation coefficient of the d-axis magnetic circuit, M _ddd represents the rate of change of the saturation coefficient of the d-axis magnetic circuit due to I _{in_d} , and (M _dd + M _ddd * | I _{in_d} |) represents the d axis according to I _{in_d} This corresponds to a coefficient representing the degree of magnetic saturation. Therefore, (M _dd + M _ddd * | I _{in_d} |) * | I _{out_d} −C _d1 * I _{in_d} −f _m′1 | ^kdd is the degree of change in the d-axis linkage magnetic flux due to magnetic saturation caused by the d-axis magnetomotive force. Is equivalent to the d-axis magnetic saturation due to the d-axis magnetomotive force. Further, Kdq is PM motor unit specific _{_{_{constants, | I out_q + C q1 *}}} I in_q | _is the magnetomotive force sum of q-axis in consideration of the magnetic interference between the magnetomotive force due to the magnetomotive force and _{I In_q} by _{I OUT_Q} size Represents M _dq represents the saturation coefficient of the q-axis magnetic circuit, M _dqd represents the rate of change due to I _{in_d} of the saturation coefficient of the q-axis magnetic circuit, and (M _dq + M _dqd * | I _{in_d} |) represents the q axis according to I _{in_d} This corresponds to a coefficient representing the degree of magnetic saturation. Therefore, (M _dq + M _dqd * | I in — _d |) * | I out _—q + C _q1 * I in _—q | ^kdq is a model expression representing the degree of change in d-axis flux linkage due to magnetic saturation caused by q-axis magnetomotive force. This corresponds to the d-axis magnetic saturation due to the q-axis magnetomotive force. The denominator on the right side of equation (14) is a model equation representing the degree of change in d-axis flux linkage due to magnetic saturation, and corresponds to the d-axis magnetic saturation due to d-axis and q-axis magnetomotive force. As a result, equation (14) represents the d-axis flux linkage of the stator winding 20 in consideration of magnetic interference between the magnetic flux due to _{Iout_d} and the magnetic flux due to _{Iin_d} when magnetic saturation occurs in the d-axis magnetic circuit. .

Incidentally, _{f M'1} on the right side of the denominator of (14), since d JikuOkoshi force is changed by the magnetic saturation of the d-axis magnetic circuit according to the q-axis current due to the magnetic flux, the q-axis current _I _{In_q,} the _{I OUT_Q} It can be expressed by the following equation (15) which is a function. Similarly, _fm′2 in the numerator on the right side of the equation (14) _can also be expressed by the following equation (16) that is a function of the q-axis currents I _{in_q} and I _{out_q} . In equations (15) and (16), f _m′1 and f _m′2 are functions of (I _{out_q} + C _q1 * I _{in_q} ) representing the total magnetomotive force of the q axis.

Similarly, in the second magnetic interference model, the q-axis linkage magnetic flux Φ _{out_q} (model relating to the q-axis linkage flux) of the stator winding 20 is a function of I _{in_d} , I _{in_q} , I _{out_d} , I _{out_q} (17).

(17) In the molecule of the right side of the equation, _{f M'3} _is the magnetomotive force by the _{I In_q} represents magnetic interference degree in magnetomotive force due to _{I OUT_Q,} representing the influence of the magnetomotive force of the permanent magnet 33. _{_{_{(I out_q -I in_q * f m'3}}} ) _is the _{I OUT_Q} and _{I In_q} preset ratio 1: model equation relating to q JikuOkoshi force synthesized in _{f _M'3,} magnetomotive force and _{I In_q} by _{I OUT_Q} The q-axis magnetomotive force sum acting on the stator 16 in consideration of the magnetic interference with the magnetomotive force due to. L _q represents the q-axis inductance of the PM motor unit (I _{out_q} = I _{in_q} = 0), L _qq represents the rate of change of the q-axis inductance of the PM motor unit due to I _{in_q} , and (L _q + L _qq * | I _{in_q} |) Represents the q-axis inductance of the PM motor unit when there is no load (I _{out_q} = 0). Accordingly, the numerator on the right side of the equation (17) indicates that the q-axis _linkage of the stator winding 20 takes into account the magnetic interference between the magnetic flux due to _{Iout_q} and the magnetic flux due to _{Iin_q} when no magnetic saturation occurs in the q-axis magnetic circuit. Represents magnetic flux.

On the other hand, in the denominator on the right side of the equation (17), kqd is a constant specific to the PM motor unit, and | I _{out_d} + C _d3 * I _{in_d} −f ₀ | represents the magnitude of the magnetomotive force sum of the d axis. M _qd represents the saturation coefficient of the d-axis magnetic circuit, M _qdq represents the rate of change due to I _{in_q} of the saturation coefficient of the d-axis magnetic circuit, and (M _qd + M _qdq * | I _{in_q} |) represents the d axis according to I _{in_q} This corresponds to a coefficient representing the degree of magnetic saturation. _{_{_{_{Therefore, (M qd + M qdq *}}}} | I in_q |) * | I out_d + C d3 * I in_d -f 0 | kqd the model representing the degree of q-axis flux linkage changes due to magnetic saturation caused by the d JikuOkoshi force Which corresponds to the q-axis magnetic saturation due to the d-axis magnetomotive force. Further, kqq is a constant unique to the PM motor unit, and | I _{out_q} + (C _q30 + C _q3 * | I _{in_q} |) * I _{in_q} | represents the magnitude of the sum of magnetomotive forces of the d axis. M _qq represents the saturation coefficient of the q-axis magnetic circuit, M _qqq represents the rate of change due to I _{in_q} of the saturation coefficient of the q-axis magnetic circuit, and (M _qq + M _qqq * | I _{in_q} |) represents the q axis according to I _{in_q} This corresponds to a coefficient representing the degree of magnetic saturation. _{_{_{_{Therefore, (M qq + M qqq *}}}} | I in_q |) * | I out_q + (C q30 + C q3 * | I in_q |) * I in_q | kqq is, q Jikukusari交due to magnetic saturation caused by the q JikuOkoshi force It is a model formula representing the degree of magnetic flux change, and corresponds to the q-axis magnetic saturation due to the q-axis magnetomotive force. The denominator on the right side of equation (17) is a model equation representing the degree of change in q-axis flux linkage due to magnetic saturation, and corresponds to the magnetic saturation of the q-axis due to the d-axis and q-axis magnetomotive force. As a result, equation (17) represents the q-axis interlinkage magnetic flux of the stator winding 20 in consideration of magnetic interference between the magnetic flux due to _{Iout_q} and the magnetic flux due to _{Iin_q} when magnetic saturation occurs in the q-axis magnetic circuit. .

Note that f ₀ in the denominator on the right side of the equation (17) is a function of the q-axis currents I _{in_q} and I _{out_q} because the d-axis magnetomotive force changes due to magnetic saturation of the d-axis magnetic circuit due to the magnetic flux caused by the q-axis current. It can be expressed by the following equation (18). On the other hand, _fm′3 in the numerator on the right side of the equation (17) changes the q-axis magnetomotive force due to the magnetic saturation of the q-axis magnetic circuit due to the magnetic flux caused by the d-axis current, so that the d-axis currents I _{in_d} and I _{out_d} It can be expressed by the following equation (19) which is a function.

An example of processing executed by the electronic control unit 50 is shown in the flowchart of FIG. The process of the flowchart of FIG. 11 is repeatedly executed at predetermined time intervals, and the initial value of α can be set to 0.5, for example.

In step S101, a combination of torque command values (T _{in_ref} , T _{out_ref} ) is set. In step S102, as a constraint condition, the torque T _in is equal to the torque command value (first torque command value) T _{in_ref} (T _in = T _{in_ref} ), and the torque T _out is the torque command value (second torque command value) T _{out_ref.} (T _out = T _{out_ref} ) is set in the current command value setting unit 136. T _in can be obtained by substituting Φ _{in_d in} Equation (8) and Φ _{in_q} (first magnetic interference model) in Equation (11) into Equation (1), and T _out can be obtained by substituting Φ _{out_d} and ( 17) is obtained by substituting Φ out — _q (second magnetic interference model) in equation (2) into equation (2), and T _in and T _out are functions of I = (I in — _d , I in — _q , I out — _d , I out — _q ) Become.

In step S103, currents (I _{in_d} , I _{in_q} , I _{out_d)} that minimize the evaluation function f representing the weighted heat generation amount of the rotor winding 30 and the stator winding 20 within a range that satisfies the constraint conditions set in step S102. , I _{out_q} ) is calculated by the current command value setting unit 136. The evaluation function f represents the heat generation amount R _in * (I in — _d ² + I in — _q ² ) due to copper loss of the rotor winding 30 and the heat generation amount R _out * (I _{out —} _d ² + I out — _q ² ) due to copper loss of the stator winding 20 as α. : It is expressed by the equation (7) added by weighting 1−α, and becomes a function of I = (I in — _d , I in — _q , I out — _d , I out — _q ). The current command value setting unit 136 repeats the process of calculating the value of the evaluation function f while changing the values of I in — _d , I in — _q , I out — _d , and I out — _q within a range that satisfies the constraint conditions, _whereby the evaluation function f _Are searched for a combination of currents (I in — _d , I in — _q , I out — _d , I out — _q ) that minimizes. At this time, a known technique can be used for an algorithm for searching for a current that minimizes the evaluation function f, and thus a detailed description thereof will be omitted. For example, the relationship between the heat generation amount of the rotor winding 30 and the heat generation amount of the stator winding 20 with respect to the current I _in of the rotor winding 30 is shown _in the constraint condition of T _in = T _in — _ref = 0 and T _out = T _out — _ref = 90 Nm. 12A and 12B. 12A and 12B, I _in on the horizontal axis is normalized by dividing by I _out (current value not using magnetic interference) that generates T _out = 90 Nm when I _in = 0. In the example of FIGS. 12A and 12B, the evaluation function f is minimized when I _in = 0.6.

In step S104, the difference e _in (= τ _limit −τ _in ) between the winding temperature upper limit value τ _limit and the temperature τ _in of the rotor winding 30, and the winding temperature upper limit value τ _limit and the temperature τ of the stator winding 20 the difference between the _{_{_{out e out (= τ limit -τ}}} out) is calculated by the current command value setting unit 136. In step _S105, whether or not _e in ₌

e

_{out =} 0 is satisfied is determined by the current command value setting unit _136, if the _e in ₌

e

_{out =} 0 is satisfied, the process proceeds to step _S110, _e in ₌ e _out If = 0 is not established, the process proceeds to step S106. In step S106, the current command value setting unit 136 determines whether e _in > e _out is satisfied. If e _in > e _out holds, the current command value setting unit 136 performs a process of decreasing the value of α in step S107. For example, the value of α is decreased by (e _in −e _out ) / e _out . On the other hand, if e _in > e _out is not established, the current command value setting unit 136 performs a process of increasing the value of α in step S108. For example, the value of α is increased by (e _out −e _in ) / e _out .

In step S109, the calculated current in step _{_{_{S103 (I in_d, I in_q,}}} I out_d, I out_q) combinations current command value _{_{_{_{(I in_d_ref, I in_q_ref, I}}}} out_d_ref, I out_q_ref) current command value set as the combination of Determined by the unit 136. In the rotor winding current control unit 140 and the stator winding current control unit 160, the current command values I _{in_d_ref} and I _{in_q_ref of} the rotor winding 30 calculated by the current command value setting unit 136 and the current command value I of the stator winding 20 The current I _in of the rotor winding 30 and the current I _out of the stator winding 20 are controlled based on _{out_d_ref} and I _{out_q_ref} , respectively. As a result, the torques T _in and T _out follow the torque command values T _{in_ref} and T _{out_ref} , respectively, and the evaluation function f representing the weighted heat generation amount of the rotor winding 30 and the stator winding 20 is minimized. The current I _in of the winding 30 and the current I _out of the stator winding 20 are controlled. On the other hand, in step S110, so that the temperature tau _in and temperature tau _out of the stator windings 20 of the rotor winding 30 does not exceed the winding temperature limit _{_{_{_{τ limit, I in_d_ref = I in_q_ref}}}} = I out_d_ref = I out_q_ref = 0 Is set by the current command value setting unit 136, and the current of the rotor winding 30 and the stator winding 20 is stopped.

The current command value _{I In_d_ref} determined by the current command value setting unit _{_{136, I}} in_q_ref, _I out_d_ref, as _{I Out_q_ref} is necessarily current _I IN - D to the evaluation function f is _{_{_minimized,}} I _{in_q,} I _{out_d,} and _{I OUT_Q} do not have to. For example, values that are slightly larger (or slightly smaller) than the currents I _{in_d} , I _{in_q} , I _{out_d} , and I _{out_q} that minimize the evaluation function f are set as the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , and I _{out_q_ref.} Is also possible.

According to the processing of the flowchart of FIG. 11, when e _in > e _out (τ _in <τ _out ), the value of α is decreased (the value of 1−α is increased). The weighting of the heat generation amount of the rotor winding 30 is reduced, and the weighting of the heat generation amount of the stator winding 20 is increased. Therefore, when the temperature τ _out of the stator winding 20 is likely to reach the winding temperature upper limit value τ _{limit first} , the current I _out of the stator winding 20 that achieves T _in = T _in — _ref and T _out = T _out — _ref Decreases, the amount of heat generation decreases, and the current I _in of the rotor winding 30 increases to increase the amount of heat generation, whereby the temperature difference τ _out -τ _in between the stator winding 20 and the rotor winding 30 decreases. . On the other hand, when e _in <e _out (τ _in > τ _out ), by increasing the value of α (decreasing the value of 1−α), the amount of heat generated by the rotor winding 30 in the evaluation function f is increased. The weighting increases and the weighting of the heat generation amount of the stator winding 20 decreases. Therefore, when the temperature τ _in of the rotor winding 30 is likely to reach the winding temperature upper limit value τ _{limit first} , the current I _in of the rotor winding 30 that achieves T _in = T _in — _ref and T _out = T _out — _ref Decreases, the amount of heat generation decreases, and the current I _out of the stator winding 20 increases to increase the amount of heat generation, whereby the temperature difference τ _in −τ _out between the rotor winding 30 and the stator winding 20 decreases. . Thus, by changing the distribution of the current I _in of the rotor winding 30 and the current I _out of the stator winding 20 _in accordance with the heat generation status of the rotor winding 30 and the stator winding 20, the temperature of the rotor winding 30 is changed. The torques T _in and T _out can follow the torque command values T _{in_ref} and T _{out_ref} , respectively, while equalizing τ _in and the temperature τ _out of the stator winding 20.

As described above, in the rotating electrical machine 10, the torques T _in and T _out are _converted into torque by using magnetic interference between the magnetic flux due to the current I _in of the rotor winding 30 and the magnetic flux due to the current I _out of the stator winding 20. There are an infinite number of combinations of currents (I _in , I _out ) for matching the command values T _{in_ref} and T _{out_ref} , respectively. On the other hand, in the present embodiment, a current command value (I _{in_d_ref} ) that minimizes (or substantially minimizes) the evaluation function f representing the weighted heat generation amount of the rotor winding 30 and the stator winding 20 from among an infinite number of combinations. , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} ) can be selected using the first and second magnetic interference models. By controlling the current I _in of the rotor winding 30 and the current I _out of the stator winding 20 based on the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} , compared with the case where magnetic interference is not used. Thus, the amount of heat generated by the rotor winding 30 and the stator winding 20 can be suppressed. Further, in the evaluation function f, among the rotor winding 30 and the stator winding 20, by increasing the weighting of the heat generation amount of the winding having a high temperature (decreasing the weighting of the heat generation amount of the winding having a low temperature). Therefore, it is possible to reduce the current distribution of the windings with high temperature (increase the distribution of the current of the windings with low temperature), and to reduce the temperature difference between the rotor winding 30 and the stator winding 20. As a result, it is possible to increase the time until either the temperature τ _in of the rotor winding 30 or the temperature τ _out of the stator winding 20 reaches the winding temperature upper limit value τ _limit. And the performance of the rotating electrical machine 10 can be improved.

For example, when T _in = T _in — _ref = 0 and T _out = T _out — _ref ≠ 0, when the magnetic interference is not used, only the stator winding 20 out of the rotor winding 30 and the stator winding 20 has a current I _out. To generate torque T _out between the stator 16 and the output-side rotor 18. However, in that case, since the current I _out of the stator winding 20 is the amount of heat generated becomes large to increase, for example, as shown in broken line in FIG. 13, a short time the temperature tau _out of the stator winding 20 rises significantly _{Reaches the} winding temperature upper limit value τ _limit . As a result, the time during which torque of T _out = T _{out_ref} can be generated is shortened. In contrast, in the present embodiment, when T _in = T _in — _ref = 0 and T _out = T _out — _ref ≠ 0, the rotor is used to reduce the current distribution of the high-temperature winding using magnetic interference. By causing currents I _in and I _out to flow through both the winding 30 and the stator winding 20, torque T _out is generated between the stator 16 and the output-side rotor 18. As a result, compared to the case where magnetic interference is not used, the currents I _in and I _{out of} the rotor winding 30 and the stator winding 20 are reduced and the heat generation amount is reduced. For example, as shown by the solid line in FIG. The time until either the temperature τ _in of the rotor winding 30 or the temperature τ _out of the stator winding 20 reaches the winding temperature upper limit value τ _limit becomes longer. As a result, it is possible to extend the time in which the torque of T _out = T _{out_ref} can be generated. Similarly, when T _in = T _in — _ref ≠ 0 and T _out = T _out — _ref = 0, the rotor winding 30 and the stator are reduced to reduce the current distribution of the high temperature winding using magnetic interference. By allowing the currents I _in and I _out to flow through both of the windings 20, it is possible to extend the time during which the torque of T _in = T _in — _ref can be generated as compared with the case where magnetic interference is not used.

As the constraint condition set in step S102 in the flowchart of FIG. _{_11, T in =} T _{in_ref,} and in addition to the _{_T} out ₌ _{T out_ref,} voltage _{V in} limit of the rotor winding 30 (first limit value ) The condition that the voltage V _out of the stator winding 20 is less than or equal to V _{in_limit} , the condition that the voltage V _out of the stator winding 20 is less than the limit value (second limit value) V _{out_limit} , and the current I _in of the rotor winding 30 is the limit value (third limit value) I _{in_limit} less is conditional, and can be current _{I out} of the stator winding 20 to add at least one or more limit values (fourth limit _{value) I out_limit} less is conditional. For example, conditions of V _in ≦ V _{in_limit} and V _out ≦ V _{out_limit} can be added as constraints. V _in is obtained by substituting Φ _{in_d in the} equation (8) and Φ _{in_q} (the first magnetic interference model) in the equation (11) into the equation (3), and I = (I _{in_d} , I _{in_q} , I _{out_d} , I _{out_q} ) and ω _in , ω _out , and V _out is obtained by substituting Φ _{out_d in} Equation (14) and Φ _{out_q} (second magnetic interference model) in Equation (17) into Equation (2). _{Which is} a function of I and ω _out . For ω _in and ω _out , detection values by the rotational angular velocity sensor are used, respectively, and the limit values V _{in_limit} and V _{out_limit} are set to values smaller than the voltage of the power storage device 42, for example. By adding the constraints of V _in ≦ V _{in_limit} and V _out ≦ V _{out_limit} , the current time rating of the rotating electrical machine 10 is suppressed while suppressing the counter electromotive voltage of the rotor winding 30 and the counter electromotive voltage of the stator winding 20. Can be extended.

Moreover, it is also possible to add conditions of I _in ≦ I _{in_limit} and I _out ≦ I _{out_limit} as constraint conditions. I _in the _I IN - _D, represented by a function of _{I in_q} (5) _{formula, I out} is _I _{OUT_D,} represented by a function of _{I out_q} (6) formula. The limit value I _{in_limit} is set to a value smaller than the capacity of the inverter 41, for example, and the limit value I _{out_limit} is set to a value smaller than the capacity of the inverter 40, for example. _I _in ≦ I in_limit, and by adding a constraint _{_I out} ≦ _{I out_limit,} while suppressing the current _{I out} of the current _{I in} and the stator windings 20 of the rotor winding 30, the current time rating of the rotary electric machine 10 Can be extended.

Further, as constraints, it is possible to add conditions of V _in ≦ V _{in_limit} and I _in ≦ I _{in_limit} , thereby rotating the rotor winding 30 while suppressing the back electromotive voltage and the current I _in. The current time rating of the electric machine 10 can be extended. Moreover, it is also possible to add the conditions of V _out ≦ V _{out_limit} and I _out ≦ I _{out_limit} as constraints, and thereby, while suppressing the counter electromotive voltage and current I _out of the stator winding 20, the rotation can be performed. The current time rating of the electric machine 10 can be extended.

Further, in the evaluation function f of the equation (7) representing the weighted heat generation amount of the rotor winding 30 and the stator winding 20, the rotor winding depends on the temperature τ _in of the rotor winding 30 and the temperature τ _out of the stator winding 20. It is also possible to change the phase resistance R _{in of} 30 and the phase resistance R _out of the stator winding 20 respectively. In that case, the current command value setting unit 136 sets the phase resistance R _in of the rotor winding 30 from the temperature τ _in of the rotor winding 30 detected by the rotor winding temperature sensor 81, and the stator winding temperature sensor 82 A phase resistance R _out of the stator winding 20 is set from the detected temperature τ _out of the stator winding 20. Then, the value of the evaluation function f is calculated using the phase resistances R _in and R _out set from the temperatures τ _in and τ _out . According to this configuration example, more evaluation function f which varies according to the temperature tau _out temperature tau _in and stator windings 20 of the rotor windings 30, representing a weighted heat value of the rotor windings 30 and the stator windings 20 It becomes possible to minimize with accuracy, and the current time rating of the rotating electrical machine 10 can be further extended.

Note that the evaluation function f related to the performance of the rotating electrical machine 10 used in step S103 of the flowchart of FIG. 11 is not limited to the above-described one, and various functions can be used. For example, regarding the heat generation amount of the rotor winding 30 and the stator winding 20, in addition to the heat generation amount due to copper loss, it is possible to consider the effect of heat generation of the core due to iron loss to the winding. The evaluation function f representing the weighted heat generation amount of the rotor winding 30 and the stator winding 20 can be expressed by the following equation (20). In the equation (20), Rc _in is an equivalent iron loss resistance of the induction electromagnetic coupling part, and Rc _out is an equivalent iron loss resistance of the PM motor part.

In the equation (20), (ω _in −ω _out ) ² * (Φ in — _d ² + Φ in — _q ² ) / Rc _in represents the heat generation amount of the rotor winding 30 due to iron loss, and ω _out ² * (Φ _{out —} _d ² + Φ out — _q ² ) / Rc _out represents the amount of heat generated by the stator winding 20 due to iron loss. The evaluation function f in the equation (20) is obtained by adding the heat generation amount of the rotor winding 30 due to copper loss and iron loss and the heat generation amount of the stator winding 20 due to copper loss and iron loss by weighting α: 1−α. It is expressed by a formula. And (8) of [Phi _{IN - D} and (11) of [Phi _{In_q} (first magnetic interference model), and (14) of [Phi _{OUT_D} and (17) of [Phi _{OUT_Q} (second magnetic interference model) (20 The evaluation function f becomes a function of I = (I in — _d , I in — _q , I out — _d , I out — _q ) and ω _in , ω _out .

In this case, in step S103, the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , and I _{out_q_ref} that minimize (or substantially minimize) the evaluation function f within the range that satisfies the constraint conditions are _changed to the first and second magnetic _fields . Calculate using the interference model. As a constraint condition at that time, a condition of T _in = T _{in_ref} and T _out = T _{out_ref} can be used, and any of the above-described conditions can be added. By controlling the current I _in of the rotor winding 30 and the current I _out of the stator winding 20 based on the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} , the rotor winding due to copper loss and iron loss 30 and the amount of heat generated by the stator winding 20 can be suppressed. Furthermore, also in this evaluation function f, by changing the value of α in accordance with steps S104 to S108, among the rotor winding 30 and the stator winding 20, the weighting of the heat generation amount of the winding having a high temperature is increased. It is possible to reduce the current distribution of the high temperature winding. As a result, in consideration of both heat generation due to copper loss and heat generation due to iron loss, the temperature difference between the rotor winding 30 and the stator winding 20 can be further reduced, and the temperature τ _in of the rotor winding 30 and the stator winding can be reduced. The time until any of the temperature τ _out of the line 20 reaches the winding temperature upper limit value τ _limit can be further increased.

Further, as the evaluation function f, it is possible to use a function representing the total loss due to the copper loss and the iron loss of the rotating electrical machine 10. The evaluation function f in that case can be expressed by the following equation (21). In Formula (21), R _in * (I in — _d ² + I in — _q ² ) represents the copper loss of the rotor winding 30, R _out * (I _{out —} _d ² + I out — _q ² ) represents the copper loss of the stator winding 20, (Ω _in −ω _out ) ² * (Φ in — _d ² + Φ in — _q ² ) / Rc _in represents the iron loss of the induction electromagnetic coupling unit, and ω _out ² * (Φ _{out —} _d ² + Φ _{out —} _q ² ) / Rc _out represents the PM motor. Represents the iron loss of the part. (21) the evaluation function f of formula is represented by formula obtained by adding these copper loss and iron loss, (8) and equation [Phi _{IN - D} and (11) of _Φ in_q, (14) formula [Phi _{OUT_D} and By substituting Φ _{out_q in} equation (17) into equation (21), it becomes a function of I, ω _in , and ω _out .

In this case, the current command value setting unit 136 minimizes (or substantially minimizes) the current command value I that represents the total loss due to the copper loss and iron loss of the rotating electrical machine 10 within a range that satisfies the constraint conditions. _{In_d_ref} , _{Iin_q_ref} , _{Iout_d_ref} , and _{Iout_q_ref} are calculated using the first and second magnetic interference models. As a constraint condition at that time, a condition of T _in = T _{in_ref} and T _out = T _{out_ref} can be used, and any of the above-described conditions can be added. Further, in the flowchart of FIG. 11, the processes in steps S104 to S108 and S110 are omitted. By controlling the current I _in of the rotor winding 30 and the current I _out of the stator winding 20 based on the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} , compared with the case where magnetic interference is not used. Thus, the power factor of the rotating electrical machine 10 can be improved, the total loss due to the copper loss and the iron loss of the rotating electrical machine 10 can be reduced, and the performance of the rotating electrical machine 10 can be improved. Even in the evaluation function f representing the total loss due to the copper loss and the iron loss of the rotating electrical machine 10, the phase resistance R of the rotor winding 30 depends on the temperature τ _in of the rotor winding 30 and the temperature τ _out of the stator winding 20. _In and the phase resistance R _out of the stator winding 20 can be changed.

The evaluation function f can be a function representing a weighted torque obtained by adding the torque T _in and the torque T _out with a predetermined weight. The evaluation function f in that case can be expressed by the following equation (22). In Expression (22), W _in and W _out are weighting coefficients, and the evaluation function f in Expression (22) is expressed by an expression _in which the torque T _in and the torque T _out are added by weighting W _in : W _out. . As described above, since T _in and T _out are functions of I = (I in — _d , I in — _q , I out — _d , I out — _q ), the evaluation function f is also a function of I.

f = W _in × T _in + W _out × T _out (22)

In this case, the current command value setting unit 136 sets the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , and I _{out_q_ref} that maximize (or substantially maximize) the evaluation function f representing the weighted torque within a range that satisfies the constraint conditions. Calculation is performed using the first and second magnetic interference models. As a constraint condition at that time, for example, a condition of V _in ≦ V _{in_limit} and V _out ≦ V _{out_limit} can be set. The algorithm for searching for the current that maximizes the evaluation function f can also be known in the art, and thus detailed description thereof is omitted. By controlling the current I _in of the rotor winding 30 and the current I _out of the stator winding 20 based on the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} , compared with the case where magnetic interference is not used. Thus, the torque that can be generated in the output-side rotor 18 can be increased, and the performance of the rotating electrical machine 10 can be improved. In that case, the counter electromotive voltage of the rotor winding 30 and the counter electromotive voltage of the stator winding 20 can be suppressed by _setting the constraint conditions of V _in ≦ V _{in_limit} and V _out ≦ V _{out_limit} . Also, it is possible to _set the constraints of I _in ≦ I _{in_limit} and I _out ≦ I _{out_limit} , thereby suppressing the current I _in of the rotor winding 30 and the current I _out of the stator winding 20. it can. Furthermore, it is also possible to make the constraint conditions V _in ≦ V _{in_limit} , V _out ≦ V _{out_limit} , I _in ≦ I _{in_limit} , and I _out ≦ I _{out_limit} .

It is also possible to use the torque T _out as the evaluation function f. In this case, the evaluation function f = T _out is a function of I = (I in — _d , I in — _q , I out — _d , I out — _q ). The current command value setting unit 136 sets the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , and I _{out_q_ref} that maximize (or substantially maximize) the evaluation function f = T _out within a range that satisfies the constraint conditions. 2. Calculation is performed using a magnetic interference model. As a constraint condition at that time, for example, a condition of T _in = T _{in_ref} can be set, and further, V _in ≦ V _{in_limit} , V _out ≦ V _{out_limit} , I _in ≦ I _{in_limit} , and I _out ≦ I _{out_limit} It is also possible to add at least one condition. For example, a condition of V _out ≦ V _{out_limit,} a condition of I _out ≦ I _{out_limit,} a condition of V _out ≦ V _{out_limit} , and I _out ≦ I _{out_limit} can be added. It is also possible to add conditions of V _in ≦ V _{in_limit} and V _out ≦ V _{out_limit} , and conditions of I _in ≦ I _{in_limit} and I _out ≦ I _{out_limit} . By controlling the current I _in of the rotor winding 30 and the current I _out of the stator winding 20 based on the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} , the input side rotor 28 and the output side rotor 18 are controlled. The torque T _out that can be generated between the stator 16 and the output-side rotor 18 can be increased as compared with the case where the magnetic interference is not used while the torque T _in between follows the torque command value T _{in_ref} . For example, when starting the engine 36 during EV travel, current command values I _{in_d_ref} , I _{in_q_ref} , I that maximize the evaluation function f = T _out within the range of the constraint condition of T _in = T _{in_ref} _By controlling the currents I _in and I _out based on _{out_d_ref} and I _{out_q_ref} , the driving torque of the vehicle can be increased while maintaining the cranking torque T _in of the engine 36 at T _{in_ref} .

When the torque T _out is used as the evaluation function f, a condition of I _out ≦ I _{out_limit} −β (fifth limit value) can be used as a constraint condition. Here, β is a parameter representing the current limit of the inverter 40. The current command value setting unit 136 sets the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , and I _{out_q_ref} that maximize (or substantially maximize) the evaluation function f = T _out within a range that satisfies the constraint conditions. 2. Calculation is performed using a magnetic interference model. By controlling the current I _in of the rotor winding 30 and the current I _out of the stator winding 20 based on the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} , for example, due to a failure of the inverter 40, the inverter 40 Even when it is necessary to limit the current, the torque T _out that can be generated between the stator 16 and the output-side rotor 18 can be increased using magnetic interference. As a constraint condition, in addition to I _out ≦ I _{out_limit} −β, at least one condition of V _in ≦ V _{in_limit} , V _out ≦ V _{out_limit} , and I _in ≦ I _{in_limit} can be added. is there. For example, a condition of V _out ≦ V _{out_limit,} a condition of V _in ≦ V _{in_limit} , a condition of V _out ≦ V _{out_limit,} a condition of I _in ≦ I _{in_limit} , and the like can be added.

It is also possible to use the torque T _in as the evaluation function f. In this case, the evaluation function f = T _in is also a function of I = (I in — _d , I in — _q , I out — _d , I out — _q ). The current command value setting unit 136 sets the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , and I _{out_q_ref} that maximize (or substantially maximize) the evaluation function f = T _in within a range that satisfies the constraint conditions. 2. Calculation is performed using a magnetic interference model. As a constraint condition at that time, for example, a condition of I _in ≦ I _{in_limit} −β (sixth limit value) can be set. Here, β is a parameter representing the current limit of the inverter 41. By controlling the current I _in of the rotor winding 30 and the current I _out of the stator winding 20 on the basis of the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} , for example, an inverter 41 due to a failure of the inverter 41 or the like. Even when it is necessary to limit the current, the torque T _in that can be generated between the input-side rotor 28 and the output-side rotor 18 can be increased using magnetic interference. As a constraint condition, in addition to I _in ≦ I _{in_limit} −β, at least one condition of V _in ≦ V _{in_limit} , V _out ≦ V _{out_limit} , and I _out ≦ I _{out_limit} can be added. is there. For example, a condition of V _in ≦ V _{in_limit,} a condition of V _in ≦ V _{in_limit} , a condition of V _out ≦ V _{out_limit,} a condition of I _out ≦ I _{out_limit} , etc. can be added.

It is also possible to use the absolute value of the torque T _in as the evaluation function f. The current command value setting unit 136 sets the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , and I _{out_q_ref} that make the evaluation function f = | T _in | maximum (or almost maximum) within a range that satisfies the constraint conditions. And using the second magnetic interference model. As a constraint condition at that time, for example, T _in + T _out = T _{out_ref} (third torque command value) can be set. By controlling the current I _in of the rotor winding 30 and the current I _out of the stator winding 20 based on the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} , the torque T _in + T of the output side rotor 18 is controlled. _The torque T _out that can be generated between the input-side rotor 28 and the output-side rotor 18 can be increased while making the _out follow the torque command value T _{in_ref} as compared to the case where magnetic interference is not used. For example, when starting the engine 36 during EV traveling, the current command value I _{in_d_ref} , which maximizes (or substantially maximizes) the evaluation function f = | T _in | within the range of the constraint condition of T _in + T _out = T _{out_ref} By controlling the currents I _in , I _out based on I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} , the torque T _in + T _out (vehicle driving torque) of the output side rotor 18 is maintained at T _{out_ref} , and the engine 36 is _closed . The ranking torque T _in can be increased. As the constraint _condition, in addition to _{_{T in + T out = T out_ref}} , V in ≦ V in_limit, V out ≦ V out_limit, I in ≦ I in_limit, and at least one or more conditions of _{_I out} ≦ _{I out_limit} It is also possible to add. For example, it is possible to add a condition of V _in ≦ V _{in_limit,} a condition of I _in ≦ I _{in_limit,} a condition of V _in ≦ V _{in_limit} , and I _in ≦ I _{in_limit} . It is also possible to add conditions of V _in ≦ V _{in_limit} and V _out ≦ V _{out_limit} , and conditions of I _in ≦ I _{in_limit} and I _out ≦ I _{out_limit} .

The processing for calculating the combination of the current command values (I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} ) described above is executed by the information processing device 70 as shown in the functional block diagram of FIG. 14, for example. It is also possible. The information processing apparatus 70 can be configured as a microprocessor centered on a CPU, and includes a ROM that stores a processing program, a RAM that temporarily stores data, and an input / output port. In the information processing apparatus 70, the current command value calculation unit 174 reads the first and second magnetic interference models stored in the model storage unit 172, and based on the set constraint condition and the evaluation function f, the rotor winding 30. the current command value _{_I in_d_ref, I in_q_ref} and stator windings 20 of the current command value _{I out_d_ref,} the _{I out_q_ref,} is calculated using the first and second magnetic interference model. The combination of the current command values (I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} ) calculated by the information processing device 70 (current command value calculation unit 174) is stored in the current characteristic storage unit 137 of the electronic control unit 50. . For example, _{in the} _case of the constraint condition of T _in = T _{in_ref} and the evaluation function of f = T _out , the combination of the current command values (I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} ) is associated with the torque command value T _{in_ref.} It is stored in the current characteristic storage unit 137. In the _case of a constraint condition of T _in + T _out = T _{out_ref} and an evaluation function of f = | T _in |, a combination of current command values (I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} ) is a torque command value T It is stored in the current characteristic storage unit 137 in association with _{out_ref} .

The current command value setting unit 136 reads and sets the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , and I _{out_q_ref} calculated by the information processing device 70 and stored in the current characteristic storage unit 137. In the rotor winding current control unit 140 and the stator winding current control unit 160, the current command values I _{in_d_ref} and I _{in_q_ref of} the rotor winding 30 set by the current command value setting unit 136 and the current command of the stator winding 20 Based on the values I _{out_d_ref} and I _{out_q_ref} , the current I _in of the rotor winding 30 and the current I _out of the stator winding 20 are controlled. For example, by controlling the currents I _in and I _out based on the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , and I _{out_q_ref} that maximize (or substantially maximize) the evaluation function f in the expression (22), the output side The torque of the rotor 18 (vehicle driving torque) can be increased. Further, when starting the engine 36 during EV traveling, the current command value for the torque command value T _{in_ref} that maximizes (or substantially maximizes) the evaluation function f = T _out within a range that satisfies T _in = T _{in_ref.} By controlling the currents I _in , I _out based on the relationship of I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} , the driving torque of the vehicle is increased while maintaining the cranking torque T _in of the engine 36 at T _{in_ref.} Can be made. Further, when it is necessary to limit the current of the inverter 40 due to a failure of the inverter 40 or the like, a current command for maximizing (or substantially maximizing) the evaluation function f = T _out within a range satisfying I _out ≦ I _{out_limit} −β. By controlling the currents I _in and I _out based on the values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} and I _{out_q_ref} , the torque T _out can be increased. Further, when it is necessary to limit the current of the inverter 41 due to the failure of the inverter 41 or the like, a current command for maximizing (or substantially maximizing) the evaluation function f = T _in within a range satisfying I _in ≦ I _{in_limit} −β. The torque T _in can be increased by controlling the currents I _in and I _out based on the values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} and I _{out_q_ref} . When performing the start of the engine 36 during EV _traveling, _T _in + T _{out =} rated within a range that satisfies _{T Out_ref} function f = _{| T in |} maximization to (or substantially maximized), the torque command value _{T Out_ref} By controlling the currents I _in , I _out based on the relationship between the current command values I _{in_d_ref} , I _{in_q_ref} , I _{out_d_ref} , I _{out_q_ref} , the torque of the output side rotor 18 (vehicle driving torque) is maintained at T _{out_ref} . while, it is possible to increase the cranking torque T _in the engine 36.

Note that the first and second magnetic interference models are not limited to those described above, and various modifications and simplifications are possible. For example, it is possible to simplify to kdd = 1 and kdq = 1 in the denominator of the right side of equation (8), and to simplify to kqd = 1 and kqq = 1 in the denominator of the right side of equation (11). Similarly, it is possible to simplify to kdd = 1 and kdq = 1 in the denominator of the right side of equation (14), and to simplify to kqd = 1 and kqq = 1 in the denominator of the right side of equation (17). .

Further, in the formulas (9), (10), (12), and (13), the exponential function part can be approximated by a polynomial. Alternatively, _{f M'1} as d JikuOkoshi force by magnetomotive force of the permanent magnet 33 is intended to be constant, _{f M'2,} it is also possible to simplify the _{f 0} to a _constant, the magnetomotive force due to _{I OUT_Q} is I it is also possible to simplify the f _M'3 constant as magnetic interference degree is constant magnetomotive force by _{In_q.}

Further, from FIGS. _5-8, the magnetic interaction magnitude at q axis magnetomotive force by magnetomotive force and _{I OUT_Q} by _{I In_q} _is, compared to the magnetic interference degree of at d-axis magnetomotive force by magnetomotive force and _{I OUT_D} by _{I IN - D} C _q1 = 0 in the denominator of the right side of equation (8), C _q3 = C _q30 = 0 in the denominator of the right side of equation (11), and f _{m′3 in} the numerator of the right side of equation (11). It is also possible to simplify to = 0. Similarly, C _q1 = 0 in the denominator on the right side of equation (14), C _q3 = C _q30 = 0 in the denominator on the right side of equation (17), and f _m′3 = 0 in the numerator on the right side of equation (17). Simplification is also possible.

Further, in the numerator on the right side of the equation (8), it can be simplified to L _dd = 0 assuming that the d-axis inductance of the induction electromagnetic coupling portion is constant. In the numerator on the right side of the equation (11), It is also possible to simplify to L _qq = 0 assuming that the q-axis inductance of the induction electromagnetic coupling unit is constant. Similarly, in the numerator on the right side of the equation (14), it can be simplified to L _dd = 0 assuming that the d-axis inductance of the PM motor unit is constant. In the numerator on the right side of the equation (17), It is possible to simplify to L _qq = 0 assuming that the q-axis inductance of the PM motor unit is constant.

In addition, in the denominator on the right side of the equation (8), it is possible to simplify to M _ddd = 0 assuming that the saturation coefficient of the d-axis magnetic circuit is constant, and the saturation coefficient of the q-axis magnetic circuit is constant. It is also possible to simplify to M _dqd = 0. In the denominator on the right side of equation (11), it can be simplified to M _qdq = 0 _assuming that the saturation coefficient of the d-axis magnetic circuit is constant, and the saturation coefficient of the q-axis magnetic circuit is constant. It is also possible to simplify to M _qqq = 0. Similarly, in the denominator on the right side of the equation (14), it is possible to simplify to M _ddd = 0 assuming that the saturation coefficient of the d-axis magnetic circuit is constant, and the saturation coefficient of the q-axis magnetic circuit is constant. It is also possible to simplify to M _dqd = 0. In the denominator on the right side of the equation (17), it is possible to simplify to M _qdq = 0 _assuming that the saturation coefficient of the d-axis magnetic circuit is constant, and the saturation coefficient of the q-axis magnetic circuit is constant. It is also possible to simplify to M _qqq = 0.

Further, in the denominator on the right side of the equation (8), the influence of the q-axis magnetomotive force on the d-axis magnetic saturation is sufficiently smaller than the d-axis magnetomotive force, so that it is simplified to M _dq = M _dqd = 0. In the denominator on the right side of equation (11), the influence of the d-axis magnetomotive force on the q-axis magnetic saturation is sufficiently smaller than the q-axis magnetomotive force, and is simplified to M _qd = M _qdq = 0. It is also possible. Similarly, in the denominator on the right side of the equation (14), the influence of the q-axis magnetomotive force on the d-axis magnetic saturation is sufficiently smaller than the d-axis magnetomotive force, and is simplified to M _dq = M _dqd = 0. In the denominator on the right side of equation (17), the influence of the d-axis magnetomotive force on the q-axis magnetic saturation is sufficiently smaller than the q-axis magnetomotive force, and is simplified to M _qd = M _qdq = 0. It is also possible to do.

Furthermore, the denominator on the right side of the equation (8) can be simplified to 1 (M _dd = M _ddd = M _dq = M _dqd = 0) without considering the magnetic saturation of the d axis. It is also possible to simplify the denominator on the right side of equation (11) to 1 (M _qd = M _qdq = M _qq = M _qqq = 0) without considering magnetic saturation. Similarly, the denominator of the right side of the equation (14) can be simplified to 1 without considering the magnetic saturation of the d axis, and the right side of the equation (17) can be simplified without considering the magnetic saturation of the q axis. It is also possible to simplify the denominator to 1.

Further, the first and second magnetic interference models are not limited to the mathematical model described above, and each interlinkage magnetic flux map, denominator, and numerator for each current that can be obtained by magnetic field analysis are provided. It may be a rational function model represented by a polynomial of an arbitrary order with respect to the current.

Also, for the rotating electrical machine 10, if the interlinkage magnetic flux of the stator winding 20 can be adjusted by the current of the rotor winding 30 and the interlinkage magnetic flux of the rotor winding 30 can be adjusted by the current of the stator winding 20, It is not restricted to magnet arrangement structures, such as the structure of FIG. For example, as shown in FIG. 15, the permanent magnet 33 disposed between the soft magnetic materials 53 adjacent in the rotor circumferential direction can be disposed in a state where the inclination angle of the magnetic pole surface with respect to the radial direction is 90 °. is there. FIG. 15 also shows the flow of field magnetic flux by the permanent magnet 33, as in FIG. It is also possible to arrange the magnetic pole surface of the permanent magnet 33 along the radial direction.

For example, as shown in FIGS. 16 to 19, the output side rotor 18 may be an axial type rotating electrical machine 10 that faces the input side rotor 28 and the stator 16 in the rotor rotation axis direction. 16 shows a configuration example of the axial type rotating electrical machine 10, FIG. 17 shows a configuration example of the stator 16, FIG. 18 shows a configuration example of the input side rotor 28, and FIG. 19 shows a configuration example of the output side rotor 18. Show. Each of the plurality of soft magnetic materials 53 divided and arranged at equal intervals in the circumferential direction of the rotor includes a lower surface (first surface) 61 facing the input-side rotor 28 (tooth 52a) with a predetermined gap, and a stator 16 ( An upper surface (second surface) 62 facing the teeth 51a) with a predetermined gap, a side surface (third surface) 63 facing (contacting) the magnetic pole surface of one adjacent permanent magnet 33, and the other adjacent And a side surface (fourth surface) 64 facing (contacting) the magnetic pole surface of the permanent magnet 33. In the example shown in FIG. 19, the magnetic pole surface of each permanent magnet 33 is arranged along the radial direction.

Further, in the output-side rotor 18, for example, as shown in FIG. 20, a nonmagnetic material 35 can be provided instead of the permanent magnet 33. In the configuration example shown in FIG. 20, the plurality of soft magnetic materials 53 are divided and arranged at intervals (equal intervals) in the rotor circumferential direction. A plurality (the same number as the soft magnetic material 53) of non-magnetic members 35 are arranged at equal intervals (equal intervals) in the rotor circumferential direction, and each of them is arranged between the soft magnetic materials 53 adjacent in the rotor circumferential direction. ing. Each of the soft magnetic materials 53 disposed between the non-magnetic members 35 adjacent to each other in the rotor circumferential direction has an inner peripheral surface (first surface) 61 facing the input-side rotor 28 (tooth 52a) with a predetermined gap therebetween. An outer peripheral surface (second surface) 62 facing the stator 16 (tooth 51a) with a predetermined gap, and a side surface (third surface) 63 facing (contacting) one of the adjacent non-magnetic bodies 35, And a side surface (fourth surface) 64 facing (contacting) the other non-magnetic body 35 adjacent thereto, and allows magnetic flux to pass between the inner peripheral surface 61 and the outer peripheral surface 62. It is also possible to provide a gap in place of the nonmagnetic material 35. Moreover, the soft magnetic materials 53 adjacent in the rotor circumferential direction may be connected by a bridge.

As shown in FIG. 20, the d-axis magnetic flux due to the d-axis current of the rotor winding 30 flows between the inner peripheral surface 61 and the outer peripheral surface 62 of the soft magnetic material 53 and acts on the stator 16, thereby causing the stator winding 20. Affects interlinkage magnetic flux. Therefore, the d-axis magnetic flux due to the d-axis current of the rotor winding 30 behaves in the same manner as the field magnetic flux when the permanent magnet 33 is provided at the position of the nonmagnetic material 35 for the stator 16. Therefore, the interlinkage magnetic flux of the stator winding 20 can be adjusted by the current of the rotor winding 30. Similarly, the d-axis magnetic flux due to the d-axis current of the stator winding 20 flows between the outer peripheral surface 62 and the inner peripheral surface 61 of the soft magnetic material 53 and acts on the input-side rotor 28, thereby Affects flux linkage. Therefore, the d-axis magnetic flux due to the d-axis current of the stator winding 20 behaves in the same way as the field magnetic flux when the permanent magnet 33 is provided at the position of the nonmagnetic material 35 for the input side rotor 28. Therefore, the interlinkage magnetic flux of the rotor winding 30 can be adjusted by the current of the stator winding 20.

For the first and second magnetic interference models in the case where a non-magnetic material 35 or a gap is provided instead of the permanent magnet 33, f _m′1 = f _m′2 = f ₀ = 0 in the above description. Think about things.

As mentioned above, although the form for implementing this invention was demonstrated, this invention is not limited to such embodiment at all, and it can implement with a various form in the range which does not deviate from the summary of this invention. Of course.

10 rotary electric machine, 16 stator (stator), 18 output rotor (second rotor, second rotor), 20 stator winding (stator winding), 28 input rotor (first rotor, first rotor) ), 30 rotor winding (rotor winding), 33 permanent magnet, 35 non-magnetic material, 36 engine, 37 drive shaft, 38 wheels, 40, 41 inverter, 42 power storage device, 44 transmission, 50 electronic control unit, 51 stator core, 52 rotor core, 53 soft magnetic material, 54 gap, 61 inner peripheral surface (first surface), 62 outer peripheral surface (second surface), 63, 64 side surfaces (third surface, fourth surface), 70 information processing Equipment, 81 rotor winding temperature sensor, 82 stator winding temperature sensor, 95 slip ring, 96 brush, 135 coupling torque command value calculation unit, 136 Flow command value setting unit, 137 current characteristic storage unit, 140 the rotor winding current controller, 155 MG torque command value calculating unit, 160 stator winding current controller, 172 model storage unit, 174 current command value calculating section.

Claims

A control device for a rotating electrical machine that controls the current of the rotating electrical machine,
The rotating electrical machine
A first rotor provided with a rotor winding, a stator provided with a stator winding, a first rotor and a stator that are opposed to the first rotor and capable of rotating relative to the first rotor. A two-rotor,
Torque acts between the first rotor and the second rotor in response to the magnetic flux caused by the rotor winding current acting on the second rotor, and the magnetic flux caused by the stator winding current acts on the second rotor. Torque acts between the stator and the second rotor as it acts,
Furthermore, the linkage flux of the stator winding can be adjusted by the current of the rotor winding, and the linkage flux of the rotor winding can be adjusted by the current of the stator winding,
The controller satisfies constraints including a condition using at least one of a rotor winding current and a stator winding current, and is a function of the rotor winding current and the stator winding current. A current command value calculation unit for calculating the current command value of the rotor winding and the current command value of the stator winding for optimizing the evaluation function using the first and second magnetic interference models;
The first magnetic interference model represents the relationship between the rotor winding current and the stator winding current relative to the rotor winding current and the stator winding current,
The second magnetic interference model represents the relationship between the stator winding current and the stator winding current with respect to the stator winding current and the stator winding current,
Based on the current command value of the rotor winding and the current command value of the stator winding calculated by the current command value calculation unit, the current of the rotor winding and the current of the stator winding are controlled. Control device.
A control device for a rotating electrical machine according to claim 1,
The first and second magnetic interference models are control devices for a rotating electrical machine including a model formula relating to a magnetomotive force obtained by synthesizing a rotor winding current and a stator winding current in a set ratio.
A control device for a rotating electrical machine according to claim 2,
The control apparatus for a rotating electrical machine, wherein the setting ratio is 1: C, and C is a coefficient representing the degree of magnetic interference.
A control device for a rotating electrical machine according to claim 2,
The first and second magnetic interference models are control devices for a rotating electrical machine, further including a model formula representing a degree of change in linkage flux due to magnetic saturation.
A control device for a rotating electrical machine according to claim 1,
The first and second magnetic interference models have a model related to a d-axis interlinkage magnetic flux and a model related to a q-axis interlinkage magnetic flux.
A control device for a rotating electrical machine according to claim 1,
The constraint condition includes a condition in which the torque between the first rotor and the second rotor is equal to the first torque command value, and the torque between the stator and the second rotor is equal to the second torque command value,
The evaluation function is a control device for a rotating electrical machine, which is a function obtained by adding a heat generation amount of a rotor winding and a heat generation amount of a stator winding by weighting according to a temperature difference between the rotor winding and the stator winding.
It is a control apparatus of the rotary electric machine of Claim 6, Comprising:
The current command value calculation unit is a control device for a rotating electrical machine that increases weighting of a heat generation amount of a winding having a high temperature among the rotor winding and the stator winding in the evaluation function.
A control device for a rotating electrical machine according to claim 1,
The constraint condition includes a condition in which the torque between the first rotor and the second rotor is equal to the first torque command value, and the torque between the stator and the second rotor is equal to the second torque command value,
The said evaluation function is a control apparatus of a rotary electric machine which is a function showing the total loss by the copper loss and iron loss of a rotary electric machine.
It is a control apparatus of the rotary electric machine of Claim 6, Comprising:
The constraint condition is that the rotor winding voltage is less than or equal to the first limit value, the stator winding voltage is less than or equal to the second limit value, and the rotor winding current is less than or equal to the third limit value. A control device for a rotating electrical machine, including at least one of a certain condition and a condition in which a current of a stator winding is a fourth limit value or less.
It is a control apparatus of the rotary electric machine of Claim 6, Comprising:
The current command value calculation unit controls the rotating electrical machine to calculate the current command value of the rotor winding and the current command value of the stator winding so that the evaluation function is substantially minimized within the range satisfying the constraint condition. apparatus.
A control device for a rotating electrical machine according to claim 1,
The evaluation function is a control device for a rotating electrical machine, which is a function obtained by adding a torque between the first rotor and the second rotor and a torque between the stator and the second rotor with a predetermined weight.
A control device for a rotating electrical machine according to claim 1,
The constraint condition includes a condition in which the torque between the first rotor and the second rotor is equal to the first torque command value,
The said evaluation function is a control apparatus of a rotary electric machine which is a function showing the torque between a stator and a 2nd rotor.
A control device for a rotating electrical machine according to claim 1,
The constraint condition includes a condition that the sum of the torque between the first rotor and the second rotor and the torque between the stator and the second rotor is equal to the third torque command value,
The said evaluation function is a control apparatus of a rotary electric machine which is a function showing the absolute value of the torque between a 1st rotor and a 2nd rotor.
The control apparatus for a rotating electrical machine according to claim 10,
The constraint condition is that the rotor winding voltage is less than or equal to the first limit value, the stator winding voltage is less than or equal to the second limit value, and the rotor winding current is less than or equal to the third limit value. A control device for a rotating electrical machine, including at least one of a certain condition and a condition in which a current of a stator winding is a fourth limit value or less.
A control device for a rotating electrical machine according to claim 1,
The constraint condition includes a condition that the current of the stator winding is equal to or less than a fifth limit value,
The said evaluation function is a control apparatus of a rotary electric machine which is a function showing the torque between a stator and a 2nd rotor.
A control device for a rotating electrical machine according to claim 1,
The constraint condition includes a condition that the current of the rotor winding is equal to or less than a sixth limit value,
The said evaluation function is a control apparatus of a rotary electric machine which is a function showing the torque between a 1st rotor and a 2nd rotor.
A control device for a rotating electrical machine according to claim 11,
The current command value calculation unit calculates a rotor winding current command value and a stator winding current command value so that the evaluation function becomes substantially maximum within a range satisfying the constraint condition. apparatus.
A control device for a rotating electrical machine according to claim 9,
The first power conversion device can perform power conversion between the power storage device and the stator winding,
It is possible to perform power conversion between the power storage device and the rotor winding by the second power conversion device,
The first and second limit values are set to values smaller than the voltage of the power storage device,
The third limit value is set to a value smaller than the capacity of the second power converter,
The control device for a rotating electrical machine, wherein the fourth limit value is set to a value smaller than the capacity of the first power converter.
An information processing device for calculating a current command value of a rotating electrical machine,
The rotating electrical machine
A first rotor provided with a rotor winding, a stator provided with a stator winding, a first rotor and a stator that are opposed to the first rotor and capable of rotating relative to the first rotor. A two-rotor,
Torque acts between the first rotor and the second rotor in response to the magnetic flux caused by the rotor winding current acting on the second rotor, and the magnetic flux caused by the stator winding current acts on the second rotor. Torque acts between the stator and the second rotor as it acts,
Furthermore, the linkage flux of the stator winding can be adjusted by the current of the rotor winding, and the linkage flux of the rotor winding can be adjusted by the current of the stator winding,
The information processing apparatus satisfies a constraint including a condition using at least one of a rotor winding current and a stator winding current, and is a function of the rotor winding current and the stator winding current. A current command value calculation unit for calculating the current command value of the rotor winding and the current command value of the stator winding for optimizing a certain evaluation function using the first and second magnetic interference models;
The first magnetic interference model represents the relationship between the rotor winding current and the stator winding current relative to the rotor winding current and the stator winding current,
The second magnetic interference model is an information processing apparatus that represents a relationship between a rotor winding current and a stator winding linkage flux current with respect to a stator winding current.