WO2023022116A1 - 電流検出装置、電流検出プログラム、および電流検出方法 - Google Patents
電流検出装置、電流検出プログラム、および電流検出方法 Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
Definitions
- the present disclosure relates to a current detection device, a current detection program, and a current detection method that are applied to a control device for a multiphase AC rotating electric machine.
- Patent Literature 1 describes a current detection device that detects electric power supplied to a rotating electric machine via three power lines in a three-phase AC system using three current sensors installed on each power line. .
- the detected current value detected by the current sensor installed on the self-phase power line which is the detection target, is corrected in consideration of the error caused by the current flowing through the two other-phase power lines that are not the detection target.
- the detected current value detected by the self-phase current sensor is corrected based on the distance between the self-phase current sensor and the other-phase power line and the value of the other-phase current flowing through the other-phase power line. do.
- Patent Document 1 every time the detected current value is corrected, the error is calculated based on the distance between the self-phase current sensor and the other-phase power line and the other-phase current value, so the calculation load is large.
- the number of other phases that cause errors increases, increasing the computational load.
- an object of the present disclosure is to provide a current detection technique that is applied to a control device for a multiphase AC rotating electric machine and that can both suppress the calculation load and ensure the calculation accuracy.
- the present disclosure provides a current detection device that is applied to a control device for a multiphase AC rotating electrical machine and that detects phase currents flowing through a power line that supplies power to the rotating electrical machine.
- This current detection device includes a detected current acquisition unit that acquires a detected current value, which is a detected value of the phase current of the power line to be detected, from a current sensor that detects the phase current; Calculating the error in the detected current value due to the magnetic flux of the power line and correcting the detected current value based on an error number that is a predetermined constant or variable determined by the distance of the power line with respect to the current sensor and a shield between and a correction unit for performing the correction.
- the present disclosure has made the discovery that the error in the detected current value can be calculated based on an error number that is a predetermined constant or variable that depends on the shield between the current sensor and the power line and the distance of the power line with respect to the current sensor. Based on this, it was found that the error in the detected current value can be easily calculated using the error number. According to the current detection device according to the present disclosure, it is possible to easily calculate the error of the detected current value based on the number of errors, so that the detected current value can be corrected while suppressing the calculation load and ensuring the calculation accuracy. .
- the present disclosure also provides a current detection program that is applied to a control device for a multiphase AC rotating electrical machine and that detects phase currents flowing through a power line that supplies power to the rotating electrical machine.
- This current detection program provides a computer with a detected current acquisition step of acquiring a detected current value, which is a detected value of the phase current of the power line to be detected, from a current sensor that detects the phase current; An error in the detected current value due to the magnetic flux of the power line is calculated based on an error number that is a predetermined constant or variable determined by a shield between the power line and the distance of the power line to the current sensor, and the detected current is and a correction unit step of correcting the value.
- the present disclosure also provides a current detection method that is applied to a control device for a multiphase AC rotating electric machine and detects a phase current flowing through a power line that supplies power to the rotating electric machine.
- This current detection method includes a detection current acquisition step of acquiring a detection current value, which is a detection value of the phase current of the power line to be detected, from a current sensor that detects the phase current; Calculating the error in the detected current value due to the magnetic flux of the power line and correcting the detected current value based on an error number that is a predetermined constant or variable determined by the distance of the power line with respect to the current sensor and a shield between and a corrector step to.
- the error in the detected current value can be calculated based on the number of errors, as in the current detection device described above. can be used to correct the detected current value.
- FIG. 1 is a control device for a rotating electric machine including a current detection device according to the first embodiment
- FIG. 2 is a flowchart showing correction processing of the detected current value in the first motor
- FIG. 3 is a flowchart showing correction processing of the detected current value in the second motor
- FIG. 4 is a timing chart for explaining detection timing of the first motor
- FIG. 5 is a timing chart for explaining detection timing of the second motor
- FIG. 6 is a control device for a rotating electrical machine including a current detection device according to the second embodiment
- FIG. 7 is a flowchart showing correction processing of the detected current value in the first motor
- FIG. 1 is a control device for a rotating electric machine including a current detection device according to the first embodiment
- FIG. 2 is a flowchart showing correction processing of the detected current value in the first motor
- FIG. 3 is a flowchart showing correction processing of the detected current value in the second motor
- FIG. 4 is a timing chart for explaining detection timing of the first motor
- FIG. 5 is
- FIG. 8 is a flowchart showing correction processing of the detected current value in the second motor
- FIG. 9 is a control device for a rotating electric machine including a current detection device according to the third embodiment
- FIG. 10 is a flowchart showing correction processing of the detected current value in the first motor
- FIG. 11 is a flowchart showing correction processing of the detected current value in the second motor
- FIG. 12 is a flowchart showing correction processing of the detected current value in the booster circuit
- FIG. 13 is a timing chart for explaining the detection timing of the booster circuit
- FIG. 14 is a timing chart for explaining detection timing of the first motor
- FIG. 15 is a control device for a rotating electrical machine including a current detection device according to a fourth embodiment
- FIG. 16 is a flowchart showing correction processing of the detected current value in the first motor
- FIG. 17 is a flowchart showing correction processing of the detected current value in the booster circuit
- FIG. 18 is a timing chart for explaining the detection timing of the booster circuit
- FIG. 19 is a timing chart for explaining the detection timing of the first motor
- FIG. 20 is a control device for a rotating electric machine including a current detection device according to a fourth embodiment
- FIG. 21 is a flowchart showing correction processing of the detected current value in the first motor
- FIG. 22 is a flowchart showing correction processing of the detected current value in the first motor according to the fifth embodiment
- FIG. 23 is a diagram for explaining the relationship between a shield between the current sensor and the power line, the distance of the power line from the current sensor, and the influence of the magnetic flux of the power line.
- a rotating electric machine control device 10 shown in FIG. 1 controls a first motor 11 and a second motor 12 which are rotating electric machines.
- the control device 10 includes a first inverter 21, a second inverter 22, a first electrical angle sensor 13, a second electrical angle sensor 14, current sensors S1u, S1v, S1w, S2u, S2v, S2w, and a microcomputer 100.
- the microcomputer 100 has a control section 120 and a current detection section 150 .
- the first motor 11 is a three-phase motor, and is connected to the control unit 220 via the first inverter 21 by three-phase power lines of U-phase, V-phase, and W-phase.
- the current sensors S1u, S1v, and S1w are installed on the U-phase power line, the V-phase power line, and the W-phase power line of the first motor 11, respectively.
- a phase current value I1w is detected.
- the second motor 12 is a three-phase motor, and is connected to the control unit 220 via the second inverter 22 by three-phase power lines of U-phase, V-phase, and W-phase.
- the current sensors S2u, S2v, and S2w are installed on the U-phase power line, the V-phase power line, and the W-phase power line of the second motor 12, respectively.
- a phase current value I2w is detected.
- the current sensors S1u, S1v, S1w, S2u, S2v, and S2w are current sensors that detect phase currents flowing through the power lines by detecting magnetic fluxes generated by currents flowing through the power lines.
- the first electrical angle sensor 13 detects the electrical angle of the first motor 11 .
- a second electrical angle sensor 14 detects the electrical angle of the second motor 12 .
- the current detection section 150 includes a true value estimation section 110 and a current amplitude acquisition section 130 .
- the true value estimation unit 110 includes a detected current acquisition unit 111 , an electrical angle acquisition unit 112 , a current phase acquisition unit 113 and a correction unit 114 .
- the detected current acquisition unit 111 acquires a detected current value, which is a detected value of the phase current of the power line to be detected, from the current sensor that detects the phase current.
- the detected current acquisition unit 111 acquires current values I1u, I1v, I1w, I2u, I2v, and I2w detected by the current sensors S1u, S1v, S1w, S2u, S2v, and S2w.
- the detected current acquisition unit 111 may acquire current values detected by a plurality of current sensors at predetermined detection timings.
- the electrical angle acquisition unit 112 acquires the detected electrical angles of the first motor 11 and the second motor 12 detected by the electrical angle sensors 13 and 14 .
- the current detection unit 150 has a function of storing the detected electrical angle acquired by the electrical angle acquiring unit, and calculating and storing a predicted electrical angle obtained by predicting the electrical angle at an arbitrary timing based on the stored detected electrical angle. may be
- the current phase acquisition unit 113 acquires the current phases of the first motor 11 and the second motor 12 .
- the current phase for example, the current phase of the current command value output by the control section 120 may be used. Alternatively, a current phase calculated based on the voltage command value may be used.
- the correction unit 114 corrects the current values I1u, I1v, I1w, I2u, I2v, and I2w acquired by the detected current acquisition unit 111 .
- the correction unit 114 sets the error number and the phase difference between the phase currents for all the rotating electrical machines controlled by the control device 10.
- the error in the detected current value is calculated based on the obtained current amplitude, electrical angle, and current phase
- the detected current value is calculated based on the error in the detected current value calculated for all rotating electric machines controlled by the control device.
- the error number is a predetermined constant or variable determined by a shield between each current sensor and each power line and the distance of each power line with respect to each current sensor. It may be configured to be stored in the microcomputer 100 .
- the error in the detected current value can be calculated by multiplying the phase current of the power line and the corresponding error number, which is a predetermined constant or variable.
- the error I1ej can be affected by the currents flowing through the power lines of the first motor 11 and the second motor 12 . Assuming that the error caused by the current flowing through each power line of the first motor 11 is I11ej and the error caused by the current flowing through each power line of the second motor 12 is I21ej, the error I1ej can be expressed by the following equation (2). can.
- the error I21ej caused by the k-phase current of the second motor 12 can be calculated by multiplying the true value I2rk of the k-phase current by the corresponding error number C2k1j.
- error numbers C1k1j and C2k1j are constants or variables known at the design stage of the current detection unit 150 .
- the suffix “1k1j” indicates that the energized phase is the k phase of the first motor 11 and the evaluation phase is the j phase of the first motor 11 .
- the phase currents flowing through each power line in one rotating electrical machine are shifted from each other by a predetermined phase difference.
- the V-phase current lags the U-phase current by 120° and the W-phase current leads the U-phase current by 120°.
- Equations (3) and (4) above can be further simplified by taking advantage of the fact that I1ru, I1rv, and I1rw are sine waves that are 120 degrees apart from each other. If the current amplitude of the first motor 11 is A1, the j-phase current error I11ej of the first motor 11 is given by It is represented by Formula (5).
- the error I21ej of the j-phase current of the second motor 12 is given by using the electrical angle ⁇ 2 and the current phase ⁇ 2 of the second motor 12 in the above equation (4). It is represented by the rewritten formula (6) below.
- I11ej C1u1j ⁇ A1 ⁇ sin( ⁇ 1+ ⁇ 1) +C1v1j ⁇ A1 ⁇ sin( ⁇ 1-2 ⁇ /3+ ⁇ 1) +C1w1j ⁇ A1 ⁇ sin( ⁇ 1+2 ⁇ /3+ ⁇ 1) ...
- I21ej C2u1j ⁇ A2 ⁇ sin( ⁇ 2+ ⁇ 2) +C2v1j ⁇ A2 ⁇ sin( ⁇ 2 ⁇ 2 ⁇ /3+ ⁇ 2) +C2w1j ⁇ A2 ⁇ sin( ⁇ 2+2 ⁇ /3+ ⁇ 2) ... (6)
- the above formulas (5) and (6) are further expressed by the following formulas (11) and (12) using X11j, Y11j, X21j and Y21j expressed by the following formulas (7) to (10). Since the error numbers C1k1j and C2k1j are constants that are known at the design stage of the current detection unit 150, X11j, Y11j, X21j, and Y21j that can be calculated from the error numbers C1k1j and C2k1j are also constants. can be known in stages.
- X11j and X21j are amplitude correction coefficients for correcting current amplitudes A1 and A2, and Y11j and Y21j are electrical angles ⁇ 1 and ⁇ 2 and current phases ⁇ 1 and ⁇ 1, respectively. This is an angle correction coefficient for correcting ⁇ 2.
- constants represented by a capital letter X and a subscript, such as X11j and X21j will be referred to as amplitude correction coefficients
- constants represented by a capital letter Y and a subscript will be referred to as angle correction coefficients.
- X11j and Y11j are coefficients that can be calculated from the error number C1k1j
- X21j and Y21j are coefficients that can be calculated from the error number C2k1j.
- the error I1ej in the detected current value of the j-phase power line of the first motor 11 can be calculated by the following equation (13).
- the error I1ej is the current amplitude A1, the electrical angle ⁇ 1, and the current phase ⁇ 1 of the first motor 11, and the current amplitude of the second motor 12 It can be calculated based on A2, electrical angle ⁇ 2, and current phase ⁇ 2.
- the current amplitudes A1 and A2 can be obtained from the current amplitude obtaining section 130.
- the electrical angles ⁇ 1 and ⁇ 2 can be obtained from the first electrical angle sensor 13 and the second electrical angle sensor 14 .
- Current phases ⁇ 1 and ⁇ 2 can be calculated based on a voltage command value or a current command value for controlling first motor 11 and second motor 12 by control unit 120 .
- a voltage command value and a current command value can be obtained from the control unit 120 .
- an estimated value may be used instead of the detected value.
- the estimated value of each parameter may be estimated by correction section 114 or may be estimated by another configuration in current detection section 150 .
- I1ej A1 ⁇ X11j ⁇ sin( ⁇ 1+ ⁇ 1+Y11j) +A2 ⁇ X21j ⁇ sin( ⁇ 2+ ⁇ 2+Y21j) ... (13)
- the true value I2rj can also be calculated for the second motor 12 by using a mathematical expression obtained by interchanging the subscripts "1" and "2" in the above equations (1) to (13).
- the amplitude correction coefficients X12j, X22j and the angle correction coefficients Y12j, Y22j can be calculated by the following equations (14) to (17).
- the detected current value is I2mj
- the true value is I2rj
- the error is I2ej.
- X12j and Y12j are coefficients that can be calculated from the error number C2k1j
- X22j and Y22j are coefficients that can be calculated from the error number C2k2j. Since the error numbers C1k2j and C2k2j are variables or constants that are known at the design stage of the current detection unit 150, X12j, Y12j, X22j and Y22j that can be calculated from the error numbers C1k2j and C2k2j are also variables or constants. It may be known at the design stage of unit 150 .
- the correction unit 114 calculates the true value I1rj for the first motor 11 from the above equations (1) and (13). Also, the true value I2rj for the second motor 12 is calculated from the above equations (18) and (19). It can be understood that the true values I1rj, I2rj, etc. can be calculated by the same method as above even when there are three or more rotating electric machines. For example, regarding the j-phase current of the third motor, assuming that the detected current value is I3mj, the true value is I3rj, and the error is I3ej, the error I1ej is calculated by adding the error I3ej to the right side of the above equation (2). can.
- true value I3rj can also be calculated by the same formula as the true values I1rj and I2rj.
- the true value estimating unit 110 uses the true values I1rj and I2rj calculated by the correcting unit 114 as correction values for the detected current values flowing through the power lines of the first motor 11 and the second motor 12, respectively. Output to acquisition unit 130 .
- the current amplitude acquisition unit 130 acquires the current amplitude, which is the amplitude of the current waveforms of the first motor 11 and the second motor 12 .
- the current amplitude acquisition unit may be configured to acquire the current amplitude itself, or acquire other parameters such as a current waveform, and have a function of estimating or calculating the current amplitude based on this,
- the current amplitude estimated or calculated by the current amplitude acquisition unit may be handled as the acquired current amplitude.
- the current amplitude acquisition unit 130 can acquire the current amplitude itself, estimate or calculate the current amplitude from other acquired parameters, and treat the resulting current amplitude as the acquired current amplitude.
- the current amplitude acquisition unit 130 may use a current waveform of a voltage command value or a current command value for controlling driving of the first motor 11 and the second motor 12 as the current waveform. It can be acquired from the control unit 120 .
- the current amplitude acquisition unit 130 acquires the d-axis current command value and the q-axis current command value for the first motor 11 from the control unit 120, and obtains the amplitude of the current vector in these current command values as the current amplitude of the first motor 11.
- the current amplitude acquisition section 130 may be configured to acquire the current amplitude only when the current waveform changes. For example, when the current command value is used as the current waveform, the current amplitude is acquired only when the current command value changes, thereby reducing the frequency of acquiring the current amplitude and reducing the computation load on the microcomputer 100. can be reduced.
- the current amplitude acquisition unit 130 may be configured to acquire, as the current amplitude, the maximum amplitude in the current waveform for at least one electrical angle cycle. For example, a previously corrected current waveform of the first motor 11 is acquired from the true value estimating unit 110, the maximum amplitude of the current waveform for one electrical angle cycle is obtained, and this maximum amplitude is the current amplitude of the first motor. can be obtained as
- the current amplitude acquisition unit 130 converts the phase currents flowing through at least two power lines of the first motor 11 or the second motor 12 into a rotating coordinate system (dq coordinate system) or a stationary coordinate system ( ⁇ coordinate system). may be configured to obtain the current amplitude based on the amplitude of
- the three-phase coordinate system vector currents Iu, Iv, Iw can be converted into stationary coordinate system current vectors i ⁇ , i ⁇ or rotating coordinate system current vectors id, iq by the following equations (20) and (21).
- Ca and Cb are constants.
- the current amplitude A in the three-phase coordinate system is represented by the product of the amplitude of the current vector after conversion and the coordinate conversion coefficient Ca, as shown in the following equations (22) and (23).
- the amplitude of the current vector after conversion is represented by the amplitude of the current vector after conversion, as shown in the following equations (24) and (25).
- the function of transforming the above coordinate system may be provided in the control unit 120, and the current amplitude acquisition unit 130 is a function of calculating the current amplitude based on the amplitude of the current vector after the coordinate transformation acquired from the control unit 120.
- the control unit 120 acquires the previously corrected current waveform of the first motor 11 from the true value estimating unit 110, converts it into id and iq, and sends it to the current amplitude acquiring unit 130.
- id and iq may be used to estimate the current waveform of the first motor 11 .
- the coordinate transformation coefficients Ca shown in the above equations (22) and (23) are transformed in the current amplitude acquisition unit 130. It may be configured to be multiplied by the amplitude of the subsequent current vector and output to the true value estimating section 110, or the current amplitude acquiring section 130 calculates only the estimated value of the amplitude of the current vector and outputs it to the true value estimating section. 110, and the true value estimating section 110 multiplies the coordinate transformation coefficient Ca by the amplitude of the current vector after transformation.
- the control unit 120 acquires the corrected detected current value corrected by the current detection unit 150 .
- a true value I1rj is obtained for the first motor 11, and a true value I2rj for the second motor 12 is obtained.
- the control unit 120 also acquires the detected values of the electrical angles ⁇ 1 and ⁇ 2 of the first motor 11 and the second motor 12 from the first electrical angle sensor 13 and the second electrical angle sensor 14, respectively.
- the controller 120 controls the first motor 11 and the second motor 11 via the first and second inverters 21 and 22, respectively. Control the motor 12 .
- the control unit 120 generates control signals for controlling the first motor 11 and the second motor 12 by PID control or the like based on the true values I1rj and I2rj. For example, the true values I1rj and I2rj are transformed into the rotating coordinate system based on the electrical angles ⁇ 1 and ⁇ 2.
- the voltage command values v1d* and v1q* are manipulated so that i1d and i1q obtained by converting the true value I1rj approach the current command values i1d* and i1q*.
- the voltage command values v2d* and v2q* are manipulated so that the i2d and i2q obtained by converting the true value I2rj approach the current command values i2d* and i2q*.
- FIGS. 2 and 3 show flowcharts of correction processing of the detected current value executed by the current detection unit 150.
- FIG. Current detection unit 150 calculates an error in the detected current value for each of the rotating electric machines controlled by control device 10, and corrects the detected current value based on the calculated error.
- FIG. 2 shows correction processing when the power line to be detected is the power line connected to the first motor 11
- FIG. 3 is correction processing when the power line to be detected is the power line connected to the second motor 12. Indicates processing.
- the processes shown in FIGS. 2 and 3 are repeatedly executed at predetermined intervals.
- step S101 the detected current value I1m of the first motor 11 is acquired.
- the U-phase current value I1mu, the V-phase current value I1mv, and the W-phase current value I1mw are acquired from the current sensors S1u, S1v, and S1w.
- the first electrical angle sensor 13 detects the electrical angle of the first motor 11 .
- FIG. 4 is a diagram showing the deviation of the detection timing of the second motor 12 with respect to the detection timing of the first motor 11.
- FIG. The horizontal axis indicates time t
- FIG. 4A shows U-phase current value I1u, V-phase current value I1v, and W-phase current value I1w flowing through the power line of first motor 11 .
- 4B shows the U-phase current value I2u, V-phase current value I2v, and W-phase current value I2w flowing through the power line of the second motor 12.
- FIG. 4C shows the electrical angle ⁇ 1 of the first motor 11.
- FIG. 4D shows the electrical angle ⁇ 2 of the second motor 12.
- FIG. 4A shows U-phase current value I1u, V-phase current value I1v, and W-phase current value I1w flowing through the power line of first motor 11 .
- 4B shows the U-phase current value I2u, V-phase current value I2v, and W-phase current value I2w flowing through the power line of the second motor
- step S101 at the current detection timing tm1 of the first motor 11, the current of the power line to be detected is detected.
- the detection timing tm1 is delayed from the latest detection timing tm4 of the second motor 12 by a time difference dt41. After that, the process proceeds to step S102.
- step S102 for all rotating electric machines controlled by the control device 10, corrected current values, which are detected current values after correction at detection timings past the current detection timing, are obtained.
- the microcomputer 100 stores the corrected current value I1b of the first motor 11 acquired from the current sensors S1u, S1v, and S1w at the past detection timings, and the corrected current value I1b of the first motor 11 acquired from the current sensors S2u, S2v, and S2w at the past detection timings. and the corrected current value I2b of the second motor 12 is stored.
- the immediately preceding corrected current value obtained by correcting the detected current value detected at the detection timing tm2 immediately before the detection timing tm1 can be used as the corrected current value I1b.
- the immediately preceding corrected current value obtained by correcting the detected current value detected at the detection timing tm3 immediately before the latest detection timing tm4 can be used as the corrected current value I2b. After that, the process proceeds to step S103.
- step S103 the current amplitude A1 in the first motor 11 and the current amplitude A2 in the second motor 12 are obtained.
- the current amplitudes A1 and A2 are acquired based on the corrected current values I1b and I2b acquired in step S102. More specifically, for example, for the corrected current values I1b and I2b, based on the above equations (20) to (25), by calculating the amplitude of the current vector converted to the rotating coordinate system or the stationary coordinate system, The current amplitudes A1 and A2 may be calculated. Alternatively, as shown in FIGS.
- the current amplitude A1 is calculated by calculating the maximum amplitude of the current waveform for one electrical angle cycle T1b. good too.
- the current amplitude A2 is calculated by calculating the maximum amplitude of the current waveform for one period T2b in electrical angle at the corrected current value I2b. may After that, the process proceeds to step S105.
- step S105 the electrical angle ⁇ 1 detected for the first motor 11 and the current phase ⁇ 1 estimated based on the voltage command value are obtained. Also, the predicted electrical angle ⁇ 2p predicted for the second motor 12 and the current phase ⁇ 2 estimated based on the voltage command value are acquired.
- the electrical angle ⁇ 1 is obtained from the first electrical angle sensor 13 at detection timing tm1.
- the predicted electrical angle ⁇ 2p is an estimated value applicable to the electrical angle ⁇ 2 in the above equations (13)-(15). As shown in FIG. 4, when the detection timings of the first motor 11 and the second motor 12 are out of sync, by using the estimated values instead of the detected values for the parameters related to the second motor 12, the second motor 12 The number of detections by the electrical angle sensor 14 can be reduced, and the processing load on the microcomputer 100 can be reduced. After that, the process proceeds to step S106.
- step S106 an error I1e estimated for the detected current value I1m is calculated.
- the error I1e can be calculated by the above equation (13).
- X11u, Y11u, X21u, Y21u, X11v, Y11v, X21v, Y21v, X11w, Y11w, X21w, and Y21w are constants stored in the microcomputer 100 in advance. Therefore, by using the current amplitudes A1 and A2 obtained in step S103 and the electrical angle ⁇ 1, current phase ⁇ 1, predicted electrical angle ⁇ 2p, and current phase ⁇ 2 obtained in step S105 in the above equation (13), The error I1e can be calculated with a small computational load. After that, the process proceeds to step S107.
- step S107 the corrected current value I1a, which is the detected current value after correction at the detection timing tm1, is calculated based on the detected current value I1m and the error I1e. Specifically, the values of I1ru, I1rv, and I1rw that can be calculated based on the above equation (1) correspond to the corrected current value I1a. After that, the process proceeds to step S108.
- step S108 the calculated post-correction current value I1a is output to the control unit 120.
- the control unit 120 controls the first motor 11 based on the corrected current value I1a. Further, the corrected current value I1a is stored in the microcomputer 100. FIG. The corrected current value I1a calculated and stored in the current cycle can be used as the past corrected current value I1b in subsequent cycles.
- step S201 the detected current value I2m of the second motor 12 is acquired.
- the U-phase current value I2mu, the V-phase current value I2mv, and the W-phase current value I2mw are acquired from the current sensors S2u, S2v, and S2w.
- FIG. 5 is a diagram showing the deviation of the detection timing of the first motor 11 with respect to the detection timing of the second motor 12.
- FIG. The horizontal axis indicates time t
- FIG. 5A shows U-phase current value I2u, V-phase current value I2v, and W-phase current value I2w flowing through the power line of second motor 12
- 5B shows the U-phase current value I1u, V-phase current value I1v, and W-phase current value I1w flowing through the power line of the first motor 11.
- FIG. 5(c) shows the electrical angle ⁇ 2 of the second motor 12.
- FIG. 5(d) shows the electrical angle ⁇ 1 of the first motor 11.
- step S201 at the current detection timing tm1 of the second motor 12, the current of the power line to be detected is detected.
- the detection timing tm1 is delayed from the latest detection timing tm4 of the first motor 11 by a time difference dt41. After that, the process proceeds to step S102.
- step S202 for all rotating electric machines controlled by the control device 10, corrected current values, which are detected current values after correction at detection timings past the current detection timing, are acquired.
- the immediately preceding corrected current value obtained by correcting the detected current value detected at the detection timing tm2 immediately before the detection timing tm1 can be used as the corrected current value I2b.
- the immediately preceding corrected current value obtained by correcting the detected current value detected at the detection timing tm3 immediately before the latest detection timing tm4 can be used as the corrected current value I1b.
- step S203 the current amplitude A1 in the first motor 11 and the current amplitude A2 in the second motor 12 are obtained.
- step S103 current amplitudes A1 and A2 are obtained based on the corrected current values I1b and I2b obtained in step S202.
- the same method as in step S103 can be used. After that, the process proceeds to step S205.
- step S205 the predicted electrical angle ⁇ 1p predicted for the first motor 11 and the current phase ⁇ 1 estimated based on the voltage command value are obtained. Also, the electrical angle ⁇ 2 detected for the second motor 12 and the current phase ⁇ 2 estimated based on the voltage command value are obtained.
- the electrical angle ⁇ 2 is obtained from the second electrical angle sensor 14 at detection timing tm1.
- the predicted electrical angle ⁇ 1p is an estimated value applicable to the electrical angle ⁇ 1 in the above equations (13)-(15). As shown in FIG. 5, when the detection timings of the first motor 11 and the second motor 12 are out of sync, by using the estimated values instead of the detected values for the parameters related to the first motor 11, the first motor 11 The number of detections by the electrical angle sensor 13 can be reduced, and the processing load on the microcomputer 100 can be reduced. After that, the process proceeds to step S206.
- step S206 an error I2e estimated for the detected current value I2m is calculated.
- the error I2e can be calculated by the above equation (18).
- X12u, Y12u, X22u, Y22u, X12v, Y12v, X22v, Y22v, X12w, Y12w, X22w, and Y22w are constants stored in the microcomputer 100 in advance. Therefore, by using the current amplitudes A1 and A2 obtained in step S203 and the electrical angle ⁇ 1, current phase ⁇ 1, predicted electrical angle ⁇ 2p, and current phase ⁇ 2 obtained in step S205 in the above equation (18), The error I2e can be calculated with a small computational load. After that, the process proceeds to step S207.
- step S207 the corrected current value I2a, which is the detected current value after correction at the detection timing tm1, is calculated based on the detected current value I2m and the error I2e. Specifically, the values of I2ru, I2rv, and I2rw that can be calculated based on the above equation (19) correspond to the corrected current value I2a. After that, the process proceeds to step S208.
- step S208 the calculated post-correction current value I2a is output to the control unit 120.
- the control unit 120 controls the second motor 12 based on the corrected current value I2a.
- the corrected current value I2a is stored in the microcomputer 100. FIG.
- the corrected current value I2a calculated and stored in the current cycle can be used as the past corrected current value I2b in subsequent cycles.
- the current detection unit 150 by presetting the number of errors C1k1j, C2k1j, the number of errors C1k2j, C2k2j, and the phase difference between the phase currents, the above equations (7) to
- the amplitude correction coefficients (X11u, X21u, etc.) and angle correction coefficients (Y11u, Y21u, etc.) shown in (10), (14) to (17) can be calculated in advance and stored in the microcomputer 100.
- the current amplitude A1, electrical angle ⁇ 1, and current phase ⁇ 1 of the first motor 11 and the current amplitude A2, electrical angle ⁇ 2, and and the current phase ⁇ 2, the errors I1ej and I2ej of the detected current values can be calculated easily and accurately. Therefore, as shown in FIGS. 2 and 3, in the correction processing of the detected current value executed at each detection timing, in the detected current acquisition step shown in steps S101 and S201, the current sensor that detects the phase current is the detection target. A detected current value, which is a detected value of the phase current of the power line, is obtained.
- the detected values or estimated values of the current amplitude A1, the electrical angle ⁇ 1, and the current phase ⁇ 1 of the first motor 11 and the current amplitude A2, the electrical angle ⁇ 2, and the current phase ⁇ 2 of the second motor 12 are appropriately acquired. Accordingly, in the correction steps shown in steps S106, S107, S206, and S207, the error in the detected current value due to the magnetic flux of the power line is calculated based on the number of errors, and the detected current value is corrected.
- the error number is a predetermined constant or variable determined by a shield between the current sensor and the power line and the distance of the power line to the current sensor. I1ej and I2ej can be calculated easily and accurately. As a result, it is possible to correct the detected current value while simultaneously reducing the calculation load on the microcomputer 100 and ensuring the calculation accuracy.
- the current amplitudes A1 and A2 are calculated based on the corrected current values I1b and I2b corrected at past detection timings, so the current amplitudes are calculated with high accuracy. As a result, the accuracy of the corrected current values I1a and I2a is improved. In particular, by using the corrected current values I1a and I2a calculated in the immediately preceding cycle as the corrected current values I1b and I2b, it is possible to further improve the calculation accuracy of the current amplitude.
- steps S105 and S205 when the detection timings of the first motor 11 and the second motor 12 are shifted, when correcting the detected current value of the motor on the detection timing side, the detection timing Since the estimated values are used instead of the detected values for the parameters related to the motor on the non-rotating side, the number of detections by the sensors can be reduced, and the processing load on the microcomputer 100 can be reduced.
- step S105 the electrical angle ⁇ 2 detected at the detection timing tm1 may be used instead of the predicted electrical angle ⁇ 2p.
- step S205 the electrical angle ⁇ 1 detected at the detection timing tm1 may be used instead of the predicted electrical angle ⁇ 1p.
- the accuracy of the corrected current values I1a and I2a is improved by using the detected electrical angle even in the motor on the side other than the detection timing.
- the errors I1ej and I2ej of the detected current values can be calculated easily and accurately. Therefore, current sensors such as the current sensors S1u, S1v, S1w, S2u, S2v, and S2w, which detect the phase current by detecting the magnetic flux generated by the current flowing through the power line, are provided with current sensors that are likely to cause errors in the detected current values. It can be used particularly preferably for the control device 10 .
- FIG. 6 shows a control device 20 for a rotating electrical machine that includes a current detection section 250 according to the second embodiment.
- the control device 20 for the rotating electrical machine differs from the control device 10 for the rotating electrical machine in the configuration of the current detection section 250 provided in the microcomputer 200 .
- Current detection section 250 further includes storage section 240 .
- the current amplitude acquisition unit 230 can acquire the current amplitude itself, estimates or calculates the current amplitude from other acquired parameters, and obtains the result is configured to be able to handle the current amplitude obtained as the acquired current amplitude. configured as possible.
- the current amplitude acquired by the current amplitude acquisition section 230 is output to the storage section 240 .
- Storage section 240 outputs the current amplitude acquired from current amplitude acquisition section 230 to true value estimation section 210 .
- the coordinate transformation coefficients Ca shown in the above equations (22) and (23) are transformed in the current amplitude acquisition unit 130. It may be configured to be multiplied by the amplitude of the subsequent current vector and output to the storage unit 240 , or the current amplitude acquisition unit 230 calculates only the estimated value of the amplitude of the current vector and outputs it to the storage unit 240 . , the storage unit 240 or the true value estimation unit 210 may be configured to multiply the coordinate transformation coefficient Ca by the amplitude of the current vector after transformation.
- the storage unit 240 shows the relationship between the detected current value errors I1ej and I2ej, the electrical angles ⁇ 1 and ⁇ 2, and the current phases ⁇ 1 and ⁇ 2, which are created based on the number of errors, the phase difference between the phase currents, and the current amplitude. Store the second map.
- the relationship between the detected current value errors I1ej and I2ej, the electrical angles ⁇ 1 and ⁇ 2, and the current phases ⁇ 1 and ⁇ 2 is given by the current amplitudes A1 and A2 in the above equations (13) and (18) and the corresponding amplitude correction coefficients
- Z11j, Z21j, Z12j, and Z22j which are products of X11j, X21j, X12j, and X22j
- the relationships represented by the following equations (26) and (27) can be mapped.
- Z11j A1*X11j
- Z21j A2*X21j
- Z12j A1*X12j
- Z22j A2*X22j.
- the storage unit 240 may store a first map created based on the relationship between the number of errors and the detected current value.
- the storage unit 240 maps and stores the corrected amplitudes Z11j, Z21j, Z12j, Z22j and the angular correction coefficients Y11j, Y21j, Y12j, Y22j shown in the above equations (26) and (27).
- the correction unit 214 is configured to be able to obtain the corrected amplitude and angle correction coefficient by referring to the second map of the storage unit 240 based on the electrical angles ⁇ 1 and ⁇ 2 and the current phases ⁇ 1 and ⁇ 2. there is The correction unit 214 can easily calculate the errors I1ej and I2ej based on the corrected amplitude and the angle correction coefficient acquired from the second map, and further can calculate the true values I1rj and I2rj. Note that if the storage unit 240 stores the first map, the correction unit 214 may be configured to correct the detected current value by referring to the first map.
- Other configurations of the microcomputer 200 are the same as those of the microcomputer 100 shown in FIG. 1, so the description is omitted by replacing the reference numbers in the 100s with those in the 200s.
- FIGS. 7 and 8 show flowcharts of correction processing of the detected current value executed by the current detection unit 250.
- FIG. FIG. 7 shows the correction process when the power line to be detected is the power line connected to the first motor 11
- FIG. 8 is the correction process when the power line to be detected is the power line connected to the second motor 12. Indicates processing. The processes shown in FIGS. 7 and 8 are repeatedly executed at predetermined intervals.
- the process shown in FIG. 7 differs from the process shown in FIG. 2 in that it includes the process shown in step S304. Since the processes shown in steps S301 to S303 and S305 to S308 are the same as the processes shown in steps S101 to S103 and S105 to S108, description thereof will be omitted.
- the processing shown in FIG. 8 differs from the processing shown in FIG. 3 in that the processing shown in step S404 is included. Since the processes shown in steps S401 to S403 and S405 to S408 are the same as the processes shown in steps S201 to S203 and S205 to S208, description thereof will be omitted.
- step S303 the current amplitudes A1 and A2 are acquired in the same manner as in step S103 shown in FIG. 2, and then the process proceeds to step S304.
- step S304 corrected amplitudes Z11u, Z11v, Z11w, Z21u, Z21v, Z21w and angular correction coefficients Y11u, Y11v, Y11w, Y21u, Y21v, Y21w are obtained from the second map stored in the microcomputer 200.
- step S305 the electrical angle ⁇ 1 detected for the first motor 11 and the current phase ⁇ 1 estimated based on the voltage command value are obtained in the same manner as in step S105 shown in FIG.
- the predicted electrical angle ⁇ 2p predicted for the second motor 12 and the current phase ⁇ 2 estimated based on the voltage command value are acquired.
- step S306 the error 11e is calculated based on the above equation (26).
- step S403 the current amplitudes A1 and A2 are acquired in the same manner as in step S203 shown in FIG. 3, and then the process proceeds to step S404.
- step S404 corrected amplitudes Z12u, Z12v, Z12w, Z22u, Z22v, Z22w and angular correction coefficients Y12u, Y12v, Y12w, Y22u, Y22v, Y22w are obtained from the second map stored in the microcomputer 200.
- step S405 the predicted electrical angle ⁇ 1p predicted for the first motor 11 and the current phase ⁇ 1 estimated based on the voltage command value are acquired.
- the electrical angle ⁇ 2 detected for the second motor 12 and the current phase ⁇ 2 estimated based on the voltage command value are acquired.
- step S406 the error 12e is calculated by the above equation (27).
- the storage unit 240 stores the corrected amplitudes (Z11u, Z21u, etc.) and the angle correction coefficients (Y11u, Y21u, etc.) in the microcomputer 200 as the second map. It is As a result, for example, as shown in the above equations (26) and (27), based on the electrical angle ⁇ 1 and current phase ⁇ 1 of the first motor 11 and the electrical angle ⁇ 2 and current phase ⁇ 2 of the second motor 12, the detected The current value errors I1ej and I2ej can be easily calculated, and the calculation load on the microcomputer can be further reduced.
- the corrected current values I1a and I2a can be calculated without using the current amplitudes A1 and A2 estimated in steps S303 and S403. .
- Current amplitudes A1 and A2 estimated in steps S303 and S403 are used by storage unit 240 to update the second map.
- the current detection units 150 and 250 are applied to the control devices 10 and 20 of the rotating electric machines of the polyphase AC type, and detect the phase currents flowing through the power lines that supply power to the first motor 11 and the second motor 12 which are rotating electric machines. It functions as a current sensing device.
- Current detection units 150 and 250 include detected current acquisition units 111 and 211, electrical angle acquisition units 112 and 212, current phase acquisition units 113 and 213, correction units 114 and 214, and current amplitude acquisition units 130 and 230. It has
- the detected current acquisition units 111 and 211 acquire a detected current value, which is a detected value of the phase current of the power line to be detected, from the current sensor that detects the current.
- the electrical angle acquisition units 112 and 212 acquire the electrical angle of the rotating electric machine.
- Current phase acquisition units 113 and 213 acquire the current phase of the rotating electric machine.
- Current amplitude acquisition units 130 and 230 acquire current amplitude, which is the amplitude of the current waveform of the rotating electric machine. If the error in the detected current value can be calculated by multiplying the phase current of the power line by the corresponding error number that is a predetermined constant, the correction units 114 and 214 correct the set error number and the phase difference between the phase currents. Then, based on the acquired current amplitude, electrical angle, and current phase, the error in the detected current value is calculated and the detected current value is corrected.
- the current detection units 150 and 250 when correcting the detected current value, the current amplitude acquired by the current amplitude acquisition units 130 and 230, the electrical angle acquired by the electrical angle acquisition units 112 and 212, and the current phase Since the error of the detected current value can be calculated based on the current phase obtained by the obtaining units 113 and 213, the detected current value can be corrected while suppressing the calculation load and ensuring the calculation accuracy.
- Detected current acquisition units 111 and 211 repeatedly acquire detected current values at predetermined detection timings, and current amplitude acquisition units 130 and 230 acquire detected current values at detection timings past the current detection timing.
- the current amplitudes A1 and A2 are obtained using the corrected current values I1b and I2b, which are detected current values after correction obtained by and corrected by the correcting units 114 and 214, as the current waveform of the rotary electric machine. may Since the detected current value at the current detection timing can be corrected based on the highly accurate current amplitudes A1 and A2 obtained from the corrected current values I1b and I2b, the current values after correction I1a and I2a corrected by the current timing can be corrected. Improves accuracy.
- the current amplitude acquisition units 130 and 230 obtain the corrected current values acquired by the detected current acquisition units 111 and 211 at the detection timing immediately before the current detection timing, and corrected by the correction units 114 and 214, to the rotating electric machine. It may be configured to estimate the current amplitudes A1 and A2 by using it as a current waveform. The accuracy of the current amplitudes A1 and A2 acquired at the current detection timing can be further improved, which can contribute to further improvement of the accuracy of the corrected current values I1a and I2a corrected at the current detection timing.
- Correction units 114 and 214 pre-calculate amplitude correction coefficients (eg, X11u, X21u) and angle correction coefficients (eg, Y11u, Y21u) based on the number of errors and the phase difference between the phase currents, and perform amplitude correction on the acquired current amplitude. It may be configured to correct the detected current value by correcting with the coefficient and correcting the obtained electrical angle and current phase with the angular correction coefficient. By executing the correction process of the detected current value for each cycle using the amplitude correction coefficient and the angle correction coefficient calculated in advance, the error of the detected current value can be easily calculated, and the calculation load in the current detection device can be reduced. can be reduced.
- amplitude correction coefficients eg, X11u, X21u
- angle correction coefficients eg, Y11u, Y21u
- the current detection unit 250 Like the current detection unit 250, it stores a second map showing the relationship between the error in the detected current value, the electrical angle, and the current phase, which is created based on the number of errors, the phase difference between the phase currents, and the current amplitude.
- a storage unit 240 may be provided.
- the correction unit 214 may be configured to correct the detected current value by referring to the second map based on the electrical angle and the current phase.
- the correcting unit includes, for all rotating electrical machines controlled by the control device, a set error number, a phase difference between phase currents, an acquired current amplitude, an electrical angle and the current phase, and corrects the detected current value based on the calculated error in the detected current value for all rotating electric machines controlled by the control device. good too.
- the correction units 114 and 214 detect a first timing (for example, detection timing tm1) that is the detection timing of the rotating electrical machine to which the power line to be detected is connected, and a second timing (for example, the detection timing tm1) that is the detection timing of the other rotating electrical machine. tm4) and the time difference (for example, dt41), the electrical angle of the other rotating electric machine at the first timing may be predicted. It is possible to reduce the number of times of detection by the electrical angle sensor and reduce the processing load on the current detection device.
- the electrical angle acquisition units 112 and 212 may be configured to acquire the electrical angles of other rotating electrical machines at the same time as the first timing, which is the detection timing of the rotating electrical machine to which the power line to be detected is connected. The accuracy of the corrected detected current value is improved by using the detected electrical angle even in the motor on the side other than the detection timing.
- the current amplitude acquisition units 130 and 230 may be configured to acquire the maximum amplitude of the current waveform for at least one electrical angle cycle as the current amplitude.
- the calculation load in calculating the current amplitude can be reduced.
- Current amplitude acquisition units 130 and 230 may be configured to acquire current amplitudes based on amplitudes of current vectors obtained by transforming phase currents flowing through at least two power lines of a rotating electrical machine into a rotating coordinate system or a stationary coordinate system. good.
- the current amplitude acquisition units 130 and 230 may be configured to acquire the current amplitude based on the current waveform of the current command value that controls driving of the rotating electric machine. Since the current amplitude can be acquired only when the current command value changes, the calculation load for acquiring the current amplitude can be reduced. Also, the current phase acquisition units 113 and 213 may be configured to acquire the current phase of the current command value as the current phase of the rotating electric machine.
- the current detection units 150 and 250 detect the magnetic flux generated by the current flowing in the power line, such as the current sensors S1u, S1v, S1w, S2u, S2v, and S2w, and detect the detected current value by the current sensor that detects the phase current. When acquiring, it can be used especially suitably.
- FIG. 9 shows a control device 30 for a rotating electrical machine that includes a current detection section 350 according to the third embodiment.
- the rotating electric machine control device 30 further includes a booster circuit 23, a battery 24, and a current sensor S3. It is different from the control device 10 for the rotary electric machine in terms of configuration.
- the current detection technology according to the present application can also be applied when current sensors are installed in addition to the power lines of the first motor 11 and the second motor 12 as in the present embodiment.
- the booster circuit 23 supplies power from the battery 24 to the first inverter 21 and the second inverter 22 .
- the current sensor S3 is installed on the power line forming the booster circuit 23, and detects the current flowing through the booster circuit 23 as a current value I3 by detecting the magnetic flux generated by the current flowing through the power line.
- Detected current acquisition unit 311 acquires current values I1u, I1v, I1w, I2u, I2v, and I2w detected by each current sensor from current sensors S1u, S1v, S1w, S2u, S2v, and S2w, and from current sensor S3, The detected current value I3 is obtained.
- the detected current acquisition unit 311 may acquire current values detected by a plurality of current sensors at predetermined detection timings.
- the electrical angle acquisition section 312 acquires the detected electrical angles of the first motor 11 and the second motor 12 detected by the electrical angle sensors 13 and 14.
- the current phase acquisition section 313 acquires the current phases of the first motor 11 and the second motor 12 in the same manner as the current phase acquisition section 313 .
- the correction unit 314 corrects the current values I1u, I1v, I1w, I2u, I2v, I2w, and I3 acquired by the detected current acquisition unit 311 .
- the value of each current value can be expressed by the following equation (1), where I3m is the detected current value, I3r is the true value, and I3e is the error.
- the error I3e can be affected by the current flowing through the power lines of the first motor 11 and the second motor 12 and the current flowing through the booster circuit 23 .
- I13ej be the error caused by the current flowing through the power lines of the first motor 11
- I23ej be the error caused by the current flowing through the power lines of the second motor 12
- I33e be the error caused by the current flowing through the booster circuit 23.
- the error I3e can be expressed by the following equation (29).
- the error I33e caused by the current flowing through the booster circuit 23 can be calculated by multiplying the true value I3r of the current flowing through the booster circuit 23 by the corresponding error number C3.
- the error I1ej in the j-phase current of the first motor 11 and the error I2ej in the j-phase current of the second motor 12 are the same in addition to the currents flowing through the power lines of the first motor 11 and the second motor 12. , can be affected by the current flowing through the booster circuit 23 .
- I31e be the error caused by the current flowing through the booster circuit 23 in the error I1ej
- I32e be the error caused by the current flowing through the booster circuit 23 in the error I2ej.
- the above formula (31) is obtained by adding I31e to the above formula (3), and the above formula (32) is obtained by adding I32e to the above formula (4).
- the errors I31e and I32e caused by the current flowing through the booster circuit 23 are calculated by multiplying the true value I3r of the current flowing through the booster circuit 23 by the corresponding error number C3, as shown in the following equations (33) and (34). can.
- error numbers C31j, C32j, and C33 are constants or variables known at the design stage of the current detection unit 350.
- the suffix “31j” indicates that the energized phase is the power line of the booster circuit 23 and the evaluation phase is the j-phase power line of the first motor 11 .
- the suffix "32j” indicates that the energized phase is the power line of the booster circuit 23, the evaluation phase is the j-phase power line of the second motor 12, and the suffix "33” indicates the energized phase and It indicates that the evaluation phase is the power line of the booster circuit 23 .
- the errors I11ej and I21ej in the above formula (31) can be expressed by the above formulas (5) and (6). are represented by the above formulas (11) and (12).
- the errors I12ej and I22ej in the above formula (32) can be expressed by a formula obtained by interchanging the subscripts "1" and "2" in the above formulas (5) and (6). 14) Using X12j, Y12j, X22j, and Y22j represented by (14) to (17), the above equations (11) and (12) are used.
- the amplitude correction coefficients X13, X23 and the angle correction coefficients Y13, Y23 can be calculated by the following equations (39) to (42).
- the current amplitude acquisition unit 330 obtains phase currents flowing through at least two power lines of the first motor 11 or the second motor 12 in a rotating coordinate system (dq coordinate system) or a stationary coordinate system ( ⁇ ). coordinate system) to obtain the current amplitude based on the amplitude of the current vector. Even when the coordinate system is transformed in this manner, the true value I1rj, the true value I2rj, and the true value I3r can be calculated by the above equations (43) to (45).
- FIGS. 10 to 12 Flowcharts of correction processing of the detected current value executed by the current detection unit 350 are shown in FIGS.
- the current detection unit 350 calculates errors in the detected current values for all the rotary electric machines controlled by the control device 30 and the booster circuit, and corrects the detected current values based on the calculated errors.
- FIG. 10 shows correction processing when the power line to be detected is the power line connected to the first motor 11
- FIG. 11 shows correction processing when the power line to be detected is the power line connected to the second motor 12.
- FIG. 12 shows the correction process when the power line to be detected is the power line connected to the booster circuit 23 .
- the processes shown in FIGS. 10 to 12 are repeatedly executed at predetermined intervals.
- step S501 the detected current value I1m of the first motor 11 is acquired, similar to step S101 in the first embodiment. After that, the process proceeds to step S102.
- step S502 for all rotating electrical machines and booster circuits controlled by the control device 30, corrected current values, which are detected current values after correction at detection timings past the current detection timing, are acquired.
- the corrected current value I1b, the corrected current value I2b, and the corrected current value I3b of the current flowing through the power line of the booster circuit are acquired from each current sensor at the past detection timing and corrected. remembered. These stored corrected current values I1b, I2b, and I3b can be read out and acquired. After that, the process proceeds to step S503.
- step S503 the current amplitude A1 in the first motor 11 and the current amplitude A2 in the second motor 12 are obtained, as in step S103 in the first embodiment. After that, the process proceeds to step S504.
- step S504 similarly to step S105 in the first embodiment, the electrical angle ⁇ 1 detected for the first motor 11 and the current phase ⁇ 1 estimated based on the voltage command value are acquired. Also, the predicted electrical angle ⁇ 2p predicted for the second motor 12 and the current phase ⁇ 2 estimated based on the voltage command value are acquired. After that, the process proceeds to step S505.
- step S505 the true value I3r of the current flowing through the power line of the booster circuit is acquired.
- the true value I3r may be obtained from the detected current value I3m and calculated from the above equation (43). Further, when the current flowing through the power line of the booster circuit is substantially constant, the corrected current value I3b corrected at the past timing obtained in step S502 may be used. After that, the process proceeds to step S506.
- step S506 an error I1e estimated for the detected current value I1m is calculated.
- the error I1e can be calculated by the following formula (46).
- I1ej A1 ⁇ X11j ⁇ sin( ⁇ 1+ ⁇ 1+Y11j) +A2 ⁇ X21j ⁇ sin( ⁇ 2+ ⁇ 2+Y21j) +C31j ⁇ I3r (46)
- X11u, Y11u, X21u, Y21u, X11v, Y11v, X21v, Y21v, X11w, Y11w, X21w, and Y21w are constants stored in the microcomputer 300 in advance. Furthermore, C31u, C31v, and C31w are constants stored in the microcomputer 300 in advance. Therefore, the current amplitudes A1 and A2 obtained in step S503, the electrical angle ⁇ 1, current phase ⁇ 1, predicted electrical angle ⁇ 2p, and current phase ⁇ 2 obtained in step S504, and the true value I3r obtained in step S505 are By using the above formula (46), the error I1e can be calculated with a small calculation load. After that, the process proceeds to step S507.
- step S507 similarly to step S107 in the first embodiment, the corrected current value I1a is calculated based on the detected current value I1m and the error I1e. After that, the process proceeds to step S508.
- step S508 the calculated post-correction current value I1a is output to the control unit 520, as in step S108 in the first embodiment.
- the control unit 320 controls the first motor 11 based on the corrected current value I1a.
- the corrected current value I1a is stored in the microcomputer 300.
- FIG. The corrected current value I1a calculated and stored in the current cycle can be used as the past corrected current value I1b in subsequent cycles.
- step S601 the detected current value I2m of the second motor 12 is obtained. Specifically, the U-phase current value I2mu, the V-phase current value I2mv, and the W-phase current value I2mw are acquired from the current sensors S2u, S2v, and S2w. After that, the process proceeds to step S602.
- steps S602 to S605 are the same as the processes shown in steps S502 to S505, so descriptions thereof will be omitted. After that, the process proceeds to step S606.
- step S606 an error I2e estimated for the detected current value I2m is calculated.
- the error I2e can be calculated by the following formula (47).
- I2ej A1 ⁇ X12j ⁇ sin( ⁇ 1+ ⁇ 1+Y12j) +A2 ⁇ X22j ⁇ sin( ⁇ 2+ ⁇ 2+Y22j) +C32j ⁇ I3r (47)
- X12u, Y12u, X22u, Y22u, X12v, Y12v, X22v, Y22v, X12w, Y12w, X22w, and Y22w are constants stored in the microcomputer 300 in advance. Furthermore, C32u, C32v, and C32w are constants stored in the microcomputer 300 in advance. Therefore, the current amplitudes A1 and A2 obtained in step S603, the electrical angle ⁇ 1, current phase ⁇ 1, predicted electrical angle ⁇ 2p, and current phase ⁇ 2 obtained in step S604, and the true value I3r obtained in step S605 are By using the above formula (47), the error I2e can be calculated with a small calculation load. After that, the process proceeds to step S607.
- step S607 similarly to step S507, the corrected current value I2a is calculated based on the detected current value I2m and the error I2e. After that, the process proceeds to step S608.
- the control unit 320 controls the second motor 12 based on the corrected current value I2a.
- the corrected current value I2a is stored in the microcomputer 300.
- FIG. The corrected current value I2a calculated and stored in the current cycle can be used as the past corrected current value I2b in subsequent cycles.
- step S701 the detected current value I3m of the booster circuit 23 detected by the current sensor S3 is obtained. After that, the process proceeds to step S702.
- step S702 for all rotating electrical machines controlled by the control device 30, corrected current values, which are detected current values after correction at detection timings past the current detection timing, are acquired.
- the corrected current values I1b and I2b stored in the microcomputer 300 can be read out and acquired. After that, the process proceeds to step S703.
- steps S703 and S705 are the same as the processes shown in steps S503 and S504, so the description is omitted. After that, the process proceeds to step S706.
- step S706 an error I3e estimated for the detected current value I3m is calculated.
- the error I3e can be calculated by the following equation (48) obtained from the above equations (29), (30), (37) and (38).
- X13, Y13, X23, Y23, and C33 are constants stored in the microcomputer 300 in advance.
- the true value I3r can be calculated from the above equation (43) using the detected current value I3m obtained in step S701. Therefore, by using the current amplitudes A1 and A2 obtained in step S703 and the electrical angle ⁇ 1, current phase ⁇ 1, predicted electrical angle ⁇ 2p, and current phase ⁇ 2 obtained in step S704 in the above equation (48), The error I1e can be calculated with a small computational load. After that, the process proceeds to step S707.
- step S707 similarly to step S507, the corrected current value I3a is calculated based on the detected current value I3m and the error I3e. After that, the process proceeds to step S708.
- step S708 the calculated post-correction current value I3a is output to control unit 320, as in step S508.
- the control unit 320 controls the booster circuit 23 based on the corrected current value I3a.
- the corrected current value I3a is stored in the microcomputer 300. FIG.
- the corrected current value I3a calculated and stored in the current cycle can be used as the past corrected current value I3b in subsequent cycles.
- FIG. 13 is a diagram showing deviations of the detection timings of the first motor 11 and the second motor 12 with respect to the detection timing of the booster circuit 23.
- FIG. The horizontal axis indicates the time t
- FIG. 13(a) indicates the current value I3 flowing through the power line forming the booster circuit 23.
- FIG. 13B shows the U-phase current value I1u, V-phase current value I1v, and W-phase current value I1w flowing through the power line of the first motor 11.
- FIG. 13C shows the U-phase current value I2u, V-phase current value I2v, and W-phase current value I2w flowing through the power line of the second motor 12.
- FIG. 13 shows the U-phase current value I2u, V-phase current value I2v, and W-phase current value I2w flowing through the power line of the second motor 12.
- the detection timing tm1 is delayed from the latest detection timing tm3 of the first motor 11 by the time difference dt31, and the latest detection timing tm3 of the second motor 12 is delayed. is delayed by a time difference dt51 with respect to the detection timing tm5.
- the current amplitude A1 of the first motor 11 may be obtained at the detection timing tm3, or may be obtained at the immediately preceding detection timing tm4.
- the electrical angle ⁇ 1 of the first motor 11 may be obtained at the detection timing tm3, or may be obtained at the immediately preceding detection timing tm4.
- the predicted electrical angle ⁇ 1p may be used as the electrical angle ⁇ 1.
- the current phase ⁇ 1 of the first motor 11 can be estimated based on the voltage command value.
- the current amplitude A2 of the second motor 12 may be obtained at the detection timing tm5, or may be obtained at the immediately preceding detection timing tm6.
- the electrical angle ⁇ 2 of the second motor 12 may be obtained at the detection timing tm5, or may be obtained at the immediately preceding detection timing tm6.
- a predicted electrical angle ⁇ 2p may be used as the electrical angle ⁇ 2.
- the current phase ⁇ 2 of the second motor 12 can be estimated based on the voltage command value.
- FIG. 14 is a diagram showing deviations in the detection timing of the second motor 12 and the booster circuit 23 with respect to the detection timing of the first motor 11.
- FIG. The horizontal axis indicates time t
- FIG. 14(a) indicates the U-phase current value I1u, V-phase current value I1v, and W-phase current value I1w flowing through the power line of the first motor 11.
- FIG. 14B shows the U-phase current value I2u, V-phase current value I2v, and W-phase current value I2w flowing through the power line of the second motor 12.
- FIG. 14(c) shows the current value I3 flowing through the power line forming the booster circuit 23. As shown in FIG.
- the detection timing tm1 is delayed from the latest detection timing tm4 of the second motor 12 by a time difference dt41.
- the current amplitude A1 of the first motor 11 is obtained by correcting the detected current value detected at the detection timing tm2 immediately before the detection timing tm1. It is possible to obtain the current amplitude A1 based on the corrected current value I1b, which is used as the corrected current value I1b.
- the electrical angle ⁇ 2 of the second motor 12 may be obtained at the detection timing tm4, or may be obtained at the immediately preceding detection timing tm3.
- a predicted electrical angle ⁇ 2p may be used as the electrical angle ⁇ 2.
- the current phases ⁇ 1 and ⁇ 2 can be estimated based on the voltage command value.
- the true value I3r of the booster circuit 23 may be calculated based on the detected current value I3m detected at the detection timing tm1. Alternatively, the true value I3r of the booster circuit 23 may be calculated using the detected current value I3m acquired at the detection timing tm5 or the detection timing tm6. When using the detected current value t3m, the true value I3r is calculated using the detected current value I3m obtained in the above equation (43), and is used in the above equations (44) and (45) to obtain the first motor 11 and The detected current value of the second motor 12 can be corrected.
- the corrected current value I3a corrected at the detection timing tm5 or the detection timing tm6 may be used as the true value I3r, or the average value of the corrected current values I3a corrected at several past detection timings may be used as the true value I3r. may also be used.
- the corrected current value I3a or its average value is used as the true value I3r, the detected current values of the first motor 11 and the second motor 12 can be corrected by the above equations (44) and (45).
- FIG. 15 shows a control device 40 for a rotating electrical machine that includes a current detection section 450 according to the fourth embodiment.
- the control device 40 for the rotating electric machine since the control device 40 for the rotating electric machine does not control the second motor 12, it does not include the components for controlling the second motor 12. It is different from the control device 30 of the rotary electric machine.
- Other configurations are the same as those of the control device 30 for the rotating electric machine according to the third embodiment, so that the reference numbers in the 300s in the control device 30 are replaced with the 400s to omit the description.
- FIGS. 16 and 17 Flowcharts of correction processing of the detected current value executed by the current detection unit 450 are shown in FIGS.
- the current detection unit 450 calculates an error in the detected current value of each of the first motor 11 controlled by the control device 40 and the booster circuit 23, and corrects the detected current value based on the calculated error.
- FIG. 16 shows correction processing when the power line to be detected is the power line connected to the first motor 11
- FIG. 17 shows correction processing when the power line to be detected is the power line connected to the booster circuit 23. indicates The processes shown in FIGS. 16 and 17 are repeatedly executed at predetermined intervals.
- FIG. 18 is a diagram showing the deviation of the detection timing of the first motor 11 with respect to the detection timing of the booster circuit 23.
- FIG. The horizontal axis indicates time t
- FIG. 18(a) indicates the current value I3 flowing through the power line forming the booster circuit 23.
- FIG. 18B shows the U-phase current value I1u, V-phase current value I1v, and W-phase current value I1w flowing through the power line of the first motor 11.
- FIG. 18 shows the U-phase current value I1u, V-phase current value I1v, and W-phase current value I1w flowing through the power line of the first motor 11.
- the detection timing tm1 is delayed from the latest detection timing tm4 of the first motor 11 by a time difference dt41.
- the current amplitude A1 of the first motor 11 may be obtained at detection timing tm4, or may be obtained at detection timing tm3 immediately before that.
- the electrical angle ⁇ 1 of the first motor 11 may be obtained at the detection timing tm1, or the predicted electrical angle ⁇ 1p may be used as the electrical angle ⁇ 1.
- the predicted electrical angle ⁇ 1p similarly calculated based on the detected electrical angle obtained from the first electrical angle sensor 13 at the detection timing tm3, the angular velocity ⁇ 1 of the first motor 11, and the time difference between the detection timings tm1 and tm3 is calculated. may be used.
- the current phase ⁇ 1 of the first motor 11 can be estimated based on the voltage command value.
- FIG. 19 is a diagram showing the deviation of the detection timing of the booster circuit 23 with respect to the detection timing of the first motor 11.
- FIG. The horizontal axis indicates time t
- FIG. 19A shows U-phase current value I1u, V-phase current value I1v, and W-phase current value I1w flowing through the power line of first motor 11 .
- FIG. 19(b) shows the current value I3 flowing through the power line that constitutes the booster circuit 23. As shown in FIG.
- the current amplitude A1 of the first motor 11 is the detection timing immediately before the detection timing tm1, as in the first and third embodiments.
- the immediately preceding corrected current value obtained by correcting the detected current value detected at tm2 is used as the corrected current value I1b, and the current amplitude A1 can be obtained based on the corrected current value I1b.
- the current phase ⁇ 1 can be estimated based on the voltage command value.
- the true value I3r of the booster circuit 23 may be calculated based on the detected current value I3m detected at the detection timing tm1. Alternatively, the true value I3r of the booster circuit 23 may be calculated using the detected current value I3m acquired at the detection timing tm3 or the detection timing tm4. When using the detected current value t3m, the true value I3r is calculated using the detected current value I3m obtained in the above equation (43), and is used in the above equation (44) to obtain the detected current value of the first motor 11. can be corrected.
- the corrected current value I3a corrected at detection timing tm3 or detection timing tm4 may be used as the true value I3r, or the average value of the corrected current values I3a corrected at several past detection timings may be used as the true value I3r. may also be used.
- the corrected current value I3a or its average value is used as the true value I3r, the detected current value of the first motor 11 can be corrected by the above equation (44).
- the current detection technology according to the present application can also be applied to a case in which there is a single rotating electrical machine and a booster circuit is provided, as in the present embodiment.
- FIG. 20 shows a control device 50 for a rotating electrical machine that includes a current detection section 550 according to the fifth embodiment.
- the control device 40 for the rotating electric machine since the control device 40 for the rotating electric machine does not control the second motor 12, it does not include each configuration for controlling the second motor 12. It is different from the control device 10 of the rotary electric machine.
- Other configurations are the same as those of the control device 10 for a rotating electric machine according to the third embodiment, so that the reference numbers in the 100s in the control device 10 are replaced with 500s to omit the description.
- FIG. 21 shows a flowchart of correction processing of the detected current value executed by the current detection unit 550.
- the current detection unit 550 calculates an error in the detected current value of the first motor 11 controlled by the control device 50, and corrects the detected current value based on the calculated error.
- the processing shown in FIG. 21 is repeatedly executed at predetermined intervals.
- the current detection technology according to the present application can be applied even when there is a single rotating electric machine as in this embodiment.
- the above formula (49) can be expressed as a determinant shown in the following formula (50).
- the true values I1rj, I2rj, and I3r can also be calculated by multiplying the inverse matrix formed by the number of errors and each detected current value, as shown in the following equation (50).
- FIG. 22 is a diagram showing deviations in the detection timing of the second motor 12 and the booster circuit 23 with respect to the detection timing of the first motor 11.
- FIG. The horizontal axis indicates time t
- FIG. 22(a) indicates the U-phase current value I1u, V-phase current value I1v, and W-phase current value I1w flowing through the power line of the first motor 11.
- FIG. 22(b) shows the U-phase current value I2u, V-phase current value I2v, and W-phase current value I2w flowing through the power line of the second motor 12.
- FIG. 22(c) shows the current value I3 flowing through the power line forming the booster circuit 23.
- the detected current values I2m and I3m when the current of the detected current value I1m is detected at the current detection timing tm1, the detected current values I2m and I3m also need to be acquired at the detection timing tm1. Similarly, at the detection timing of the second motor 12 and the detection timing of the booster circuit 23, the detected current values I1m, I2m, and I3m must be obtained at the same time. Since each error number is a known variable or constant, if the detected current values I1m, I2m, and I3m are simultaneously acquired at each detection timing, the electrical angle , current amplitude, and current phase can be corrected. In the first to fifth embodiments, the electrical angle, current amplitude, and current phase of the rotating electric machine are used to correct the detected current value. As in the present embodiment, each detected current value may be corrected without acquiring the electrical angle, current amplitude, and current phase of the rotating electric machine.
- Equations (49) and (50) when the above equations (49) and (50) can be simplified, it is possible to obtain the electrical angle, current amplitude, and current phase of the rotating electric machine more easily. It becomes possible to correct each detected current value.
- the error number is determined by the shield between the current sensor and the power line and the distance of the power line to the current sensor. Equations (49) and (50) may be simplified.
- the angle of the power line is an angle that does not affect the magnetic flux, and the like.
- the angle of the power line can also be expressed as a distance in a predetermined direction (for example, a distance in the x direction and a distance in the y direction).
- FIG. 23(a) is a top view of the power line 61 and the current sensor 60 that detects the current value thereof
- FIG. 23(b) is a side view of the power line 61 and the current sensor 60.
- FIG. The power line 61 has a portion extending parallel to the xy plane and a curved portion extending parallel to the z direction.
- the formulas shown in each of the above embodiments can also be applied when the phase current flowing through each power line contains frequency components other than the fundamental wave.
- the true value I1rk (I1ru, I1rv, I1rw) of the k-phase current in the above equation (3) is given by the following equation (52). ) to (54). Therefore, A1 ⁇ sin( ⁇ 1+ ⁇ 1) in the above equation (5) is obtained from the right side of the following equation (52), and A1 ⁇ sin( ⁇ 1 ⁇ 2 ⁇ /3+ ⁇ 1) is obtained from the right side of the following equation (53). /3+ ⁇ 1) by the right side of the following equation (54), the error I11ej can be calculated even when harmonic components are included. Note that A1n and ⁇ 1n indicate the current amplitude and current phase in the nth harmonic.
- the current detection units 150, 250, 350, 450, and 550 are applied to the control devices 10, 20, 30, 40, and 50 for the rotating electrical machines of the polyphase AC type, and the first motor 11 and the second motor 12 which are rotating electrical machines. It functions as a current sensing device that senses the phase current flowing through the power line that supplies power to the .
- the current detection units 150 , 250 , 350 , 450 , 550 include detection current acquisition units 111 , 211 , 311 , 411 , 511 and correction units 114 , 214 , 314 , 414 , 514 .
- Detected current acquisition units 111, 211, 311, 411, and 511 acquire detected current values, which are detected values of phase currents of power lines to be detected, from current sensors that detect phase currents.
- the compensator 114, 214, 314, 414, 514 is based on an error number, which is a predetermined constant or variable determined by a shield between the current sensor and the power line and the distance of the power line to the current sensor. Calculate the error of the detected current value and correct the detected current value.
- the current detection units 150, 250, 350, 450, and 550 detection is performed based on an error number that is a predetermined constant or variable determined by a shield between the current sensor and the power line and the distance of the power line to the current sensor. Since the error of the current value can be easily calculated, it is possible to correct the detected current value while suppressing the calculation load and ensuring the calculation accuracy.
- the correction units 114, 214, 314, 414, and 514 may correct the detected current value by multiplying the detected current value by the number of errors. Further, like the current detection unit 250, the storage unit 240 may be provided to store a first map created based on the relationship between the number of errors and the detected current value. In this case, the first map is referred to. By doing so, the correction unit can be configured to correct the detected current value.
- Detected current acquisition units 111, 211, 311, 411, and 511 acquire detected current values, which are detected values of phase currents of power lines to be detected, from current sensors that detect current.
- Electrical angle acquisition units 112, 212, 312, 412, and 512 acquire electrical angles of rotating electric machines.
- Current phase acquisition units 113, 213, 313, 413, and 513 acquire current phases of rotating electric machines.
- Current amplitude acquisition units 130, 230, 330, 430, and 530 acquire current amplitudes, which are amplitudes of current waveforms of rotating electric machines.
- the correction units 114, 214, 314, 414, and 514 calculate the error in the detected current value based on the number of errors, the phase difference between the phase currents, the acquired current amplitude, the electrical angle, and the current phase, Correct the detected current value.
- the current detection units 150, 250, 350, 450, and 550 described above when correcting the detected current value, the current amplitude acquired by the current amplitude acquisition units 130, 230, 330, 430, and 530 and the electrical angle acquisition unit 112, 212, 312, 412, 512 and the current phases acquired by the current phase acquisition units 113, 213, 313, 413, 513, the error in the detected current value can be calculated.
- the detected current value can be corrected while suppressing the load and ensuring the calculation accuracy.
- the current detection units 150, 250, 350, 450, and 550 are applied to a control device for a multiphase AC rotating electric machine, and detect phase currents flowing through power lines that supply electric power to the rotating electric machine. , the function of each unit described above may be realized.
- This current detection program provides the microcomputer 100 or the like with a detected current acquisition step of acquiring a detected current value, which is a detected value of the phase current of the power line to be detected from the current sensor that detects the phase current, and a correction unit step of calculating the error in the detected current value due to the magnetic flux of the power line based on the number of errors, which is a predetermined constant or variable determined by the distance of the power line from the current sensor, and the shielding object between them, and correcting the detected current value; is a program that executes
- the current detection units 150, 250, 350, 450, and 550 are applied to a control device for a multiphase AC rotating electric machine by the above-described respective units, and are current detection methods for detecting phase currents flowing through power lines that supply power to the rotating electric machine. to run.
- This current detection method includes a detection current acquisition step of acquiring a detection current value, which is a detection value of the phase current of the power line to be detected, from a current sensor that detects the phase current, and a shield between the current sensor and the power line.
- Detected current acquisition units 111, 211, 311, 411, and 511 repeatedly acquire detected current values at predetermined detection timings, and current amplitude acquisition units 130, 230, 330, 430, and 530 acquire values at current detection timings.
- Corrected current values I1b and I2b which are detected current values after correction obtained by the detected current obtaining units 111, 211, 311, 411, and 511 at past detection timings and corrected by the correcting units 114 and 214, are applied to the rotary electric machine. It may be configured to obtain the current amplitudes A1 and A2 by using it as a current waveform.
- the current amplitude acquisition units 130, 230, 330, 430, and 530 acquire the current amplitudes acquired by the detected current acquisition units 111, 211, 311, 411, and 511 at the detection timing immediately before the current detection timing, and the correction units 114 and 214 , 314, 414, and 514 may be used as the current waveform of the rotary electric machine to estimate the current amplitudes A1 and A2.
- the accuracy of the current amplitudes A1 and A2 acquired at the current detection timing can be further improved, which can contribute to further improvement of the accuracy of the corrected current values I1a and I2a corrected at the current detection timing.
- Correction units 114, 214, 314, 414, and 514 pre-calculate amplitude correction coefficients (eg, X11u, X21u) and angle correction coefficients (eg, Y11u, Y21u) based on the number of errors and phase differences between phase currents, and obtain The detected current value may be corrected by correcting the obtained current amplitude with the amplitude correction coefficient and correcting the acquired electrical angle and current phase with the angle correction coefficient.
- the error of the detected current value can be easily calculated, and the calculation load in the current detection device can be reduced. can be reduced.
- the current detection unit 250 Like the current detection unit 250, it stores a second map showing the relationship between the error in the detected current value, the electrical angle, and the current phase, which is created based on the number of errors, the phase difference between the phase currents, and the current amplitude.
- a storage unit 240 may be provided.
- the correction unit 214 may be configured to correct the detected current value by referring to the second map based on the electrical angle and the current phase.
- the correction units 114, 214, and 314 each set the error number and the phase difference between the phase currents and the acquired currents for all the rotating electric machines controlled by the control device.
- An error in the detected current value is calculated based on the amplitude, the electrical angle, and the current phase, and the detected current value is corrected based on the calculated error in the detected current value for all rotating electric machines controlled by the control device.
- the correction units 114, 214, and 314 detect a first timing (for example, detection timing tm1) that is the detection timing of the rotating electric machine to which the power line to be detected is connected, and a second timing (for example, detection timing tm1) that is the detection timing for the other rotating electric machine. It may be configured to predict the electrical angle of the other rotating electric machine at the first timing based on the time difference (for example, dt41) from the detection timing tm4). It is possible to reduce the number of times of detection by the electrical angle sensor and reduce the processing load on the current detection device.
- the electrical angle acquisition units 112, 212, and 312 may be configured to acquire the electrical angles of other rotating electrical machines at the same time as the first timing, which is the detection timing of the rotating electrical machine to which the power line to be detected is connected. .
- the accuracy of the corrected detected current value is improved by using the detected electrical angle even in the motor on the side other than the detection timing.
- the current amplitude acquisition units 130, 230, 330, 430, and 530 may be configured to acquire the maximum amplitude of the current waveform for at least one electrical angle cycle as the current amplitude.
- the calculation load in calculating the current amplitude can be reduced.
- Current amplitude acquisition units 130, 230, 330, 430, and 530 acquire current amplitudes based on amplitudes of current vectors obtained by transforming phase currents flowing through at least two power lines of a rotating electrical machine into a rotating coordinate system or a stationary coordinate system. may be configured to
- the current amplitude acquisition units 130, 230, 330, 430, and 530 may be configured to acquire the current amplitude based on the current waveform of the current command value that controls the drive of the rotating electric machine. Since the current amplitude can be acquired only when the current command value changes, the calculation load for acquiring the current amplitude can be reduced. Also, the current phase acquisition units 113, 213, 313, 413, and 513 may be configured to acquire the current phase of the current command value as the current phase of the rotary electric machine.
- Current detection units 150, 250, 350, 450, and 550 detect phase currents by detecting magnetic fluxes generated by currents flowing in power lines, such as current sensors S1u, S1v, S1w, S2u, S2v, S2w, and S3. It can be used particularly preferably when the detected current value is acquired by a current sensor that does.
- the phase current of the power line may include the fundamental wave and frequency components other than the fundamental wave.
- the error in the detected current value can be easily calculated based on the error number, which is a predetermined constant or variable. and the detected current value can be corrected.
- the controller and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by the computer program.
- the controls and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits.
- the control units and techniques described in this disclosure can be implemented by a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may also be implemented by one or more dedicated computers configured.
- the computer program may also be stored as computer-executable instructions on a computer-readable non-transitional tangible recording medium.
- a current detection device (150, 250, 350, 450, 550) that is applied to a control device for a multiphase AC rotating electrical machine and detects a phase current flowing through a power line that supplies power to the rotating electrical machine, a detected current acquisition unit (111, 211, 311, 411, 511) that acquires a detected current value, which is a detected value of the phase current of the power line to be detected, from a current sensor that detects the phase current;
- An error in the detected current value due to the magnetic flux of the power line is calculated based on an error number that is a predetermined constant or variable determined by a shield between the current sensor and the power line and the distance of the power line to the current sensor.
- a current amplitude acquisition unit (130, 230, 330, 430, 530) that acquires a current amplitude that is the amplitude of the current waveform of the rotating electric machine; an electrical angle acquisition unit (112, 212, 312, 412, 512) that acquires the electrical angle of the rotating electric machine; a current phase acquisition unit (113, 213, 313, 413, 513) that acquires a current phase of the rotating electric machine,
- the correction unit calculates an error in the detected current value based on the number of errors, the phase difference between the phase currents, the acquired current amplitude, the electrical angle, and the current phase, and calculates the error in the detected current value.
- a current detection device according to any one of configurations 1 to 3, which corrects a current value.
- the detected current acquisition unit repeatedly acquires the detected current value at a predetermined detection timing, The current amplitude acquisition unit acquires a current value after correction, which is the detected current value after correction by the correction unit, acquired by the detection current acquisition unit at a detection timing past the current detection timing.
- the current detection device according to configuration 4, wherein the current amplitude is obtained by using the current waveform of the electric machine.
- the current amplitude acquisition unit uses the current value after correction acquired by the detection current acquisition unit at the detection timing immediately before the current detection timing and corrected by the correction unit as the current waveform of the rotating electrical machine to obtain the 6.
- the current detection device which acquires current amplitude.
- the correction unit pre-calculates an amplitude correction coefficient and an angle correction coefficient based on the number of errors and the phase difference between the phase currents, corrects the acquired current amplitude with the amplitude correction coefficient, and corrects the acquired electrical angle. and the current detection device according to any one of configurations 4 to 6, wherein the detected current value is corrected by correcting the current phase with the angle correction coefficient.
- a storage unit that stores a second map showing the relationship between the error in the detected current value, the electrical angle, and the current phase, which is created based on the number of errors, the phase difference between the phase currents, and the current amplitude.
- the current detection device according to any one of configurations 4 to 6, wherein the correction unit corrects the detected current value by referring to the second map based on the electrical angle and the current phase.
- the control device is a control device that controls a plurality of rotating electric machines, The correction unit corrects the number of errors, the phase difference between the phase currents, the acquired current amplitude, the electrical angle, and the current phase for each of the rotating electric machines controlled by the control device. and correcting the detected current value based on the error in the detected current value calculated for all the rotating electric machines controlled by the control device.
- the current detection device according to any one of the above.
- the correction unit determines the The current detection device according to configuration 9, which predicts the electrical angle of the other rotating electric machine at the first timing.
- the electrical angle acquisition unit acquires the electrical angle of the other rotating electrical machine at the same time as the first timing, which is the detection timing of the rotating electrical machine to which the power line to be detected is connected.
- the electrical angle acquisition unit acquires the electrical angle of the other rotating electrical machine at the same time as the first timing, which is the detection timing of the rotating electrical machine to which the power line to be detected is connected.
- the current detection device according to any one of configurations 4 to 11, wherein the current amplitude acquisition unit acquires, as the current amplitude, a maximum amplitude in a current waveform for at least one electrical angle cycle.
- the current amplitude acquisition unit acquires the current amplitude based on amplitudes of current vectors obtained by transforming phase currents flowing through at least two power lines of the rotating electrical machine into a rotating coordinate system or a stationary coordinate system.
- the current detection device according to .
- the current amplitude acquisition unit acquires the current amplitude based on a current waveform of a current command value that controls driving of the rotating electrical machine, 14.
- the current detection device according to any one of configurations 4 to 13, wherein the current phase acquisition unit acquires the current phase of the current command value as the current phase of the rotating electric machine.
- the current sensor is a current sensor that detects the phase current by detecting a magnetic flux generated by a current flowing through the power line.
- the phase current of the power line includes a fundamental wave and frequency components other than the fundamental wave.
- a current detection program for detecting a phase current flowing through a power line that supplies power to the rotating electrical machine the current detection program being applied to a control device for a multi-phase AC rotating electrical machine, the program comprising: a detected current acquisition step of acquiring a detected current value, which is a detected value of the phase current of the power line to be detected, from a current sensor that detects the phase current; An error in the detected current value due to the magnetic flux of the power line is calculated based on an error number that is a predetermined constant or variable determined by a shield between the current sensor and the power line and the distance of the power line to the current sensor. and a correction unit step of correcting the detected current value.
- a current detection method for detecting a phase current flowing through a power line for supplying power to the rotating electrical machine, which is applied to a control device for a multiphase AC rotating electrical machine comprising: a detected current acquisition step of acquiring a detected current value, which is a detected value of the phase current of the power line to be detected, from a current sensor that detects the phase current; An error in the detected current value due to the magnetic flux of the power line is calculated based on an error number that is a predetermined constant or variable determined by a shield between the current sensor and the power line and the distance of the power line to the current sensor. and a correction unit step of correcting the detected current value.
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Abstract
Description
図1に示す回転電機の制御装置10は、回転電機である第1モータ11および第2モータ12を制御する。制御装置10は、第1インバータ21と、第2インバータ22と、第1電気角センサ13と、第2電気角センサ14と、電流センサS1u,S1v,S1w,S2u,S2v,S2wと、マイコン100とを備えている。マイコン100は、制御部120と、電流検出部150とを備えている。
+C1w1j×I1rw … (3)
I21ej=C2u1j×I2ru+C2v1j×I2rv
+C2w1j×I2rw … (4)
+C1v1j×A1×sin(θ1-2π/3+φ1)
+C1w1j×A1×sin(θ1+2π/3+φ1)
… (5)
I21ej=C2u1j×A2×sin(θ2+φ2)
+C2v1j×A2×sin(θ2-2π/3+φ2)
+C2w1j×A2×sin(θ2+2π/3+φ2)
… (6)
+A2×X21j×sin(θ2+φ2+Y21j)
… (13)
図6に、第2実施形態に係る電流検出部250を備える回転電機の制御装置20を示す。図6に示すように、回転電機の制御装置20は、マイコン200に設けられた電流検出部250の構成において、回転電機の制御装置10と相違している。電流検出部250は、記憶部240をさらに備える。
+Z21j×sin(θ2+φ2+Y21j) … (26)
I2ej=Z12j×sin(θ1+φ1+Y11j)
+Z22j×sin(θ2+φ2+Y22j) … (27)
図9に、第3実施形態に係る電流検出部350を備える回転電機の制御装置30を示す。図9に示すように、回転電機の制御装置30は、昇圧回路23、バッテリ24、および電流センサS3をさらに備え、電流検出部350において、さらに、電流センサS3による検出電流値を補正するように構成されている点において、回転電機の制御装置10と相違している。本実施形態のように、第1モータ11、第2モータ12の各電力線以外に電流センサが設置されている場合にも、本願に係る電流検出技術を適用できる。
I2ej=I12ej+I22ej+I32e … (32)
I32e=C32j×I3r … (34)
… (35)
I22ej=A2×X22j×sin(θ2+φ2+Y22j)
… (36)
… (37)
I23ej=A2×X23×sin(θ2+φ2+Y23)
… (38)
=I1mj-{A1×X11j×sin(θ1+φ1+Y11j)
+A2×X21j×sin(θ2+φ2+Y21j)
+C31j×I3r} … (44)
I2rj=I2mj-I2ej
=I2mj-{A1×X12j×sin(θ1+φ1+Y12j)
+A2×X22j×sin(θ2+φ2+Y22j)
+C32j×I3r} … (45)
+A2×X21j×sin(θ2+φ2+Y21j)
+C31j×I3r … (46)
+A2×X22j×sin(θ2+φ2+Y22j)
+C32j×I3r … (47)
=A1×X13×sin(θ1+φ1+Y13)
+A2×X23×sin(θ2+φ2+Y23)
+C33×I3r … (48)
図15に、第4実施形態に係る電流検出部450を備える回転電機の制御装置40を示す。図15に示すように、回転電機の制御装置40は、第2モータ12を制御対象としないため、第2モータ12を制御するための各構成を備えていない点において、第3実施形態に係る回転電機の制御装置30と相違している。その他の構成は、第3実施形態に係る回転電機の制御装置30と同様であるため、制御装置30における300番台の参照番号を400番台に読み替えることにより説明を省略する。
図20に、第5実施形態に係る電流検出部550を備える回転電機の制御装置50を示す。図20に示すように、回転電機の制御装置40は、第2モータ12を制御対象としないため、第2モータ12を制御するための各構成を備えていない点において、第1実施形態に係る回転電機の制御装置10と相違している。その他の構成は、第3実施形態に係る回転電機の制御装置10と同様であるため、制御装置10における100番台の参照番号を500番台に読み替えることにより説明を省略する。
第6実施形態においては、図9に示す回転電機の制御装置30の構成を例に、電流検出部350が回転電機の電気角、電流振幅、電流位相を取得することなく、各検出電流値の補正を行う手法について説明する。
=I1rj+(C1u1j×I1ru+C1v1j×I1rv
+C1w1j×I1rw+C2u1j×I2ru
+C2v1j×I2rv+C2w1j×I2rw
+C31j×I3r)
I2mj=I2rj+I2ej
=I2rj+(C1u2j×I1ru+C1v2j×I1rv
+C1w2j×I1rw+C2u2j×I2ru
+C2v2j×I2rv+C2w2j×I2rw
+C32j×I3r)
I3m=I3r+I3e
=I3r+(C1u3×I1ru+C1v3×I1rv
+C1w3×I1rw+C2u3×I2ru
+C2v3×I2rv+C2w3×I2rw
+C33×I3r) … (49)
誤差数C31j=0かつC32=0の場合には、上記式(49)より、I3m=I3r+C33×I3rとなるため、I3r=I3m/(1+C33)により算出できる。
自相からのノイズのみを考慮すればよい場合、例えば、第1モータ11のU相電流を例示して説明すると、その真値I1ruは、上記式(49)より、I1mu=I1ru+C1u1u×I1ruとなるため、I1ru=I1mu/(1+C1u1u)により算出できる。第1モータ11のV,W相電流および第2モータ12のU,V,W相電流についても、同様に算出できる。
図15に示すように第2モータ12を制御対象としない構成において、第1モータ11の各相の電流値において検出電流値と真値との誤差が無い場合、すなわち、I1ru=I1muかつI1rv=I1mvかつI1rw=I1mwである場合には、上記式(49)より、I3m=I3r+C1u3×I1mu+C1v3×I1mv+C1w3×I1mw+C33×I3rとなるため、I3r=(I3m-C1u3×I1mu-C1v3×I1mv-C1w3×I1mw)/(1+C33)により算出できる。
第1モータ11、第2モータ12,昇圧回路23の互いの距離が十分に離れている場合や、第1モータ11、第2モータ12,昇圧回路23の間にそれぞれ磁束シールド等の磁束を遮蔽する遮蔽物がある場合、他の回転電機や昇圧回路に由来する誤差を考慮しなくてよい場合がある。この場合、上記式(49)より、第1モータ11についてI1mj=I1rj+C1u1j×I1ru+C1v1j×I1rv+C1w1j×I1rwとなり、これを上記式(50)と同様に行列式で表すと、下記式(51)に示すとおりとなる。
多相交流式の回転電機の制御装置に適用され、前記回転電機に電力供給する電力線を流れる相電流を検出する電流検出装置(150,250,350,450,550)であって、
前記相電流を検出する電流センサから検出対象である前記電力線の前記相電流の検出値である検出電流値を取得する検出電流取得部(111,211,311,411,511)と、
前記電流センサと前記電力線との間の遮蔽物と、前記電流センサに対する前記電力線の距離によって決まる所定の定数または変数である誤差数に基づいて、前記電力線の磁束による前記検出電流値の誤差を算出し、前記検出電流値を補正する補正部(114,214,314,414,514)と、を備える電流検出装置。
[構成2]
前記補正部は、前記検出電流値に対して、前記誤差数を乗じることにより前記検出電流値を補正する構成1に記載の電流検出装置。
[構成3]
前記誤差数と、前記検出電流値との関係に基づいて作成された第1マップを記憶する記憶部を備え、
前記補正部は、前記第1マップを参照することにより前記検出電流値を補正する構成1に記載の電流検出装置。
[構成4]
前記回転電機の電流波形の振幅である電流振幅を取得する電流振幅取得部(130,230,330,430,530)と、
前記回転電機の電気角を取得する電気角取得部(112,212,312,412,512)と、
前記回転電機の電流位相を取得する電流位相取得部(113,213,313,413,513)と、をさらに備え、
前記補正部は、前記誤差数と、前記相電流間の位相差と、取得した前記電流振幅と、前記電気角と、前記電流位相とに基づいて前記検出電流値の誤差を算出し、前記検出電流値を補正する構成1~3のいずれかに記載の電流検出装置。
[構成5]
前記検出電流取得部は、所定の検出タイミングで繰り返して前記検出電流値を取得し、
前記電流振幅取得部は、現在の検出タイミングよりも過去の検出タイミングで前記検出電流取得部により取得され、前記補正部により補正された補正後の前記検出電流値である補正後電流値を前記回転電機の前記電流波形として用いて前記電流振幅を取得する構成4に記載の電流検出装置。
[構成6]
前記電流振幅取得部は、現在の検出タイミングの直前の検出タイミングで前記検出電流取得部により取得され、前記補正部により補正された前記補正後電流値を前記回転電機の前記電流波形として用いて前記電流振幅を取得する構成5に記載の電流検出装置。
[構成7]
前記補正部は、前記誤差数および前記相電流間の位相差に基づいて振幅補正係数および角補正係数を予め算出し、取得した前記電流振幅を前記振幅補正係数によって補正し、取得した前記電気角および前記電流位相を前記角補正係数によって補正することにより、前記検出電流値を補正する構成4~6のいずれかに記載の電流検出装置。
[構成8]
前記誤差数、前記相電流間の位相差および前記電流振幅に基づいて作成された、前記検出電流値の誤差と、前記電気角および前記電流位相との関係を示す第2マップを記憶する記憶部(240)を備え、
前記補正部は、前記電気角および前記電流位相に基づいて前記第2マップを参照することにより、前記検出電流値を補正する構成4~6のいずれかに記載の電流検出装置。
[構成9]
前記制御装置は、複数の回転電機を制御する制御装置であり、
前記補正部は、前記制御装置が制御する全ての前記回転電機について、それぞれ、前記誤差数と、前記相電流間の位相差と、取得した前記電流振幅と、前記電気角と、前記電流位相とに基づいて前記検出電流値の誤差を算出し、前記制御装置が制御する全ての前記回転電機について算出した前記検出電流値の誤差に基づいて、前記検出電流値を補正する構成4~8のいずれかに記載の電流検出装置。
[構成10]
前記補正部は、検出対象である前記電力線が接続された前記回転電機の検出タイミングである第1タイミングと、他の前記回転電機の前記検出タイミングである第2タイミングとの時間差に基づいて、前記第1タイミングにおける前記他の回転電機の電気角を予測する構成9に記載の電流検出装置。
[構成11]
前記電気角取得部は、検出対象である前記電力線が接続された前記回転電機の検出タイミングである第1タイミングと同時に他の前記回転電機の電気角を取得する構成9に記載の電流検出装置。
[構成12]
前記電流振幅取得部は、少なくとも電気角で1周期分の電流波形における最大振幅を前記電流振幅として取得する構成4~11のいずれかに記載の電流検出装置。
[構成13]
前記電流振幅取得部は、前記回転電機の少なくとも2つの電力線を流れる相電流を回転座標系もしくは静止座標系に変換した電流ベクトルの振幅に基づいて前記電流振幅を取得する構成4~11のいずれかに記載の電流検出装置。
[構成14]
前記電流振幅取得部は、前記回転電機の駆動を制御する電流指令値の電流波形に基づいて前記電流振幅を取得し、
前記電流位相取得部は、前記電流指令値の電流位相を前記回転電機の電流位相として取得する構成4~13のいずれかに記載の電流検出装置。
[構成15]
前記電流センサは、前記電力線に流れる電流によって生じる磁束を検出することにより、前記相電流を検出する電流センサである構成1~14のいずれかに記載の電流検出装置。
[構成16]
前記電力線の前記相電流は、基本波および前記基本波以外の周波数成分を含む構成1~15のいずれかに記載の電流検出装置。
[構成17]
多相交流式の回転電機の制御装置に適用され、前記回転電機に電力供給する電力線を流れる相電流を検出する電流検出プログラムであって、コンピュータに、
前記相電流を検出する電流センサから検出対象である前記電力線の前記相電流の検出値である検出電流値を取得する検出電流取得ステップと、
前記電流センサと前記電力線との間の遮蔽物と、前記電流センサに対する前記電力線の距離によって決まる所定の定数または変数である誤差数に基づいて、前記電力線の磁束による前記検出電流値の誤差を算出し、前記検出電流値を補正する補正部ステップと、を実行させる電流検出プログラム。
[構成18]
多相交流式の回転電機の制御装置に適用され、前記回転電機に電力供給する電力線を流れる相電流を検出する電流検出方法であって、
前記相電流を検出する電流センサから検出対象である前記電力線の前記相電流の検出値である検出電流値を取得する検出電流取得ステップと、
前記電流センサと前記電力線との間の遮蔽物と、前記電流センサに対する前記電力線の距離によって決まる所定の定数または変数である誤差数に基づいて、前記電力線の磁束による前記検出電流値の誤差を算出し、前記検出電流値を補正する補正部ステップと、を含む電流検出方法。
Claims (18)
- 多相交流式の回転電機の制御装置に適用され、前記回転電機に電力供給する電力線を流れる相電流を検出する電流検出装置(150,250,350,450,550)であって、
前記相電流を検出する電流センサから検出対象である前記電力線の前記相電流の検出値である検出電流値を取得する検出電流取得部(111,211,311,411,511)と、
前記電流センサと前記電力線との間の遮蔽物と、前記電流センサに対する前記電力線の距離によって決まる所定の定数または変数である誤差数に基づいて、前記電力線の磁束による前記検出電流値の誤差を算出し、前記検出電流値を補正する補正部(114,214,314,414,514)と、を備える電流検出装置。 - 前記補正部は、前記検出電流値に対して、前記誤差数を乗じることにより前記検出電流値を補正する請求項1に記載の電流検出装置。
- 前記誤差数と、前記検出電流値との関係に基づいて作成された第1マップを記憶する記憶部(240)を備え、
前記補正部は、前記第1マップを参照することにより前記検出電流値を補正する請求項1に記載の電流検出装置。 - 前記回転電機の電流波形の振幅である電流振幅を取得する電流振幅取得部(130,230,330,430,530)と、
前記回転電機の電気角を取得する電気角取得部(112,212,312,412,512)と、
前記回転電機の電流位相を取得する電流位相取得部(113,213,313,413,513)と、をさらに備え、
前記補正部は、前記誤差数と、前記相電流間の位相差と、取得した前記電流振幅と、前記電気角と、前記電流位相とに基づいて前記検出電流値の誤差を算出し、前記検出電流値を補正する請求項1~3のいずれかに記載の電流検出装置。 - 前記検出電流取得部は、所定の検出タイミングで繰り返して前記検出電流値を取得し、
前記電流振幅取得部は、現在の検出タイミングよりも過去の検出タイミングで前記検出電流取得部により取得され、前記補正部により補正された補正後の前記検出電流値である補正後電流値を前記回転電機の前記電流波形として用いて前記電流振幅を取得する請求項4に記載の電流検出装置。 - 前記電流振幅取得部は、現在の検出タイミングの直前の検出タイミングで前記検出電流取得部により取得され、前記補正部により補正された前記補正後電流値を前記回転電機の前記電流波形として用いて前記電流振幅を取得する請求項5に記載の電流検出装置。
- 前記補正部は、前記誤差数および前記相電流間の位相差に基づいて振幅補正係数および角補正係数を予め算出し、取得した前記電流振幅を前記振幅補正係数によって補正し、取得した前記電気角および前記電流位相を前記角補正係数によって補正することにより、前記検出電流値を補正する請求項4に記載の電流検出装置。
- 前記誤差数、前記相電流間の位相差および前記電流振幅に基づいて作成された、前記検出電流値の誤差と、前記電気角および前記電流位相との関係を示す第2マップを記憶する記憶部(240)を備え、
前記補正部は、前記電気角および前記電流位相に基づいて前記第2マップを参照することにより、前記検出電流値を補正する請求項4に記載の電流検出装置。 - 前記制御装置は、複数の回転電機を制御する制御装置であり、
前記補正部は、前記制御装置が制御する全ての前記回転電機について、それぞれ、前記誤差数と、前記相電流間の位相差と、取得した前記電流振幅と、前記電気角と、前記電流位相とに基づいて前記検出電流値の誤差を算出し、前記制御装置が制御する全ての前記回転電機について算出した前記検出電流値の誤差に基づいて、前記検出電流値を補正する請求項4に記載の電流検出装置。 - 前記補正部は、検出対象である前記電力線が接続された前記回転電機の検出タイミングである第1タイミングと、他の前記回転電機の前記検出タイミングである第2タイミングとの時間差に基づいて、前記第1タイミングにおける前記他の回転電機の電気角を予測する請求項9に記載の電流検出装置。
- 前記電気角取得部は、検出対象である前記電力線が接続された前記回転電機の検出タイミングである第1タイミングと同時に他の前記回転電機の電気角を取得する請求項9に記載の電流検出装置。
- 前記電流振幅取得部は、少なくとも電気角で1周期分の電流波形における最大振幅を前記電流振幅として取得する請求項4に記載の電流検出装置。
- 前記電流振幅取得部は、前記回転電機の少なくとも2つの電力線を流れる相電流を回転座標系もしくは静止座標系に変換した電流ベクトルの振幅に基づいて前記電流振幅を取得する請求項4に記載の電流検出装置。
- 前記電流振幅取得部は、前記回転電機の駆動を制御する電流指令値の電流波形に基づいて前記電流振幅を取得し、
前記電流位相取得部は、前記電流指令値の電流位相を前記回転電機の電流位相として取得する請求項4に記載の電流検出装置。 - 前記電流センサは、前記電力線に流れる電流によって生じる磁束を検出することにより、前記相電流を検出する電流センサである請求項1に記載の電流検出装置。
- 前記電力線の前記相電流は、基本波および前記基本波以外の周波数成分を含む請求項1に記載の電流検出装置。
- 多相交流式の回転電機の制御装置に適用され、前記回転電機に電力供給する電力線を流れる相電流を検出する電流検出プログラムであって、コンピュータに、
前記相電流を検出する電流センサから検出対象である前記電力線の前記相電流の検出値である検出電流値を取得する検出電流取得ステップと、
前記電流センサと前記電力線との間の遮蔽物と、前記電流センサに対する前記電力線の距離によって決まる所定の定数または変数である誤差数に基づいて、前記電力線の磁束による前記検出電流値の誤差を算出し、前記検出電流値を補正する補正ステップと、を実行させる電流検出プログラム。 - 多相交流式の回転電機の制御装置に適用され、前記回転電機に電力供給する電力線を流れる相電流を検出する電流検出方法であって、
前記相電流を検出する電流センサから検出対象である前記電力線の前記相電流の検出値である検出電流値を取得する検出電流取得ステップと、
前記電流センサと前記電力線との間の遮蔽物と、前記電流センサに対する前記電力線の距離によって決まる所定の定数または変数である誤差数に基づいて、前記電力線の磁束による前記検出電流値の誤差を算出し、前記検出電流値を補正する補正ステップと、を含む電流検出方法。
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