JP2020096451A - AC rotating machine control device, vehicle AC rotating machine device, and electric power steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device for an AC rotating machine capable of reducing an error of output torque caused by a deviation in the timing of current detection when the number of phases that can be detected at the same timing is smaller than the number of phases of the AC rotating machine. do. SOLUTION: One phase of a first winding selected one by one from a first winding of m phase and one phase of a second winding selected one phase from a second winding of m phase are set. The m set is set based on the phase difference between the first winding and the second winding, and the currents of the windings for the two phases of each set are detected at substantially the same timing, and the other sets are set. A control device for an AC rotating machine that differs from the current detection timing. [Selection diagram] Fig. 1

Description

The present application relates to a control device for an AC rotating machine, a vehicle AC rotating machine device, and an electric power steering device.

When the control device for an AC rotating machine is used, for example, in a generator-motor for a vehicle, the output torque becomes the driving force for the vehicle, so if the desired torque is not obtained, acceleration does not occur as expected and the driver's comfort is improved. Sex decreases. Since the detected current and the output torque have a proportional relationship, it is important to suppress the deviation between the detected current value and the true current value in order to obtain a desired torque.

Further, when the control device for the AC rotating machine is used in an electric power steering device that assists the driver in steering, the output torque fluctuation is transmitted to the driver through the steering wheel and also transmitted to the vehicle to cause an uncomfortable feeling in the vehicle interior. Transmit sound. In order to suppress the torque fluctuation, it is necessary to reduce the vibration component included in the error between the detected current value and the true current value.

In the current detection device of Patent Document 1, the current value of the second phase is detected twice at a timing before and after the timing of detecting the current value of the first phase by a predetermined time, and the current value of the second phase is detected at both timings. By setting the average value of the detected current values, the error of the detected current values is suppressed. When detecting the current value of the third phase, the current value of the third phase is detected twice at a timing before and after the timing of detecting the current value of the first phase by a time that is twice the predetermined time. By setting the three-phase current value as the average value of the current values detected at both timings, the error in the detected current value is suppressed.

In the motor control device of Patent Document 2, in order to suppress the deterioration of the current detection accuracy of the intermediate phase and the minimum phase due to the switching noise of the maximum phase, the switching element on the high potential side of the maximum phase is turned on and the switching element on the low potential side is turned on. Is left off.

In the AC motor control device of Patent Document 3, non-interference is achieved by controlling the average current and the difference current. In the rotating two-axis coordinate system, the average voltage command is obtained based on the average value of the output current of each inverter and the deviation of the average current command, and the differential voltage command is calculated based on the difference of the output current of each inverter and the difference of the differential current command. Ask. The unbalanced current is reduced by returning the average voltage command and the difference voltage command to the voltage command of each winding group and outputting them.

JP, 2006-6076, A JP, 2010-220414, A Japanese Patent Laid-Open No. 4-325893

In the current detection device of Patent Document 1, the second phase, which cannot be detected at the timing of detecting the reference first phase current value, is detected at symmetrical timing with respect to the reference timing. In FIG. 2 of Patent Document 1, when Δt is sufficiently small, it can be considered that the V-phase current value from time tva to tvb changes substantially linearly according to the rotation of the motor, and therefore time tva Iv0 is estimated based on the average value of the current value Iva detected at 1 and the current value Ivb detected at time tvb.

When the current detection device of Patent Document 1 is applied to an AC rotating machine having a three-phase first winding and a three-phase second winding, three-time detection and three-phase detection are required to obtain two-phase current. Five detections are required to get the full current. When the electrical angle at tu is θ and the angular velocity at electrical angle is ω, Iu0, Iv0, and Iw0 are given by equation (1).

When ωΔt is sufficiently small in Expression (1), Expression (2) is established, and Iu0, Iv0, and Iw0 are given by Expression (3). When the rotation speed becomes high and ωΔt or 2ωΔt becomes large, the error due to the approximation of the equation (2) increases, and the current detection error of Iw0 in which 2ωΔt appears in the equation is larger than Iv0 in which ωΔt appears in the equation. That is, the greater the number of times of detection, the longer the elapsed time from the first detection timing to the last detection timing, and the accuracy of the detected current value deteriorates.

In the motor control device of Patent Document 2, the current detectable phase needs to have a duty of Dmax or less, and an error in the phase current value of the current detectable phase due to switching noise of the current undetectable phase that outputs a duty greater than Dmax. Is said to occur. When the phase current value is obtained by a plurality of times of current detection, the larger the number of times is, the smaller Dmax becomes. In that case, it becomes difficult to obtain a phase current value with a small detection error by the voltage command as shown in FIG. 8 of Patent Document 2. That is, in order to increase Dmax, which is the upper limit of the duty of the current detectable phase, it is necessary to suppress the number of detections.

In the AC motor control device of Patent Document 3, since the average current is fed back to generate the voltage command, the average current fluctuates due to the influence of the current detection error caused by the difference in the current detection timing.

The present application has been made in order to solve the above problems, and when the number of phases that can be detected at the same timing is smaller than the number of phases of an AC rotating machine, an output generated due to a deviation in the timing of current detection The purpose is to reduce the torque error.

An AC rotating machine control device according to the present application is an AC rotating machine control device for controlling an AC rotating machine (m is an integer of 3 or more) having an m-phase first winding and an m-phase second winding. hand,
A current detector that detects a current flowing in each phase of the first winding and the second winding;
A voltage command calculation unit that calculates a voltage command to be applied to each phase of the first winding and the second winding based on the current command and the detected current value of each phase;
A voltage applying unit that applies a voltage to each phase of the first winding and the second winding by comparing the voltage command and a carrier signal;
The current detector includes a phase of the first winding selected from the first winding of the m phase and a phase of the second winding selected from the second winding of the m phase. 1 phase and m set are set based on the phase difference between the first winding and the second winding, and the currents of the windings for the two phases of each set are set at substantially the same timing. The current detection timing of the other set is different from that of the other set.

Further, the control device for an AC rotary machine according to the present application controls an AC rotary machine (m is an integer of 3 or more) that has an m-phase first winding and an m-phase second winding. And
A current detector that detects a current flowing in each phase of the first winding and the second winding;
A voltage command calculation unit that calculates a voltage command to be applied to each phase of the first winding and the second winding based on the current command and the detected current value of each phase;
A voltage applying unit that applies a voltage to each phase of the first winding and the second winding by comparing the voltage command and a carrier signal;
The phase of the first winding and the phase of the second winding are the same or inverted in phase with each other in electrical angle between the first winding and the second winding,
The current detection unit sets m pairs of one phase of the first winding and one phase of the second winding, which have the same or inverted phases in electrical angle with each other, and set two pairs of two phases of each pair. The detection timing of the winding current is set symmetrically with respect to the reference timing.

Further, a control device for an AC rotary machine according to the present application is a control device for an AC rotary machine that controls an AC rotary machine (m is an integer of 3 or more) having a winding of 2m phase,
A current detector for detecting a current flowing in each phase of the winding,
A voltage command calculator that calculates a voltage command to be applied to each phase of the winding based on the current command and the current detection value of each phase,
A voltage application unit that applies a voltage to each phase of the winding by comparing the voltage command and a carrier signal,
The current detection unit sets the current detection timing of the k-th phase of the winding based on the reference timing as T(k) (k is a natural number of m or less), and detects the current of the (m+k)th phase of the winding. The timing is T(m+k),
T(m+k)=-T(k)
To be set to.

The vehicle AC rotating machine device according to the present application includes the above-described AC rotating machine control device and an AC rotating machine that serves as a driving force source for wheels.

An electric power steering device according to the present application includes the control device for the AC rotating machine described above and an AC rotating machine that serves as a driving force source for the wheel steering device.

According to the control device for an AC rotating machine of the present application, when the number of phases that can be detected at the same timing is smaller than the number of phases of windings, the sum of the dq-axis currents caused by the deviation of the current detection timing between the phases is calculated. The error can be reduced and the error in the output torque can be reduced.

1 is a schematic configuration diagram of an AC rotating machine and a control device for the AC rotating machine according to a first embodiment. FIG. 3 is a schematic block diagram of a control device for an AC rotating machine according to the first embodiment. FIG. 3 is a hardware configuration diagram of a control device for an AC rotating machine according to the first embodiment. FIG. 3 is a schematic diagram showing a phase of each phase of the first winding and the second winding according to the first embodiment. 6 is a time chart illustrating generation of a drive signal according to the first embodiment. FIG. 5 is a diagram illustrating a phase of a current vector according to the first embodiment. 5 is a time chart for explaining the definition of the detection timing of the current of each phase based on the reference timing according to the first embodiment. FIG. 4 is a diagram illustrating a current detection timing setting pattern according to the first embodiment. FIG. 6 is a schematic diagram showing another example of the phase of each phase of the first winding and the second winding according to the first embodiment. FIG. 8 is a diagram illustrating another example of the setting pattern of the current detection timing according to the first embodiment. FIG. 6 is a schematic diagram showing phases of respective phases of a first winding and a second winding according to the second embodiment. FIG. 9 is a diagram illustrating a current detection timing setting pattern according to the second embodiment. FIG. 9 is a schematic diagram showing another example of the phase of each phase of the first winding and the second winding according to the second embodiment. FIG. 9 is a diagram illustrating another example of a current detection timing setting pattern according to the second embodiment. FIG. 6 is a schematic configuration diagram of an AC rotating machine and a control device for the AC rotating machine according to a third embodiment. FIG. 9 is a schematic block diagram of a control device for an AC rotary machine according to a third embodiment. FIG. 9 is a schematic diagram showing the phase of each phase of the 6-phase winding according to the third embodiment. FIG. 9 is a diagram illustrating a current detection timing setting pattern according to the third embodiment. FIG. 9 is a schematic diagram of an angle sensor according to a fourth embodiment. 9 is a time chart for explaining the definition of the detection timing of each angle signal based on the reference timing according to the fourth embodiment. FIG. 16 is a diagram illustrating a setting pattern of detection timing of an angle signal according to the fourth embodiment. 9 is a time chart showing an example of setting current detection timing and angle signal detection timing according to the fourth embodiment. 9 is a time chart showing an example of setting current detection timing and angle signal detection timing according to the fourth embodiment. 1 is a schematic configuration diagram of a vehicle AC rotating machine device according to a first embodiment. 1 is a schematic configuration diagram of an electric power steering device according to a first embodiment.

1. Embodiment 1
A control device 1 for an AC rotary machine according to the first embodiment (hereinafter, simply referred to as control device 1) will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of an AC rotary machine 10 and a control device 1 according to the present embodiment.

1-1. AC Rotating Machine The AC rotating machine 10 includes a stator 18 and a rotor 14 arranged radially inside the stator 18. The AC rotating machine 10 is a permanent magnet type synchronous rotating machine, in which windings are wound around the stator 18 and permanent magnets having the number of pole pairs Pr are provided on the rotor 14. The AC rotating machine 10 may be a field winding type synchronous rotating machine in which the rotor 14 is provided with an electromagnet.

The AC rotating machine 10 has an m-phase first winding 11 and an m-phase second winding 12 (m is an integer of 3 or more). In the present embodiment, m is 3, and the AC rotating machine 10 includes the three-phase first winding 11 of U1, V1, and W1 phases and the three phases of U2, V2, and W2 phases. Second winding 12 of As shown in the schematic view of FIG. 4, the phase of the three-phase first windings U1, V1, W2 leads the phase of the three-phase second windings U2, V2, W2 by 30 deg in electrical angle. The electrical angle is an angle obtained by multiplying the mechanical angle of the rotor 14 by the number of pole pairs Pr. The first winding 11 and the second winding 12 are wound around one stator 18.

The rotor 14 is provided with an angle sensor 15 that detects the rotation angle (magnetic pole position) of the rotor 14. The output signal of the angle sensor 15 is input to the control device 1. Various sensors are used as the angle sensor 15. For example, as the angle sensor 15, a position detector such as a resolver, a Hall element, a TMR element, or a GMR element, or a rotation detector such as an electromagnetic type, a magnetoelectric type, or a photoelectric type is used.

1-2. Inverter A first inverter 21 for converting the DC power of the DC power supply 16 and the AC power supplied to the three-phase first windings U1, V1, W1, the DC power of the DC power supply 16 and the second windings U2, V2, The second inverter 22 for converting the AC power supplied to W2.

Each of the first inverter 21 and the second inverter 22 includes a positive-side switching element 23 connected to the positive side of the DC power supply 16 and a negative-side switching element 24 connected to the negative side of the DC power supply 16. Three sets of series circuits connected in series are provided corresponding to windings of each of the three phases. The connection point of the two switching elements in each series circuit is connected to the winding of the corresponding phase.

As the switching element, a MOSFET (Metal Oxide Semiconductor Field Effect Transistor), an IGBT (Insulated Gate Bipolar Transistor) in which diodes are connected in anti-parallel, or the like is used. The gate terminal of each switching element is connected to the control device 1 via a gate drive circuit or the like. Therefore, each switching element is turned on or off by the drive signal output from the control device 1.

A power storage device such as a lead storage battery or a lithium ion battery is used for the DC power supply 16. The DC power supply 16 may be provided with a DC-DC converter that is a DC power converter that boosts or lowers the DC voltage. A voltage sensor 17 for detecting the power supply voltage of the DC power supply 16 is provided. The output signal of the voltage sensor 17 is input to the control device 1.

The first and second inverters 21 and 22 each include a current sensor 13 for detecting the current flowing through the winding of each phase. The current sensor 13 is a Hall element or the like provided on the electric wire of each phase that connects the series circuit of the switching elements of each phase and the winding. Alternatively, the current sensor 13 may be a shunt resistor connected in series with the series circuit of each phase. The potential difference between both ends of the shunt resistance of each phase is input to the control device 1. For example, the shunt resistor of each phase is connected in series to the negative electrode side of the switching element on the negative electrode side of each phase.

1-3. Control device 1
The control device 1 controls the AC rotating machine 10 via the switching elements of the first inverter 21 and the second inverter 22. As shown in FIG. 2, the control device 1 includes control units such as a rotation detection unit 31, a power supply voltage detection unit 32, a current detection unit 33, a voltage command calculation unit 34, and a voltage application unit 35. Each function of the control device 1 is realized by a processing circuit included in the control device 1. Specifically, as shown in FIG. 3, the control device 1 includes an arithmetic processing device 90 (computer) such as a CPU (Central Processing Unit) as a processing circuit, a storage device 91 for exchanging data with the arithmetic processing device 90, An input circuit 92 for inputting an external signal to the arithmetic processing unit 90, an output circuit 93 for outputting a signal from the arithmetic processing unit 90 to the outside, and the like are provided.

The arithmetic processing device 90 includes an ASIC (Application Specific Integrated Circuit), an IC (Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), various logic circuits, and various signal processing circuits. May be. Further, as the arithmetic processing device 90, a plurality of the same type or different types may be provided, and each process may be shared and executed. As the storage device 91, a RAM (Random Access Memory) configured to read and write data from the arithmetic processing device 90, a ROM (Read Only Memory) configured to read data from the arithmetic processing device 90, and the like. It is equipped. The input circuit 92 is connected to various sensors such as the angle sensor 15, the voltage sensor 17, the current sensor 13 and switches, and includes an A/D converter for inputting output signals of these sensors and switches to the arithmetic processing unit 90. ing. The output circuit 93 is connected to an electric load such as a gate drive circuit that turns on and off the switching elements of the first inverter 21 and the second inverter 22, and a drive circuit that outputs a control signal from the arithmetic processing unit 90 to the electric load. I have it.

Then, for each function of the control units 31 to 35 and the like included in the control device 1, the arithmetic processing device 90 executes software (program) stored in the storage device 91 such as a ROM, and the storage device 91 and the input circuit 92. , And other hardware of the control device 1 such as the output circuit 93. The setting data used by the control units 31 to 35 and the like are stored in the storage device 91 such as a ROM as a part of software (program). Hereinafter, each function of the control device 1 will be described in detail.

1-3-1. Rotation detector 31
The rotation detector 31 detects a rotation angle (magnetic pole position) of the rotor 14 in electrical angle and a rotation speed. In the present embodiment, the rotation detector 31 detects the rotation angle (magnetic pole position) in electrical angle and the rotation speed based on the output signal of the angle sensor 15. The rotation detection unit 31 may be configured to estimate the rotation angle (magnetic pole position) without using the angle sensor, based on the current information obtained by superimposing the harmonic component on the current command. Good (so-called sensorless method).

1-3-2. Power supply voltage detector 32
The power supply voltage detector 32 detects the power supply voltage of the DC power supply 16. In the present embodiment, the power supply voltage detection unit 32 detects the power supply voltage based on the output signal of the voltage sensor 17.

1-3-3. Current detector 33
The current detection unit 33 detects a current flowing in each phase of the first winding and the second winding. In the present embodiment, the current detection unit 33 detects the currents iu1_det, iv1_det, iw1_det flowing from the first inverter 21 to the respective phases U1, V1, W1 of the first winding based on the output signal of the current sensor 13. At the same time, the currents iu2_det, iv2_det and iw2_det flowing from the second inverter 22 to the respective phases U2, V2 and W2 of the second winding are detected. In the present embodiment, the current detector 33 detects the current of each phase at the timing described below.

1-3-4. Voltage command calculator 34
The voltage command calculator 34 calculates a voltage command to be applied to each phase of the first winding and the second winding based on the current command, the detected current value of each phase, and the rotation angle. In the present embodiment, the voltage command calculation unit 34 includes a current command calculation unit 341, a current conversion unit 342, a current feedback control unit 343, and a voltage command conversion unit 344.

In the present embodiment, the voltage command calculation unit 34 is configured to perform current feedback control in the dq axis rotating coordinate system. The dq-axis rotational coordinates are rotational coordinates composed of a d-axis defined in the magnetic flux direction of the rotor 14 of the AC rotary machine 10 and a q-axis defined in a direction advanced by π/2 in electrical angle from the d-axis. In the present embodiment, the magnetic flux direction of the rotor 14 is the direction of the N pole of the permanent magnet provided in the rotor 14. The magnetic pole position θ1 with reference to the first winding is the advancing angle of the d-axis with reference to the U1 phase winding of the first winding, and the magnetic pole position θ2 with respect to the second winding is the second The advancing angle of the d-axis is based on the U2-phase winding of the winding.

<Current command calculator 341>
The current command calculation unit 341 calculates a current command to flow in the first winding and a current command to flow in the second winding. The current command calculator 341 calculates a d-axis current command Id1* and a q-axis current command Iq1* for the first winding, and calculates a d-axis current command Id2* and a q-axis current command Iq2* for the second winding. To do.

The current command calculation unit 341 calculates the total d-axis current command Id* and the q-axis current command Iq*, and calculates the total dq-axis current commands Id* and Iq* as the dq-axis current command Id1* of the first winding. , Iq1* and dq-axis current commands Id2*, Iq2* for the second winding. In the present embodiment, the current command calculation unit 341 calculates the dq-axis current commands Id1*, Iq1*, and Iq1* for the first winding as 0.5 times the total dq-axis current commands Id*, Iq*, respectively. The dq axis current commands Id2* and Iq2* of the second winding are set.

The current command calculation unit 341, based on the target torque, the power supply voltage, the rotation speed, and the like, according to a current vector control method such as maximum torque current control, weakening magnetic flux control, and Id=0 control, the total dq-axis current command Id. Calculate * and Iq*. The target torque may be transmitted from an external device or may be calculated in the current command calculation unit 341.

<Current converter 342>
The current converter 342 performs three-phase two-phase conversion and rotational coordinate conversion on the detected current values iu1_det, iv1_det, and iw1_det of each phase of the first winding based on the magnetic pole position θ1 of the first winding reference, and dq. It is converted into the d-axis current detection value Id1 and the q-axis current detection value Iq1 of the first winding represented by the axis rotation coordinate system. Similarly, the current converter 342 performs three-phase two-phase conversion and rotational coordinate conversion on the detected current values iu2_det, iv2_det, iw2_det of each phase of the second winding based on the magnetic pole position θ2 of the second winding reference. Then, it is converted into the d-axis current detection value Id2 and the q-axis current detection value Iq2 of the second winding represented by the dq-axis rotation coordinate system.

<Current feedback control unit 343>
The current feedback control unit 343 performs the PI control or the like so that the dq-axis current detection values Id1 and Iq1 of the first winding are close to the dq-axis current commands Id1* and Iq1* of the first winding. Feedback control for changing the d-axis voltage command Vd1 and the q-axis voltage command Vq1 is performed. Similarly, the current feedback control unit 343 performs the second winding by PI control so that the dq-axis currents Id2 and Iq2 of the second winding approach the dq-axis current commands Id2* and Iq2* of the second winding. Feedback control is performed to change the d-axis voltage command Vd2 and the q-axis voltage command Vq2 of the line.

<Voltage command conversion unit 344>
The voltage command conversion unit 344 performs fixed coordinate conversion and two-phase three-phase conversion on the dq-axis voltage commands Vd1 and Vq1 of the first winding based on the magnetic pole position θ1 based on the first winding, and then the first winding. It is converted into voltage commands vu1, vv1, vw1 for each phase of the line. Similarly, the voltage command conversion unit 344 performs fixed coordinate conversion and two-phase three-phase conversion on the dq-axis voltage commands Vd2 and Vq2 of the second winding based on the magnetic pole position θ2 of the second winding reference, The voltage command of each phase of the second winding is converted into vu2, vv2, vw2.

1-3-5. Voltage applying unit 35
The voltage application unit 35 compares the voltage commands vu1, vv1, vw1 of the respective phases of the first winding and the voltage commands vu2, vv2, vw2 of the respective phases of the second winding with the carrier wave signal, and A voltage is applied to each phase of the wire and the second winding.

As shown in FIG. 5, in the present embodiment, the carrier wave signal is a triangular wave having the amplitude of the power supply voltage. When the voltage command exceeds the triangular wave, the drive signal is turned on and the voltage command is the triangular wave. If it is below the threshold, the drive signal is turned off. The drive signal is transmitted as it is to the switching element 23 on the positive side, and the drive signal obtained by inverting the drive signal is transmitted to the switching element 24 on the negative side. Each drive signal is input to the gate terminal of each switching element of the first and second inverters 21 and 22 via the gate drive circuit to turn on or off each switching element.

1-3-6. Current detection timing In the present embodiment, the current detection unit 33 selects one phase of the first winding selected from the three phases of the first winding and one phase selected from the three phases of the second winding. Three sets of one phase of the second winding are set based on the phase difference between the first winding and the second winding, and the currents of the windings for the two phases of each set are substantially set. The current detection timings of the other sets, which are different from the current detection timings of the other sets.

The principle of the combination of phases detected at the same timing in the current detector 33 will be described below.

<Ideal case where 6-phase currents are detected at the same timing>
First, an ideal case in which all six-phase currents are detected at the same timing will be described. The currents iu1, iv1, iw1 flowing in the respective phases of the first winding and the currents iu2, iv2, iw2 flowing in the respective phases of the second winding are given by the equation (4). Here, β represents the phase of the dq-axis current vector I from the q-axis, and Irms represents the effective current value, as shown in FIG. Further, the currents iu2, iv2, and iw2 of the respective phases of the second winding are represented by using the magnetic pole position θ1 of the first winding reference instead of the magnetic pole position θ2 of the second winding reference. The magnetic pole position θ2 based on the second winding is delayed in phase by 30 deg (π/6) in electrical angle from the magnetic pole position θ1 based on the first winding (θ2=θ1−π/6).

The current of each phase of the first winding and the current of each phase of the second winding in the equation (4) are respectively expressed by a dq axis rotation coordinate system by three-phase two-phase conversion and rotation coordinate conversion. The d-axis current Id1 and the q-axis current Iq1 of one winding, and the d-axis current Id2 and the q-axis current Iq2 of the second winding are given as in Expression (5).

At this time, the output torque T of the AC rotating machine 10 is given by the equation (6). Here, Ld represents the d-axis self-inductance, Lq represents the q-axis self-inductance, and φ represents the magnetic flux. It should be noted that here, the equation without mutual inductance is used, but the same effect can be obtained even when there is mutual inductance.

The dq-axis currents of the first winding and the second winding are controlled in a state where the difference is smaller than the sum, and Expression (7) is satisfied. At this time, the output torque T of the AC rotating machine 10 can be approximated by the equation (8) and becomes proportional to the sum of the dq axis currents of the first winding and the second winding.

<When the current detection timing for each phase cannot be the same>
In order to satisfy the expressions (4) to (8), it is necessary to detect the currents of the six phases at the same timing. However, a low-priced microcomputer cannot detect all channels at the same timing because the number of channels that can be A/D converted at the same time is small.

When the six-phase currents cannot be detected at the same timing, in the formula (8), there is an error in the sum (Iq1+Iq2) of the q-axis currents of the first winding and the second winding and the sum (Id1+Id2) of the d-axis currents. This may cause an error in the output torque. Therefore, even if the current of each phase cannot be detected at the same timing, the error of the sum of the q-axis currents (Iq1+Iq2) and the sum of the d-axis currents (Id1+Id2) can be reduced by adjusting the current detection timing of each phase. Can be considered.

<Derivation of conditions for reducing error in sum of dq-axis currents>
Below, the conditions for reducing the error of the sum of the dq-axis currents will be derived. FIG. 7 shows the definitions of the detection timings tu1 to tw2 of the currents iu1 to iw2 of the respective phases based on the reference timing of the carrier signal (in this example, the peak of the mountain). The detection timing of the U1 phase current iu1 of the first winding is tu1 and the detection timing of the V1 phase current iv1 of the first winding is tv1 with reference to the reference timing (peak of the mountain), and the first winding Of the W1 phase current iw1 is tw1, the detection timing of the U2 phase current iu2 of the second winding is tu2, and the detection timing of the V2 phase current iv2 of the second winding is tv2. The detection timing of the current iw2 of the W2 phase of the line is tw2.

By the way, as shown in FIG. 5, the on/off drive signals of the respective switching elements are substantially bilaterally symmetrical with respect to the peaks or troughs of the carrier signal. Therefore, by detecting the current near the peak or trough of the carrier signal, it is possible to detect the average value of the current during the ON period or the average value of the current during the OFF period, and it is difficult to be affected by the current ripple. The current detection accuracy can be improved. In the present embodiment, the reference timing of the carrier signal is set to one or both of the peaks of the carrier signal and the peaks of the valleys (in this example, the peaks of the peaks). The timing other than the peaks and troughs of the carrier signal may be set as the reference timing. The carrier wave signal may have a shape other than a triangular wave, such as a sawtooth wave, and the same effect can be obtained in this case.

The detection current detected at each detection timing tu1 to tw2 is given by the equation (9). Note that θ1 represents the magnetic pole position of the first winding reference at the reference timing, and ω represents the rotation speed in electrical angle.

The dq-axis currents of the first winding and the second winding obtained when 6-phase currents are simultaneously detected at the reference timing are Id1_ideal, Iq1_ideal, Id2_ideal, and Iq2_ideal, respectively. Further, when the current of each phase is detected at the detection timing tu1 to tw2 of each phase, the dq-axis currents of the first winding and the second winding obtained from the equation (9) are respectively Id1_det, Iq1_det, and Id2_det. , Iq2_det. Then, the expressions (10) to (13) are established.

In the equations (10) to (13), the error components after the second term are the DC offset component proportional to cosβ or sinβ, and the magnetic pole position proportional to cos(2θ1+β) or sin(2θ1+β). It is composed of the secondary AC component of θ1.

A sum Id_sum of d-axis currents obtained by summing Id1_det of formula (10) and Id2_det of formula (11) and a sum Iq_sum of q-axis currents obtained by summing Iq1_det of formula (12) and Iq1_det of formula (13) are It is given by equation (14). Further, a difference Id_diff of the d-axis current obtained by subtracting Id2_det of the formula (11) from Id1_det of the formula (10) and a difference Iq_diff of the q-axis current obtained by subtracting Iq2_det of the formula (13) from Iq1_det of the formula (12) are It is given by equation (15).

In the sum Id_sum of the d-axis currents and the sum Iq_sum of the q-axis currents in the equation (14), the equation (16) may be established in order to make the error components after the second term zero.

Further, in the dq-axis currents of the equations (10) to (13), the DC offset error component proportional to cosβ or sinβ of the second term is zero because it is a stationary error component of the dq-axis current. Is desirable. Therefore, in order to make the second term of the formulas (10) to (13) zero, the formula (17) should be established. In addition, if the equation (17) is established, in the d-axis current difference Id_diff and the q-axis current difference Iq_diff in the equation (15), a DC offset error component proportional to cosβ or sinβ in the second term can be zero. .. When the difference between the dq-axis currents is used for the control as in Patent Document 3, the control accuracy can be increased.

<Combination pattern>
A relational expression of tu1 to tw2 that satisfies Expressions (16) and (17) is given by Expression (18).

That is, the current detection unit 33 sets the U1 phase current detection timing tu1 of the first winding and the W2 phase current detection timing tw2 of the second winding as a set, and the V1 phase current detection timing of the first winding is set. tv1 and the U2 phase current detection timing tu2 of the second winding are set, and the W1 phase current detection timing tw1 of the first winding and the V2 phase current detection timing tv2 of the second winding are set. The three sets described above are set, the currents of the windings for the two phases of each set are detected at substantially the same timing, and the currents of the other sets are made different from each other.

As shown in FIG. 4, the U1 phase of the first winding and the W2 phase of the second winding, which are in the same set, are different in 90 deg phase in terms of electrical angle. The V1 phase and the U2 phase of the second winding differ in electrical angle by 90 deg, and the W1 phase of the first winding and the V2 phase of the second winding, which are in the same set, have an electrical angle of 90 deg. The phases are different. That is, one phase of the first winding and one phase of the second winding, which are different in electrical angle from each other by 90 deg, are set.

Further, from the equations (17) and (18), the sum of the current detection timings tu1, tv1, and tw1 with respect to the reference timing of each phase of the first winding becomes zero, which corresponds to the reference timing of each phase of the second winding. The current detection timing with respect to the reference timing of each set may be set so that the total of the current detection timings tu2, tv2, and tw2 becomes zero.

Further, in order to minimize the deviation amount of the current detection timing from the reference timing of each set, the current detection timing of any one set may be set to the zero reference timing. The other two sets of current detection timings are symmetrical with respect to the zero reference timing. When the reference timing is set at the peak of the carrier signal or the peak of the valley, deterioration of the current detection accuracy due to current ripple can be minimized.

The current detection timing setting patterns that satisfy the above conditions are the six patterns (1) to (6) in FIG. The current detection unit 33 detects the current of each phase at the current detection timing of any one of the patterns (1) to (6) in FIG. Here, 0 in FIG. 8 indicates that the current detection timing is set to the reference timing, −δ indicates that the current detection timing is set to δ before the reference timing, and δ Indicates that the current detection timing is set after the reference timing by δ.

By setting the current detection timing as described above, when the number of channels of the A/D converter is smaller than the number of phases of the winding and the number of phases that can be detected at the same timing is small, the current detection timing between phases is small. It is possible to reduce the error of the sum of the dq-axis currents caused by the deviation of the output current and the error of the output torque. Further, the offset error of the dq-axis current can be reduced, the offset error of the difference of the dq-axis current can be reduced, and various control accuracy using the detected current can be improved.

<Allowable range of substantially the same timing>
The case where the current detection timings of the windings for the two phases of each set are not exactly the same will be described below. As shown in Expression (19), consider a case where the current detection timings are deviated by η between the windings for two phases for each set. The same idea can be applied even if there is a reluctance torque component in the equation (8), but the output torque T is given as in the equation (20) in order to simplify the explanation.

At this time, from the equation (14), the sums Id_sum and Iq_sum of the dq-axis currents are given by the equations including the offset components as in the equation (21).

For example, when the AC rotating machine 10 serves as a driving force source for the wheels, the AC rotating machine 10 and the control device 1 configure a vehicle AC rotating machine device 50. The rotating shaft of the rotor 14 of the AC rotating machine 10 is connected to the wheels 52 via the power transmission mechanism 51. For example, as shown in FIG. 24, the rotating shaft of the AC rotating machine 10 is connected to the crank shaft of the internal combustion engine 54 via the pulley and belt mechanism 53, and is connected to the wheels 52 via the internal combustion engine 54 and the transmission 55. Be connected. Alternatively, the AC rotating machine 10 may be used as a driving force source for wheels of an electric vehicle. In this case, the rotating shaft of the AC rotating machine 10 is connected to the wheels via the transmission. In these cases, the current command calculation unit 341 calculates the target torque based on the vehicle required torque required to drive the vehicle, the required generated power, or the like, and the current instruction based on the target torque. To do.

Therefore, the error in the output torque of the AC rotating machine 10 needs to be less than or equal to the predetermined allowable value Tth1. That is, from the formulas (20) and (21), η may satisfy the formula (22). Tmax is the output torque of the AC rotary machine 10 when there is no error.

For example, when the allowable torque accuracy is 1% or less, the number of pole pairs is 5, and the rotation speed is 10000 rpm, the deviation η of the current detection timing between the two phases of the same set is 1.9 μs or less. Good. On the other hand, the interval δ of the current detection timing between different sets needs to be sufficiently shorter than the cycle of the carrier signal, and is therefore about several μs. That is, if the deviation η of the current detection timing between the two phases of the same set is set to a level that is an order of magnitude smaller than the interval δ of the current detection timing between different sets, for example, 1/10 or less, the accuracy requirement of the output torque can be improved. I am satisfied.

In Expression (19), the case where the current detection timing between the two phases is deviated by η for all the sets has been described, but a case where the current detection timing between the two phases is deviated by η for only some sets will be described. As shown in Expression (23), consider a case where the current detection timing is deviated by η between the windings of the W2 phase and the U1 phase for the set of the W2 phase and the U1 phase.

At this time, from the equation (14), the sums Id_sum and Iq_sum of the dq-axis currents are given by equations including the offset component and the quadratic electrical angle component as in the equation (24).

When the AC rotating machine 10 serves as a driving force source for the steering device 63 for the wheels 62, the AC rotating machine 10 and the control device 1 configure an electric power steering device 60. The rotating shaft of the rotor 14 of the AC rotating machine 10 is connected to the steering device 63 of the wheel 62 via the driving force transmission mechanism 61. For example, as shown in FIG. 25, the electric power steering device 60 includes a steering wheel 64 that allows the driver to rotate left and right, and a shaft that is connected to the steering wheel 64 and transmits steering torque by the steering wheel 64 to the steering device 63 of the wheel 62. 65, a torque sensor 66 attached to the shaft 65 for detecting the steering torque Ts by the handle 64, and a driving force transmission mechanism 61 such as a worm gear mechanism connecting the rotating shaft of the AC rotating machine 10 to the shaft 65. There is. The output signal of the torque sensor 66 is input to the control device 1 (input circuit 92), and the control device 1 detects the steering torque Ts of the driver based on the output signal of the torque sensor 66. Then, the current command calculation unit 341 calculates a current command for assisting the steering torque Ts based on the steering torque Ts. For example, the current command calculator 341 multiplies the steering torque Ts by the coefficient Kt to calculate the q-axis current command Iq_tgt (Iq_tgt=Kt×Ts). Various known control methods may be used.

Since the output shaft of the AC rotating machine 10 is connected to the handle 64 via the driving force transmission mechanism 61 and the shaft 65, the torque ripple of the output torque of the AC rotating machine 10 needs to be equal to or less than the predetermined allowable value Tth2. There is. That is, from the formulas (20) and (24), η may satisfy the formula (25). Tmax is the output torque of the AC rotary machine 10 when there is no error.

For example, when the allowable torque ripple is 1% or less, the number of pole pairs is 5, and the rotation speed is 10000 rpm, the deviation η of the current detection timing between the two phases of the same set may be 5.7 μs or less. .. On the other hand, the interval δ of the current detection timing between different sets needs to be sufficiently shorter than the cycle of the carrier signal, and is therefore about several μs. That is, if the deviation η of the current detection timing between the two phases of the same set is set to a level that is an order of magnitude smaller than the interval δ of the current detection timing between different sets, for example, 1/10 or less, the accuracy requirement of the output torque can be improved. I am satisfied.

As described using the above two examples, the substantially same timing is not limited to the case where the time lag is zero, and the accuracy of the allowable output torque or the allowable torque ripple is Including a time lag that does not cause any problems. Taking these examples into consideration, “substantially the same timing” means that at least the deviation η of current detection timing between two phases of the same set is 1/10 or less of the interval δ of current detection timing between different sets. Good.

Ideally, the substantially same timing may be the timing at which the number of channels within the maximum number of channels of the A/D converter is simultaneously A/D converted by the trigger signal.

<When the phase difference between the first winding and the second winding is 90 deg>
In the present embodiment, the case where the phase difference between the first winding and the second winding is 30 deg in electrical angle has been described. However, as shown in FIG. 9, when the phase difference between the first winding and the second winding is 90 deg in terms of electrical angle, the current detection timing as in equation (26) is set by deriving a similar equation. Thus, the error of the sum of the dq-axis currents can be reduced, the error of the output torque can be reduced, the offset error of the dq-axis currents can be reduced, and the offset error of the difference of the dq-axis currents can be reduced. ..

That is, the current detection unit 33 sets the U1 phase current detection timing tu1 of the first winding and the U2 phase current detection timing tu2 of the second winding as a set, and the V1 phase current detection timing of the first winding is set. tv1 and the V2 phase current detection timing tv2 of the second winding are set, and the W1 phase current detection timing tw1 of the first winding and the W2 phase current detection timing tw2 of the second winding are set. The three sets described above are set, the currents of the windings for the two phases of each set are detected at substantially the same timing, and the currents of the other sets are made different from each other.

As shown in FIG. 9, the U1 phase of the first winding and the U2 phase of the second winding, which are in the same set, have different 90 deg phases in terms of electrical angle. The V1 phase and the V2 phase of the second winding differ in 90 deg electrical angle, and the W1 phase of the first winding and the W2 phase of the second winding set in the same set have an electrical angle of 90 deg. The phases are different. That is, one phase of the first winding and one phase of the second winding, which are different in electrical angle from each other by 90 deg, are set.

From Expression (26), the total of the current detection timings tu1, tv1, tw1 with respect to the reference timing of each phase of the first winding becomes zero, and the current detection timings tu2, tv2 with respect to the reference timing of each phase of the second winding, tu2, tv2, The current detection timing with respect to the reference timing of each set may be set so that the total of tw2 becomes zero.

Further, in order to minimize the deviation amount of the current detection timing of each set from the reference timing, the current detection timing of any one set may be set to the zero reference timing. The other two sets of current detection timings are symmetrical with respect to the zero reference timing. When the reference timing is set at the peak of the carrier signal or the peak of the valley, deterioration of the current detection accuracy due to current ripple can be minimized.

The current detection timing setting patterns that satisfy the above conditions are six patterns (1) to (6) in FIG. 10. The current detection unit 33 detects the current of each phase at the current detection timing of any one of the patterns (1) to (6) in FIG. 10.

<Set of two phases with different 90 deg phases>
By the way, of the error components in the sum of the dq axis currents in the equation (14), the offset component of the second term is set to zero as the sum of the deviation amounts from the reference timing, as shown in the equation (17). Then, the first equation of the equation (16) is established and can be suppressed to zero. On the other hand, the third and fourth terms of the equation (14) are second-order AC components of the magnetic pole position θ1 and are 90 deg×2=180 deg, and are set to zero by utilizing the phase inversion. That is, as shown in the equations (18) and (26), the first phase of the first winding and the first phase of the second winding having different electrical angles of 90 deg are set to the same current detection timing. As a result, in the second and third equations of the equation (16), they can be canceled each other and the AC component can be suppressed to zero.

This also applies to the first winding and the second winding other than the three phases. That is, when the AC rotary machine 10 is provided with the m-phase first winding and the m-phase second winding, the current detection unit 33 causes the first winding 1 having different electrical angles of 90 deg to move. A set of m and one phase of the second winding is set based on the phase difference between the first winding and the second winding, and the currents of the windings for the two phases of each set are The detection is performed at substantially the same timing. When the number of channels of the A/D converter is smaller than the number of winding phases and the number of phases that can be detected at the same timing is small, the error of the sum of the dq-axis currents caused by the current detection timing shift between the phases is reduced. The error of the output torque can be reduced. Further, the offset error of the dq-axis current can be reduced, the offset error of the difference of the dq-axis current can be reduced, and various control accuracy using the detected current can be improved.

2. Embodiment 2
Next, the AC rotating machine 10 and the control device 1 according to the second embodiment will be described. The description of the same components as those in the first embodiment is omitted. The basic configuration of the AC rotating machine 10 and the control device 1 according to the present embodiment is similar to that of the first embodiment, but there is no phase difference between the first winding and the second winding, and the current detection is performed. The timing setting is different from that of the first embodiment.

Also in the present embodiment, m is 3, and the AC rotating machine 10 includes the three-phase first winding 11 of U1 phase, V1 phase, and W1 phase, and three phases of U2 phase, V2 phase, and W2 phase. Second winding 12 of As shown in the schematic view of FIG. 11, the three-phase first windings U1, V1, W2 have no phase difference from the three-phase second windings U2, V2, W2.

In the present embodiment, the current detection unit 33 sets m pairs of one phase of the first winding and one phase of the second winding, which have the same or inverted phases in electrical angle, and set each pair. The detection timings of the currents of the windings for the two phases are set symmetrically with respect to the reference timing.

The principle of setting the current detection timing in the current detector 33 will be described below.

<Ideal case where 6-phase currents are detected at the same timing>
First, an ideal case in which all six-phase currents are detected at the same timing will be described. The currents iu1, iv1, iw1 flowing in the respective phases of the first winding and the currents iu2, iv2, iw2 flowing in the respective phases of the second winding are given by the equation (27).

The detection current detected at each of the detection timings tu1 to tw2 defined in FIG. 7 is given by equation (28).

At this time, the sums Id_sum and Iq_sum of the dq-axis currents are given by Expressions (29) and (30).

In order to make the error components after the second term in equations (29) and (30) zero, equation (31) may be established.

Since the equation (17) holds in this embodiment as well, the relational expression of tu1 to tw2 that satisfies the equations (17) and (31) is given by the equation (32).

That is, the current detection unit 33 sets a pair of the U1 phase of the first winding and the U2 phase of the second winding that have the same electrical angle and the same phase, and detects the current detection timing of the U1 phase of the first winding. The tu1 and the U2-phase current detection timing tu2 of the second winding are set symmetrically with respect to the reference timing. Further, the current detection unit 33 sets a pair of the V1 phase of the first winding and the V2 phase of the second winding, which have the same electrical angle in phase with each other, and detects the current detection timing of the V1 phase of the first winding. tv1 and V2 phase current detection timing tv2 of the second winding are set symmetrically with respect to the reference timing. The current detection unit 33 sets a pair of the W1 phase of the first winding and the W2 phase of the second winding having the same electrical angle and the same phase, and sets the current detection timing tw1 of the W1 phase of the first winding as a pair. , And the current detection timing tw2 of the W2 phase of the second winding is set symmetrically with respect to the reference timing.

Here, even when the current detection timings of the two phases are set to zero reference timing, it is assumed that they are set symmetrically with respect to the reference timing. In order to minimize the deviation amount of the current detection timing from the reference timing of each phase, the current detection timing of the maximum number of phases (an integer multiple of 2) within the range of the number of channels that can be A/D converted at the same time is set as the reference timing. The current detection timings of the other phases may be set to the same timing within the range of the number of channels and set symmetrically with respect to the reference timing.

For example, when the number of channels of A/D conversion is two, the current detection unit 33 sets the current detection timing for two phases of one pair to the reference timing, and the current detection timing of one phase from each of the remaining two pairs. By setting two sets, one phase of the first winding and one phase of the second winding selected respectively, and detecting the currents of the windings for the two phases of each set at substantially the same timing. Good. Alternatively, when the number of channels for A/D conversion is four, the current detection timing for the four phases of the two pairs is set to the reference timing, and the current detection timing of the two phases of the remaining one pair is set as the reference timing. It may be set symmetrically with respect to the timing.

The setting patterns for setting the current detection timing for one pair of two phases as the reference timing are the six patterns (1) to (6) in FIG. The current detection unit 33 detects the current of each phase at the current detection timing of any one of the patterns (1) to (6) in FIG.

By setting the current detection timing as described above, when the number of channels of the A/D converter is smaller than the number of phases of the winding and the number of phases that can be detected at the same timing is small, the current detection timing between phases is small. It is possible to reduce the error of the sum of the dq-axis currents caused by the deviation of the output current and the error of the output torque. Further, the offset error of the dq-axis current can be reduced, the offset error of the difference of the dq-axis current can be reduced, and various control accuracy using the detected current can be improved.

<When the phase difference between the first winding and the second winding is 60 deg>
In the present embodiment, the case where the phase difference between the first winding and the second winding is not the electrical angle has been described. However, as shown in FIG. 13, when the phase difference between the first winding and the second winding is 60 deg in electrical angle, the current detection timing is set as in Expression (33) by the similar expression derivation. Thus, the error of the sum of the dq-axis currents can be reduced, the error of the output torque can be reduced, the offset error of the dq-axis currents can be reduced, and the offset error of the difference of the dq-axis currents can be reduced. ..

That is, the current detection unit 33 sets a pair of the U1 phase of the first winding and the V2 phase of the second winding whose phases are inverted with respect to each other in electrical angle, and sets the current detection timing of the U1 phase of the first winding. tu1 and V2 phase current detection timing tv2 of the second winding are set symmetrically with respect to the reference timing. In addition, the current detection unit 33 sets a pair of the V1 phase of the first winding and the W2 phase of the second winding whose phases are inverted with each other in electrical angle, and detects the current detection timing of the V1 phase of the first winding. tv1 and the current detection timing tw2 of the W2 phase of the second winding are set symmetrically with respect to the reference timing. In addition, the current detection unit 33 sets a pair of the W1 phase of the first winding and the U2 phase of the second winding whose phases are inverted with respect to each other in electrical angle, and sets the current detection timing of the W1 phase of the first winding. tw1 and the U2 phase current detection timing tu2 of the second winding are set symmetrically with respect to the reference timing.

When setting the current detection timing for two phases of one pair to the reference timing, the setting patterns are six patterns (1) to (6) in FIG. The current detection unit 33 detects the current of each phase at the current detection timing of any one of the patterns (1) to (6) in FIG.

<Symmetrical setting of two phases with the same phase or 180 deg different>
By the way, of the error components in the sum of the dq-axis currents in the equation (29), the offset component of the second term is set to zero as the sum of the deviation amounts from the reference timing, as shown in the equation (17). Then, the first expression of the expression (31) is established and can be suppressed to zero. On the other hand, the third and fourth terms of the equation (29) are the second-order AC components of the magnetic pole position θ1 and are 0 deg×2=0 deg or 180 deg×2=360 deg. Zeroed out. That is, as shown in Expression (32) and Expression (33), the current detection timings of the first phase of the first winding and the first phase of the second winding, which have the same electrical angle and different phases or 180 degrees from each other, By setting the front-back symmetry with respect to the timing, that is, the values whose signs are inverted to each other, they can be canceled each other in the second and third expressions of the expression (31), and the AC component can be suppressed to zero. ..

This also applies to the first winding and the second winding other than the three phases. That is, the AC rotating machine 10 is provided with the m-phase first winding and the m-phase second winding, and the first winding phase and the second winding phase are the first winding and the first winding. When the phases of the two windings are the same or reverse in electrical angle to each other, the current detection unit 33 determines that the first phase of the first winding and the first phase of the second winding that are the same in phase or reverse to each other in the electrical angle. The m pairs of the phase and the pair are set, and the current detection timings of the windings for the two phases of each pair are set symmetrically with respect to the reference timing. When the number of channels of the A/D converter is smaller than the number of winding phases and the number of phases that can be detected at the same timing is small, the error of the sum of the dq-axis currents caused by the current detection timing shift between the phases is reduced. The error of the output torque can be reduced. Further, the offset error of the dq-axis current can be reduced, the offset error of the difference of the dq-axis current can be reduced, and various control accuracy using the detected current can be improved.

3. Embodiment 3
Next, the AC rotating machine 10 and the control device 1 according to the third embodiment will be described. The description of the same components as those in the first and second embodiments is omitted. In this embodiment, unlike the first and second embodiments, the AC rotating machine 10 has a winding of 2 m phase, and accordingly, the configurations of the inverter and the control device 1 are different, and the current detection timing The settings are different.

FIG. 15 shows a schematic configuration diagram of the AC rotating machine 10 and the control device 1 according to the present embodiment. In the present embodiment, AC rotary machine 10 has a 2m-phase winding (m is a natural number of 3 or more). In the present embodiment, m is 3, and AC rotating machine 10 has windings 25 of 6 phases of U1 phase, V1 phase, W1 phase, X1 phase, Y1 phase, and Z1 phase. As shown in the schematic view of FIG. 17, the phase difference between the windings between the phases is 60 deg in electrical angle. The six-phase winding 25 is wound around one stator 18.

In the present embodiment, the inverter 26 is provided with six sets of series circuits in each of which a positive side switching element 23 and a negative side switching element 24 are connected in series, corresponding to windings of six phases. There is. The connection point of the two switching elements in each series circuit is connected to the winding of the corresponding phase.

Similarly to the first embodiment, the current sensor 13 is connected in series to the hall element provided on the electric wire of each phase that connects the series circuit of the switching element of each phase and the winding, or to the series circuit of each phase. It is regarded as a shunt resistance.

Also in the present embodiment, as shown in FIG. 16, the control device 1 includes control units such as the rotation detection unit 31, the power supply voltage detection unit 32, the current detection unit 33, the voltage command calculation unit 34, and the voltage application unit 35. I have it. The description of the same components as in the first embodiment will be omitted.

The current detector 33 detects a current flowing in each phase of the 6-phase winding. In the present embodiment, the current detection unit 33, based on the output signal of the current sensor 13, the currents iu1_det, iv1_det, iw1_det, which flow from the inverter to the phases U1, V1, W1, X1, Y1, Z1 of the six windings, respectively. ix1_det, iy1_det, iz1_det are detected. In the present embodiment, the current detector 33 detects the current of each phase at the timing described below.

The current command calculation unit 341 sets the total dq-axis current commands Id*, Iq* calculated in the same manner as in the first embodiment as they are as the dq-axis current commands Id1*, Iq1* for the 6-phase winding.

The current conversion unit 342 converts the current detection values iu1_det, iv1_det, iw1_det, ix1_det, iy1_det, and iz1_det of each phase of the six-phase winding based on the magnetic pole position θ1 of the six-phase winding and rotational coordinates. Conversion is performed to convert the d-axis current detection value Id1 and the q-axis current detection value Iq1 of the 6-phase winding represented by the dq-axis rotation coordinate system. The magnetic pole position θ1 based on the 6-phase winding is a d-axis lead angle based on the U1-phase winding of the 6-phase winding.

The voltage command conversion unit 344 converts the dq axis voltage commands Vd1 and Vq1 of the 6-phase winding calculated by the current feedback control unit 343 into fixed coordinate conversion and 2-phase 6 based on the magnetic pole position θ1 of the 6-phase winding reference. Phase conversion is performed and converted into voltage commands vu1, vv1, vw1, vx1, vy1, vz1 for each phase of the six-phase winding.

The voltage applying unit 35 applies a voltage to each phase of the six-phase winding by comparing the voltage commands vu1, vv1, vw1, vx1, vy1, vz1 of each phase of the six-phase winding with the carrier signal.

<Current detection timing>
In the present embodiment, the current detection unit 33 sets the current detection timing of the kth phase of the winding based on the reference timing as T(k) (k is a natural number of m or less), and the m+kth winding. The phase current detection timing is T(m+k), and T(m+k)=−T(k) is set.

In the present embodiment, the detection timing of the U1-phase current iu1 of the six-phase winding is tu1 and the detection timing of the V1-phase current iv1 is tv1 with reference to the reference timing (for example, the peak of the carrier signal peak). The detection timing of the current iw1 of the W1 phase is tw1, the detection timing of the current ix1 of the X1 phase is tx1, the detection timing of the current iy1 of the Y1 phase is ty1, and the detection timing of the current iz1 of the Z1 phase is tz1. ..

When comparing FIG. 17 of the present embodiment with FIG. 13 of the second embodiment, the U1 phase of FIG. 17 and the U1 phase of FIG. 13 have the same phase, and the V1 phase of FIG. 17 and the U2 phase of FIG. 17 have the same phase, the W1 phase in FIG. 17 and the V1 phase in FIG. 13 have the same phase, the X1 phase in FIG. 17 and the V2 phase in FIG. 13 have the same phase, and the Y1 phase in FIG. And the W1 phase in FIG. 13 have the same phase, and the Z1 phase in FIG. 17 and the W2 phase in FIG. 13 have the same phase.

Therefore, the same formula derivation gives formula (34) in which tv2, tw2, and tu2 in formula (33) of the second embodiment are replaced by tx1, ty1, and tz1, respectively.

That is, the current detection unit 33 sets the U1 phase and the X1 phase whose phases are inverted with respect to each other in electrical angle to a pair, and sets the U1 phase current detection timing tu1 and the X1 phase current detection timing tx1 with respect to the reference timing. It is set to be symmetrical. Further, the current detection unit 33 sets the V1 phase and the Y1 phase whose phases are inverted with respect to each other in electrical angle as a pair, and sets the V1 phase current detection timing tv1 and the Y1 phase current detection timing ty1 with respect to the reference timing. Set symmetrically. Further, the current detection unit 33 sets the W1 phase and the Z1 phase whose phases are inverted with respect to each other in electrical angle as a pair, and sets the W1 phase current detection timing tw1 and the Z1 phase current detection timing tz1 with respect to the reference timing. Set symmetrically.

That is, the current detection unit 33 sets three pairs of one phase of the six-phase winding and one phase of the six-phase winding whose phases are inverted with respect to each other in electrical angle, and sets two pairs of windings for two phases. The detection timing of the line current is set symmetrically with respect to the reference timing.

Similar to the second embodiment, in order to minimize the deviation amount of the current detection timing from the reference timing of each phase, the maximum number of phases (an integer multiple of 2) within the range of the number of channels that can be A/D converted at the same time is set. The current detection timing may be set to the reference timing, and the current detection timings of the other phases may be set to the same timing within the range of the number of channels and set symmetrically with respect to the reference timing.

For example, when the number of channels of A/D conversion is two, the current detection unit 33 sets the current detection timing for two phases of one pair to the reference timing, and the current detection timing of one phase from each of the remaining two pairs. It is only necessary to set two sets in which the selected one phase and the selected one phase are set, and detect the currents of the windings for the two phases of each set at substantially the same timing. Alternatively, when the number of channels for A/D conversion is four, the current detection timing for the four phases of the two pairs is set to the reference timing, and the current detection timing of the two phases of the remaining one pair is set as the reference timing. It may be set symmetrically with respect to the timing.

The setting patterns for setting the current detection timings for one pair of two phases as the reference timings are the six patterns (1) to (6) in FIG. The current detection unit 33 detects the current of each phase at the current detection timing of any one of the patterns (1) to (6) in FIG.

This is also true for windings of 2m phase other than 6 phases, as in the second embodiment. That is, as in the second embodiment, the current detection unit 33 sets m pairs of one phase of the m-phase winding and one phase of the m-phase winding whose phases are inverted with respect to each other in electrical angle. The detection timings of the currents of the windings for the two phases of each pair are symmetrically set with respect to the reference timing.

4. Embodiment 4
Next, the AC rotating machine 10 and the control device 1 according to the fourth embodiment will be described. The description of the same components as those in the first to third embodiments is omitted. In the present embodiment, the configuration of the angle sensor 15 is specified, and accordingly, the processing of the rotation detection unit 31 is different.

In the present embodiment, the angle sensor 15 includes a first sine wave signal sinp, a second sine wave signal cosp, and a third sine wave signal sinn, which are sequentially phase-shifted by 90 deg in electrical angle according to the rotation of the rotor 14. , And outputs a fourth sine wave signal cosn. As the rotation speed of the rotor 14 increases, the frequency of each sine wave signal increases. The electrical angle of the angle sensor 15 is an angle obtained by multiplying the mechanical angle of the rotor 14 by the number of pole pairs of magnets provided in the angle sensor 15.

As shown in FIG. 19, the angle sensor 15 is arranged on the axial center of the rotor 14 and faces the magnet 50 (in this example, the number of pole pairs is 1) that rotates integrally with the shaft of the rotor 14. And a sensor unit 51 attached to the. The sensor section 51 includes four sensor elements 52 arranged with a phase difference of 90 deg in electrical angle. The four sensor elements 52 are magnetic resistance elements, Hall elements, or the like, and output sine wave signals whose phases are shifted by 90 deg in electrical angle from each other according to the rotation of the magnet 50.

The rotation detection unit 31 converts the output signal of the angle sensor 15 into the first sine wave signal sinp_det, the second sine wave signal cosp_det, the third sine wave signal sinn_det, and the fourth sine wave signal cosn_det, which are detected by A/D conversion. Based on this, the angle of the AC rotating machine 10 is calculated. In the present embodiment, the rotation detector 31 detects each sine wave signal at the timing described below.

For example, the rotation detection unit 31 detects the rotation angle θ1 in electrical angle of the rotor 14 using the equation (35). In addition, Pr represents the number of pole pairs of the magnet provided in the rotor 14, Ps represents the number of pole pairs of the magnet 50 of the angle sensor 15 (axis multiplication angle), and θs represents the electrical angle of the angle sensor 15 (magnet 50). Represents the rotation angle at. Equation (35) is an example, and when calculating the rotation angle θs of the angle sensor 15 in terms of electrical angle, a table may be used or an error component may be corrected by a known method. If the zero point of θs is offset, the offset may be corrected.

It is ideal if all the first to fourth sine wave signals can be detected at the same timing, but a low-priced microcomputer cannot detect all the channels at the same timing because the number of channels that can be A/D converted at the same time is small.

FIG. 20 shows the definitions of the detection timings t1 to t4 of the sine wave signals sinp to cosn with reference to the reference timing of the carrier signal (in this example, the peak of the mountain). The detection timing of the first sine wave signal sinp based on the reference timing (peak of the mountain) is t1, the detection timing of the second sine wave signal cosp is t2, and the detection timing of the third sine wave signal sinn is t3. , The detection timing of the fourth sine wave signal cosn is t4.

The detection values sinp_det to cosn_det of the sine wave signals detected at the detection timings t1 to t4 are given by Expression (36). Here, θs and ωs represent the rotation angle and the rotation angular velocity of the angle sensor 15 in the electrical angle at the reference timing, respectively.

At this time, the difference between the first sine wave signal and the third sine wave signal and the difference between the second sine wave signal and the fourth sine wave signal are given by equation (37).

From equations (35) and (37), the detected angle error εs can be expressed by equation (38). That is, the detection angle causes an error in the offset component and the secondary component of the detection angle.

In order to set the right side of Expression (38) to zero, Expression (39) may be established. That is, the rotation detection unit 31 pairs the first sine wave signal and the third sine wave signal whose phases are inverted with respect to each other in electrical angle, and detects the first sine wave signal detection timing t1 and the third sine wave signal detection timing. t3 and t3 are set symmetrically with respect to the reference timing. Further, the rotation detection unit 31 pairs the second sine wave signal and the fourth sine wave signal whose phases are inverted with each other in electrical angle, and detects the second sine wave signal detection timing t2 and the fourth sine wave signal detection timing. t4 and t4 are set symmetrically with respect to the reference timing. According to this configuration, the angle detection accuracy equivalent to that when four signals are detected at the reference timing can be obtained by detecting at the timing symmetrical with respect to the reference timing.

In order to minimize the amount of deviation of the detection timing of the angle signal with respect to the reference timing, within the range of the number of channels that can be A/D converted, a plurality of detection timings are combined into the same timing and are symmetrical with respect to the reference timing. Just set it. In the present embodiment, the rotation detection unit 31 selects one signal from each of the pair of the first sine wave signal and the third sine wave signal and the pair of the second sine wave signal and the fourth sine wave signal. Two sets of one signal and one signal are set, and the two signals of each set are detected at substantially the same timing. The setting patterns in this case are four patterns (1) to (4) in FIG. The rotation detection unit 31 detects each sine wave signal at the detection timing of the angle signal of any one of the patterns (1) to (4) in FIG. Here, 0 in FIG. 21 indicates that the detection timing of the angle signal is set to the reference timing, and -Ta indicates that the detection timing of the angle signal is set to Ta before the reference timing. , Ta indicates that the detection timing of the angle signal is set after the reference timing by Ta.

In the formula (36), the amplitude is set to 1 and the signal is ideally shifted by 90 deg. However, it is needless to say that the same effect can be obtained even when the signal has an offset, an amplitude shift, and a phase difference shift. Nor.

<Current detection timing and angle signal detection timing>
The current detection unit 33 sets the current detection timing of the winding of each phase between the detection timings of the first, second, third, and fourth sine wave signals that are symmetrically set. FIG. 22 shows a setting example. FIG. 22 shows only the voltage commands vu1 to vw1 of the first winding in order to prevent the drawing from becoming complicated. The current detection timing is set to the pattern (1) in FIG.

The current detection timings iu1 to iw2 of the windings of the respective phases are the detection timings of the first sine wave signal sinp and the second sine wave signal cosp, which are set symmetrically in the front-rear direction, and the third sine wave signal sinn and the fourth sine wave signal. It is set to the detection timing of cosn.

More specifically, the detection timing of the first sine wave signal sinp and the second sine wave signal cosp is set 2γ before the reference timing, and the detection timing of the third sine wave signal sinn and the fourth sine wave signal cosn is , 2γ after the reference timing. The current detection timing of iv1 and iu2 is set to the reference timing, the current detection timing of iu1 and iw2 is set to γ before the reference timing, and the current detection timing of iu1 and iv2 is set to γ later than the reference timing. There is.

In this case, the dq-axis current differences Id_diff and Iq_diff are given by equation (40). Due to the deviation of the current detection timing, a secondary AC component of the magnetic pole position θ1 proportional to 2γ is generated in the dq-axis current difference.

On the other hand, as shown in FIG. 23, a case will be described in which the current detection timing of the winding of each phase is set outside the detection timing of the angle signal that is symmetrically set in the front-rear direction. The detection timing of the first sine wave signal sinp and the second sine wave signal cosp is set to γ before the reference timing, and the detection timing of the third sine wave signal sinn and the fourth sine wave signal cosn is earlier than the reference timing. It is set after γ. The current detection timing of iv1 and iu2 is set to the reference timing, the current detection timing of iu1 and iw2 is set to 2γ before the reference timing, and the current detection timing of iv1 and iv2 is set to 2γ after the reference timing. There is. In this case, the dq-axis current differences Id_diff and Iq_diff are given by equation (41). Due to the deviation of the current detection timing, a secondary AC component of the magnetic pole position θ1 proportional to 4γ is generated in the dq-axis current difference.

That is, the secondary AC oscillation component in the dq-axis current difference increases in proportion to the period from the first current detection timing to the last current detection timing. In the region where the voltage is saturated, the voltage command may become excessive or excessive due to the influence of the secondary AC vibration component. In order to reduce the influence, it is required to shorten the period from the first current detection timing to the last current detection timing as short as possible.

Further, in FIG. 23, the voltage command is Vu1>Vv1>Vw1. However, when the modulation rate of Vu1 which is the maximum phase becomes high, the OFF time before and after the reference timing becomes short. When the current is detected by the shunt resistor provided on the negative side of the negative side switching element, the maximum phase current cannot be detected at a high modulation rate. In addition, as in Patent Document 2, there is a problem that the current detection accuracy of other phases is deteriorated due to the switching of the maximum phase. In order to secure the current detection accuracy up to the highest possible modulation rate, it is necessary to shorten the period from the first current detection timing to the last current detection timing.

As shown in FIG. 22, by setting the current detection timing of the winding of each phase between the detection timings of the angle signals that are symmetrically set in the front-rear direction, the current detection timing is preferentially brought close to the reference timing, The period from the first current detection timing to the last current detection timing can be shortened. As a result, the secondary alternating-current oscillation component in the dq-axis current difference can be reduced, and even when the current is detected by the shunt resistor on the negative electrode side, the current detection accuracy can be secured up to a high modulation rate.

Further, the change in the rotation angle from the first detection timing of detecting sinp and cosp to the second detection timing of detecting sinn and cosn becomes larger as the rotation speed increases. Since the approximation of the equation (37) uses the fact that ωs(t1+t3) and ωs(t2+t4) are minute, another term appears if it is not minute. Further, even if it is very small, the angular accuracy can be improved by further suppressing ωs(t1+t3) and ωs(t2+t4). As can be seen from the equation (35), the rotational speed at the mechanical angle of the rotor 14 is multiplied by the number of pole pairs Ps (axis multiplication angle) of the magnet 50 of the angle sensor 15 to obtain the rotational angular speed at the electrical angle of the angle sensor 15. ωs is obtained, and the rotational angular velocity ω at the electrical angle of the rotor 14 is obtained by multiplying the rotational velocity at the mechanical angle of the rotor 14 by the number of pole pairs Pr of the magnets of the rotor 14. That is, in order to satisfy ω≧ωs, the number of pole pairs Ps (axis multiplication angle) of the magnet 50 of the angle sensor 15 may be set to be equal to or less than the number of pole pairs Pr of the magnet of the rotor 14 (Pr≧Ps). Can be improved.

As described above, the AC rotating machine 10 and the AC rotating machine control device 1 according to the present application may constitute the vehicle AC rotating machine device 50 or the electric power steering device 60, or may be used for various purposes. It may be an AC rotating machine and its control device.

Although the present application describes various exemplary embodiments and examples, various features, aspects, and functions described in one or more of the embodiments apply to the particular embodiment. However, the present invention is not limited to this, and can be applied to the embodiments alone or in various combinations. Therefore, innumerable variations not illustrated are envisioned within the scope of the technology disclosed herein. For example, it is assumed that at least one component is modified, added or omitted, and at least one component is extracted and combined with the components of other embodiments.

1 AC rotating machine control device, 10 AC rotating machine, 13 current sensor, 15 angle sensor, 16 DC power supply, 17 voltage sensor, 21 first inverter, 22 second inverter, 23 positive electrode side switching element, 24 negative electrode side Switching element, 31 rotation detection unit, 32 power supply voltage detection unit, 33 current detection unit, 34 voltage command calculation unit, 35 voltage application unit, 50 vehicle AC rotating machine device, 60 electric power steering device, Pr rotor magnet pole Logarithm, pole pair number of Ps angle sensor (axis multiplication angle), sinp first sine wave signal, cosp second sine wave signal, sinn third sine wave signal, cosn fourth sine wave signal, iu1 of U1 phase of the first winding Current, iv1 V1 phase current in the first winding, iw1 W1 phase current in the first winding, iu2 U2 phase current in the second winding, iv2 V2 phase current in the second winding, iw2 second winding Wire W2 phase current, iu1 6 phase winding U1 phase current, iv1 6 phase winding V1 phase current, iw1 6 phase winding W1 phase current, ix1 6 phase winding X1 phase current , Iy1 Y-phase current of 6-phase winding, iz1 Z-phase current of 6-phase winding, t1 first sine wave signal detection timing, t2 second sine wave signal detection timing, t3 third sine wave signal Detection timing, t4 fourth sinusoidal signal detection timing, tu1 first winding U1 phase current detection timing, tv1 first winding V1 phase current detection timing, tw1 first winding W1 phase current detection timing Timing, tu2 second winding U2 phase current detection timing, tv2 second winding V2 phase current detection timing, tw2 second winding W2 phase current detection timing, tu1 six phase U1 phase winding Current detection timing, V1 phase current detection timing of tv1 6 phase winding, tw1 6 phase winding W1 phase current detection timing, tx1 6 phase winding X1 phase current detection timing, ty1 6 phase winding Y1 Phase current detection timing, tz1 6 phase winding Z1 phase current detection timing

Claims (21)

An AC rotating machine control device for controlling an AC rotating machine (m is an integer of 3 or more) having an m-phase first winding and an m-phase second winding,
A current detector that detects a current flowing in each phase of the first winding and the second winding;
A voltage command calculation unit that calculates a voltage command to be applied to each phase of the first winding and the second winding based on the current command and the detected current value of each phase;
A voltage applying unit that applies a voltage to each phase of the first winding and the second winding by comparing the voltage command and a carrier signal;
The current detector includes a phase of the first winding selected from the first winding of the m phase and a phase of the second winding selected from the second winding of the m phase. 1 phase and m set are set based on the phase difference between the first winding and the second winding, and the currents of the windings for the two phases of each set are set at substantially the same timing. The control device for the AC rotating machine that detects the current at a different timing from the current detection timing of other sets. The current detection unit sets m sets each including one phase of the first winding and one phase of the second winding having different electrical angles of 90 deg in phase from each other. The control device for an AC rotating machine according to claim 1, wherein the line currents are detected at substantially the same timing. The current detection unit is configured such that the total of the current detection timing with respect to the reference timing of each phase of the first winding becomes zero, and the total of the current detection timing with respect to the reference timing of each phase of the second winding becomes zero. The control device for an AC rotating machine according to claim 1 or 2, wherein the current detection timing with respect to the reference timing of each set is set. m is 3,
The U1-phase, V1-phase, and W1-phase three-phase first windings are advanced in phase by 30 deg in electrical angle with respect to the U2-phase, V2-phase, and W2-phase three-phase second windings. ,
The current detection unit sets the U1 phase of the first winding and the W2 phase of the second winding as a set, and sets the V1 phase of the first winding and the U2 phase of the second winding as a set. Three sets of the W1 phase of the first winding and the V2 phase of the second winding are set, and the currents of the windings for the two phases of each set are detected at substantially the same timing. The control device for an AC rotating machine according to claim 1. m is 3,
The U1-phase, V1-phase, and W1-phase three-phase first windings are advanced in phase by 90 deg in electrical angle with respect to the U2-phase, V2-phase, and W2-phase three-phase second windings. ,
The current detection unit sets the U1 phase of the first winding and the U2 phase of the second winding as a set, and sets the V1 phase of the first winding and the V2 phase of the second winding as a set, Three sets of the W1 phase of the first winding and the W2 phase of the second winding are set, and the currents of the windings for the two phases of each set are detected at substantially the same timing. The control device for an AC rotating machine according to claim 1. 5. The current detection unit sets the current detection timing of any one of the three sets as a reference timing, and sets the current detection timings of the other two sets symmetrically with respect to the reference timing. Alternatively, the control device for the AC rotating machine according to 5. An AC rotating machine control device for controlling an AC rotating machine (m is an integer of 3 or more) having an m-phase first winding and an m-phase second winding,
A current detector that detects a current flowing in each phase of the first winding and the second winding;
A voltage command calculation unit that calculates a voltage command to be applied to each phase of the first winding and the second winding based on the current command and the detected current value of each phase;
A voltage applying unit that applies a voltage to each phase of the first winding and the second winding by comparing the voltage command and a carrier signal;
The phase of the first winding and the phase of the second winding are the same or inverted in phase with each other in electrical angle between the first winding and the second winding,
The current detection unit sets m pairs of one phase of the first winding and one phase of the second winding, which have the same or inverted phases in electrical angle with each other, and set two pairs of two phases of each pair. A control device for an AC rotating machine that sets the detection timing of the current in the winding in a symmetrical manner with respect to the reference timing. m is 3,
The U1-phase, V1-phase, and W1-phase three-phase first windings have no phase difference with respect to the U2-phase, V2-phase, and W2-phase three-phase second windings,
The current detection unit sets Tu1 as a U1 phase current detection timing of the first winding and Tv1 as a V1 phase current detection timing of the first winding with reference to the reference timing. The current detection timing of the W1 phase of the line is Tw1, the current detection timing of the U2 phase of the second winding is Tu2, the current detection timing of the V2 phase of the second winding is Tv2, and the second winding The current detection timing of the W2 phase is set to Tw2,
Tu2=-Tu1, Tv2=-Tv1, Tw2=-Tw1
The control device for the AC rotating machine according to claim 7, wherein m is 3,
The U1-phase, V1-phase, and W1-phase three-phase first windings are advanced in phase by 60 deg in electrical angle with respect to the U2-phase, V2-phase, and W2-phase three-phase second windings. ,
The current detection unit sets Tu1 as a U1 phase current detection timing of the first winding and Tv1 as a V1 phase current detection timing of the first winding with reference to the reference timing. The current detection timing of the W1 phase of the line is Tw1, the current detection timing of the U2 phase of the second winding is Tu2, the current detection timing of the V2 phase of the second winding is Tv2, and the second winding The current detection timing of the W2 phase is set to Tw2,
Tv2=-Tu1, Tw2=-Tv1, Tu2=-Tw1
The control device for the AC rotating machine according to claim 7, wherein The current detection unit sets the current detection timing for one pair of two phases to the reference timing, and selects one phase from each of the remaining two pairs and one phase of the first winding and the second phase. The control of an AC rotating machine according to claim 8 or 9, wherein two sets of one phase of the winding are set and the currents of the windings for the two phases of each set are detected at substantially the same timing. apparatus. An AC rotating machine control device for controlling an AC rotating machine (m is an integer of 3 or more) having a 2m-phase winding,
A current detector for detecting a current flowing in each phase of the winding,
A voltage command calculator that calculates a voltage command to be applied to each phase of the winding based on the current command and the current detection value of each phase,
A voltage application unit that applies a voltage to each phase of the winding by comparing the voltage command and a carrier signal,
The current detection unit sets the current detection timing of the k-th phase of the winding based on the reference timing as T(k) (k is a natural number of m or less), and detects the current of the (m+k)th phase of the winding. The timing is T(m+k),
T(m+k)=-T(k)
AC rotating machine control device set to. The current detection unit sets the current detection timing for one pair of two phases to the reference timing, and sets one phase and one phase selected from each of the remaining two pairs as a set. Is set, and the currents of the windings for the two phases of each set are detected at substantially the same timing. The control device for an AC rotating machine according to any one of claims 3 and 6 to 12, wherein the reference timing is set at one or both of a peak and a peak of the triangular carrier wave signal. .. The output signals of the angle sensor that outputs the first sine wave signal, the second sine wave signal, the third sine wave signal, and the fourth sine wave signal whose phases are sequentially shifted by 90 deg in electrical angle according to the rotation of the rotor are output. A rotation detector that detects and calculates the rotation angle of the AC rotating machine based on the detected values of the first sine wave signal, the second sine wave signal, the third sine wave signal, and the fourth sine wave signal. Further equipped with,
The rotation detection unit pairs the first sine wave signal and the third sine wave signal, and detects the detection timing of the first sine wave signal and the detection timing of the third sine wave signal with respect to a reference timing. The second sine wave signal and the fourth sine wave signal are paired, and the detection timing of the second sine wave signal and the detection timing of the fourth sine wave signal are set to the reference timing. The control device for an AC rotary machine according to claim 1, wherein the control device is set symmetrically with respect to the front-rear direction. The rotation detection unit selects one signal from each of the pair of the first sine wave signal and the third sine wave signal and the pair of the second sine wave signal and the fourth sine wave signal. 15. The control device for an AC rotating machine according to claim 14, wherein two sets of a set of 1 and 1 signal are set and the 2 signals of each set are detected at substantially the same timing. The current detection unit sets the current detection timings of the windings of the respective phases symmetrically with respect to the first sine wave signal, the second sine wave signal, the third sine wave signal, and the fourth sine wave signal. The control device for an AC rotary machine according to claim 14 or 15, wherein the control device is set during signal detection timing. The control device for an AC rotary machine according to any one of claims 14 to 16, wherein a shaft angle multiplier of the angle sensor is equal to or less than the number of pole pairs of the AC rotary machine. The substantially same timing is at least that a difference between two detection timings of the same set is 1/10 or less of an interval of detection timings between different sets, which is 1 to 6, 10, 12, and 15. The control device for the AC rotating machine according to any one of claims. The substantially same timing is a timing at which the number of channels within the maximum number of channels of the A/D converter is simultaneously A/D converted by a trigger signal. 15. The control device for an AC rotating machine according to any one of 15. A control device for an AC rotating machine according to any one of claims 1 to 19,
An AC rotating machine device for a vehicle, comprising: the AC rotating machine serving as a driving force source for a wheel. A control device for an AC rotating machine according to any one of claims 1 to 19,
An electric power steering apparatus comprising: the AC rotating machine that serves as a driving force source for a wheel steering device.

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