JP5502044B2 - Control device and control method for rotating electrical machine - Google Patents

Description

  The present invention relates to a control device and a control method for a rotating electrical machine such as a permanent magnet motor.

  A conventional synchronous machine control device generates an armature current command from a torque command, and controls an armature current of the synchronous machine by a power converter based on the armature current command. A torque current command generator having a torque current limit generator and a limiter, a magnetic flux command generator, a magnetic flux calculator, and a magnetic flux controller (see, for example, Patent Document 1).

  A torque current calculator of the torque current command generator calculates a torque current command from the torque command and the magnetic flux command. The torque current limit generator generates a maximum torque current command value that can be generated based on the magnetizing current command and the current limit value so that the armature current does not exceed the current limit value of the power converter. The limiter limits the torque current command based on the maximum torque current command value.

  The magnetic flux command generator calculates a magnetic flux command based on the torque current command from the torque current command generator. The magnetic flux calculator calculates the armature linkage flux based on the armature current or the armature current and the armature voltage of the synchronous machine. The magnetic flux controller creates a magnetizing current command so that the magnetic flux command and the armature interlinkage magnetic flux coincide with each other, and inputs the magnetizing current command to the torque current command generator.

  As described above, the torque current command and the magnetization current command, which are the torque component and the magnetization component of the armature current command, are respectively obtained by armature flux linkage control (hereinafter referred to as “total magnetic flux control”). The synchronous machine can be controlled with higher accuracy than when the torque current command and the magnetizing current command are obtained by map control, which has been the mainstream before.

Japanese Patent No. 4531751

However, the prior art has the following problems.
In the invention described in Patent Document 1, since the control device calculates the armature current command, the command value becomes an abnormal value when the value stored in the ROM or RAM changes due to the ROM abnormality or RAM change. There is a problem that the reliability of the total magnetic flux control is lowered.

  The present invention has been made in order to solve the above-described problems, and can provide a rotating electrical machine that can prevent a decrease in reliability of total magnetic flux control even when a ROM abnormality or a RAM roll occurs. It is an object to obtain a control device and a control method.

A control device for a rotating electrical machine according to the present invention is a control device for a rotating electrical machine that controls driving of the rotating electrical machine based on a torque command, and uses a map that describes the relationship between the torque command and the map control command. A map control command generating unit that generates a map control command from the torque command, a total magnetic flux control command generating unit that generates a total magnetic flux control command from the torque command and the rotational speed and armature current of the rotating electrical machine, and a map control command When the phase or magnitude of the total magnetic flux control command exceeds a predetermined range with reference to the map control command, the map control command is When the total magnetic flux control command is output as a drive command and the phase or magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command, the total magnetic flux control command is And a command determination unit that outputs Te, map control command generating unit, by using a map relationship was noted between the torque command and the armature current command, generates an armature current command from the torque command, map control This is a map control current command generation unit that outputs as a command. The total magnetic flux control command generation unit generates an armature current command from the torque command, the rotation speed of the rotating electrical machine, and the armature current, and outputs it as a total magnetic flux control command. The command determination unit outputs a map control command as a drive command when the phase or magnitude of the total magnetic flux control command exceeds a predetermined range with reference to the map control command. In addition, when the phase or magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command, current command determination that outputs the total magnetic flux control command as a drive command The total magnetic flux control current command generator generates a torque current command that calculates a torque current command that is a torque component of the armature current command from a magnetization current command that is a magnetization component of the torque command, the magnetic flux command, and the armature current command. A generator, a magnetic flux command generator that calculates a magnetic flux command from a torque current command, a magnetic flux calculator that calculates an armature linkage flux from an armature current of a rotating electrical machine, and a magnetic flux command and an armature linkage flux And a magnetic flux controller for generating a magnetizing current command so as to coincide with each other.

A control method for a rotating electrical machine according to the present invention is a control method for a rotating electrical machine that controls the driving of the rotating electrical machine based on a torque command, and uses a map that describes the relationship between the torque command and the map control command. A map control command generating step for generating a map control command from the torque command, a total magnetic flux control command generating step for generating a total magnetic flux control command from the torque command and the rotation speed and armature current of the rotating electrical machine, and a map control command When the phase or magnitude of the total magnetic flux control command exceeds a predetermined range with reference to the map control command, the map control command is When output as a drive command and the phase or magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command, the total magnetic flux control command Comprising a command determination step of outputting a drive command, a map control command generation step, using the map relationship was noted between the torque command and the armature current command, generates an armature current command from the torque command, This is a map control current command generation step that is output as a map control command. The total magnetic flux control command generation step generates an armature current command from the torque command, the rotational speed of the rotating electrical machine, and the armature current, and generates a total magnetic flux control command. The command determination step outputs a map control command as a drive command when the phase or magnitude of the total flux control command exceeds a predetermined range with reference to the map control command. When the phase or magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command, the total This is a current command determination step for outputting a bundle control command as a drive command, and the total magnetic flux control current command generation step is based on a magnetizing current command that is a magnetization component of the torque command, the magnetic flux command, and the armature current command. Torque current command generation step for calculating a torque current command that is a torque component, magnetic flux command generation step for calculating a magnetic flux command from the torque current command, and magnetic flux calculation for calculating an armature linkage magnetic flux from the armature current of the rotating electrical machine And a magnetic flux control step for generating a magnetizing current command so that the magnetic flux command and the armature flux linkage coincide with each other.

According to the control device and the control method for a rotating electrical machine according to the present invention, the command determination unit (step) includes the map control command generated by the map control command generation unit (step) from the torque command using the map, and the total magnetic flux control. The command generation unit (step) compares at least one of the phase and magnitude of the total magnetic flux control command generated from the torque command and the rotational speed and armature current of the rotating electrical machine, and the phase or magnitude of the total magnetic flux control command. If the map control command exceeds the predetermined range with reference to the map control command, the map control command is output as a drive command, and the phase or magnitude of the total magnetic flux control command is within the predetermined range with reference to the map control command. If there is, the total magnetic flux control command is output as a drive command.
For this reason, even when a ROM abnormality or a RAM roll occurs, it is possible to prevent a decrease in the reliability of the total magnetic flux control.

It is a block block diagram which shows the control apparatus of the rotary electric machine which concerns on Embodiment 1 of this invention. It is a block block diagram which shows the map control electric current command production | generation part shown in FIG. It is a block block diagram which shows the total magnetic flux control electric current command production | generation part shown in FIG. It is a block block diagram which shows the electric current command determination part shown in FIG. It is a vector diagram which shows the relationship between the electric current of the dq coordinate system which concerns on Embodiment 1 of this invention, and the electric current of (gamma) -delta coordinate system. It is a vector diagram which shows the relationship between the current command vector of map control which concerns on Embodiment 1 of this invention, and the current command vector of total magnetic flux control. It is a flowchart which shows operation | movement of the comparison determination part shown in FIG. It is a block block diagram which shows the control apparatus of the rotary electric machine which concerns on Embodiment 2 of this invention. It is a block block diagram which shows the two-phase map control voltage command production | generation part shown in FIG. It is a block block diagram which shows the two-phase total magnetic flux control voltage command generation part shown in FIG. It is a block block diagram which shows the two-phase voltage command determination part shown in FIG. It is a vector diagram which shows the relationship between the voltage of the dq coordinate system which concerns on Embodiment 2 of this invention, and the voltage of a (gamma) -delta coordinate system. It is a vector diagram which shows the relationship between the two-phase voltage command vector of map control which concerns on Embodiment 2 of this invention, and the two-phase voltage command vector of total magnetic flux control. 12 is a flowchart illustrating an operation of the comparison determination unit illustrated in FIG. 11. It is a block block diagram which shows the control apparatus of the rotary electric machine which concerns on Embodiment 3 of this invention. It is a block block diagram which shows the three-phase map control voltage command generation part shown in FIG. It is a block block diagram which shows the three-phase total magnetic flux control voltage command generation part shown in FIG. It is a flowchart which shows operation | movement of the three-phase voltage command determination part shown in FIG.

  Hereinafter, preferred embodiments of a control apparatus for a rotating electrical machine according to the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts will be described with the same reference numerals. The control device for a rotating electrical machine according to the present invention is mounted on, for example, an electric vehicle or a hybrid vehicle.

Embodiment 1 FIG.
FIG. 1 is a block configuration diagram showing a control device 100 for a rotating electrical machine according to Embodiment 1 of the present invention. In FIG. 1, a controller 100 for a rotating electrical machine includes a map control current command generation unit (map control command generation unit) 10, a total magnetic flux control current command generation unit (total magnetic flux control command generation unit) 20, a current command determination unit (command Determination unit) 30, current controller 40, PWM generation unit 50, power converter 60, position detector 70, and current detector 80.

  The map control current command generation unit 10 generates an armature current command from the torque command using a map in which the relationship between the torque command and the rotational speed of the rotating electrical machine (not shown) and the armature current command is described. Output as a map control current command (map control command).

  The total magnetic flux control current command generation unit 20 generates an armature current command by real-time calculation online from the torque command, the rotational speed of the rotating electrical machine, the armature current, the motor constant, and the like, and the total magnetic flux control current command (total magnetic flux Control command).

  The current command determination unit 30 compares at least one of the phase and the magnitude of the map control current command from the map control current command generation unit 10 and the total magnetic flux control current command from the total magnetic flux control current command generation unit 20. Which is output as a drive command is determined.

  Specifically, the current command determination unit 30 outputs the map control current command as a drive command when the phase or magnitude of the total magnetic flux control current command exceeds a predetermined range with reference to the map control current command. At the same time, when the phase or magnitude of the total magnetic flux control current command is within a predetermined range with reference to the map control current command, the total magnetic flux control current command is output as a drive command.

  The current controller 40 refers to the current command value of the map control current command or the total magnetic flux control current command output from the current command determination unit 30 with reference to the position of the rotating electrical machine and the three-phase current value (described later). Convert to voltage command value and output. The PWM generator 50 converts the voltage command value from the current controller 40 into a PWM signal and outputs it. The power converter 60 generates a voltage for driving the rotating electrical machine based on the PWM signal from the PWM generator 50. The power converter 60 is a so-called inverter device, and includes a drive circuit (not shown) and a power conversion switching element (MOSFET, IGBT, etc.).

  The position detector 70 is an angle sensor such as a resolver or a position estimator, detects the position of the rotating electrical machine, and outputs it to the total magnetic flux control current command generator 20 and the current controller 40. The current detector 80 is a current sensor or a current estimator, detects a three-phase current value of the rotating electrical machine, and outputs it to the total magnetic flux control current command generator 20 and the current controller 40.

  Next, the map control current command generation unit 10 will be described in detail with reference to FIG. FIG. 2 is a block diagram showing the map control current command generation unit 10 shown in FIG. In FIG. 2, a torque command, a rotation speed, a DC voltage of a battery (not shown), and an operating condition are input to the map control current command generation unit 10 from the outside. Here, the driving conditions are conditions such as emphasis on efficiency and torque, and may be set according to the remaining amount of the battery, or may be set by the driver of the vehicle, for example.

  The map control current command generation unit 10 has a three-dimensional map 11 in which the relationship between the torque command and the rotational speed of the rotating electrical machine and the armature current command is described based on data collected in advance. Note that a plurality of three-dimensional maps 11 are provided according to the DC voltage for each operating condition (for example, condition a to condition z).

The map control current command generator 10 selects the corresponding three-dimensional map 11 from the DC voltage and the operating conditions, and determines the armature current command (q-axis current command iq ^* , d-axis current from the torque command and the rotational speed of the rotating electrical machine. Command id ^* ) is generated, and this armature current command is output as a map control current command.

  Next, the total magnetic flux control current command generation unit 20 will be described with reference to FIG. FIG. 3 is a block diagram showing the total magnetic flux control current command generation unit 20 shown in FIG. In FIG. 3, the total magnetic flux control current command generation unit 20 receives a torque command, a rotation speed, a DC voltage of the battery, and an operating condition from the outside, and receives a position θ of the rotating electrical machine from the position detector 70 to detect a current. A three-phase current value iu / iv / iw is input from the device 80.

The total magnetic flux control current command generator 20 includes a torque current command generator 21, a magnetic flux command generator 22, a magnetic flux calculator 23, and a magnetic flux controller 24. The torque current command generator 21 generates a torque (δ axis) that is a torque component of the armature current command from a torque command, a magnetic flux command Φ ^*, and a magnetization (γ axis) current command iγ ^* that is a magnetization component of the armature current command. The current command iδ ^* is calculated.

The magnetic flux command generator 22 calculates the magnetic flux command Φ ^* from the torque current command iδ ^* , the rotational speed of the rotating electrical machine, and the DC voltage. The magnetic flux calculator 23 calculates the estimated armature linkage magnetic flux absolute value (armature linkage flux) | Φ | and the estimated armature linkage flux from the rotational speed of the rotating electrical machine and the three-phase current values iu / iv / iw. Calculate the phase ∠Φ.

The magnetic flux controller 24 generates the magnetization current command iγ ^* so that the magnetic flux command Φ ^* and the estimated armature flux linkage absolute value | Φ | Here, the operating condition input to the total magnetic flux control current command generation unit 20 is used for weighting the output from the total magnetic flux control current command generation unit 20, for example. The detailed configuration and operation of the total magnetic flux control current command generation unit 20 are described in Patent Document 1 described above, and thus further description thereof is omitted here.

Next, the current command determination unit 30 will be described in detail with reference to FIG. FIG. 4 is a block diagram showing the current command determination unit 30 shown in FIG. In FIG. 4, the q-axis current command iq ^* and the d-axis current command id ^* are input from the map control current command generation unit 10 to the current command determination unit 30, and the magnetization current command iγ from the total magnetic flux control current command generation unit 20 ^* , Torque current command i δ ^* and estimated armature flux linkage phase ∠Φ are input.

The current command determination unit 30 includes a map control vector converter 31, a total magnetic flux control vector converter 32, and a comparison determination unit 33. The map control vector converter 31 calculates the current vector I ₁ ^* and the phase θ ₁ from the q-axis current command iq ^* and the d-axis current command id ^{* according} to the following equations (1) and (2).

The total magnetic flux control vector converter 32 calculates the current vector I ₂ ^* and the phase from the magnetization current command i γ ^* , the torque current command i δ ^* and the estimated armature flux linkage phase ∠Φ according to the following equations (3) and (4). θ ₂ is calculated.

The comparison / determination unit 33 compares the current vector I ₁ ^* and phase θ ₁ from the map control vector converter 31 with the current vector I ₂ ^* and phase θ ₂ from the total magnetic flux control vector converter 32, and Determine whether to output as a drive command.

Here, the relationship between the current vector I ₁ ^* and the phase θ ₁ and the current vector I ₂ ^* and the phase θ ₂ will be described with reference to FIG. FIG. 5 is a vector diagram showing the relationship between the current in the dq coordinate system and the current in the γ-δ coordinate system according to Embodiment 1 of the present invention.

  On the dq-axis plane of FIG. 5, there is a γ-axis (magnetization) current vector in the direction of the total magnetic flux vector Φ, and there is a δ-axis (torque) current vector in the direction orthogonal to the total magnetic flux vector Φ. The current vector i. The current vector i is also a combined vector of the d-axis current vector and the q-axis current vector.

Inside the comparison / determination unit 33, the combined vector I ₁ ^* of the q-axis current command iq ^* and the d-axis current command id ^* from the map control current command generation unit 10 and the magnetization from the total magnetic flux control current command generation unit 20. current command i? ^* and the torque current command i? ^* and the resultant vector I ₂ ^* and of, as shown in FIG. 6, are slightly shifted.

  This is a result obtained by the map control current command generated by the map control current command generation unit 10 based on data collected in advance, and there is an error from the optimum value for the operating condition at that time. Therefore, it can be said that the reliability based on the actual measurement is high. On the other hand, the total magnetic flux control current command generated by the total magnetic flux control current command generator 20 is an optimal result calculated online according to the operating conditions at that time, but the values obtained by calculating all are as follows: Reliability is slightly inferior.

  Therefore, here, with reference to the map control current command, at least one of the length (magnitude) and phase of the current vector is compared with the total magnetic flux control current command, and the map control current command and the total magnetic flux control current command Which is output as a drive command is determined.

  Next, the determination process of the comparison determination unit 33 will be described with reference to the flowchart of FIG. Here, a case where only the lengths of the current vectors are compared will be described. Instead of comparing only the lengths of the current vectors, only the phases may be compared, or both the lengths and phases of the current vectors may be compared.

First, the comparison / determination unit 33 generates a current vector I ₁ ^* calculated from a map control current command (q-axis current command iq ^* , d-axis current command id ^* ), and a total magnetic flux control current command (magnetization current command iγ ^* , The current vector I ₂ ^* calculated from the torque current command i δ ^* ) is compared, and it is determined whether or not the difference in length is smaller than a predetermined margin value X (step S1).

If it is determined in step S1 that the difference in length is smaller than the predetermined margin value X (that is, Yes), the comparison / determination unit 33 outputs a total magnetic flux control current command as a drive command (step S1). S2), the process of FIG. Specifically, the comparison determination unit 33 calculates the current vector I ₂ ^* and the phase calculated from the total magnetic flux control current command (magnetization current command iγ ^* , torque current command iδ ^* , estimated armature flux linkage phase ΦΦ). θ ₂ is output as a drive command.

On the other hand, if it is determined in step S1 that the difference in length is equal to or greater than the predetermined margin value X (ie, No), the comparison / determination unit 33 outputs a map control current command as a drive command ( Step S3), the process of FIG. Specifically, the comparison determination unit 33 outputs the current vector I ₁ ^* and the phase θ ₁ calculated from the map control current command (q-axis current command iq ^* , d-axis current command id ^* ) as a drive command.

  That is, the total magnetic flux control current command generated by the total magnetic flux control current command generation unit 20 is always compared with the map control current command generated by the highly reliable map control current command generation unit 10 as a reference, When the range is exceeded, the failure of control can be prevented by adopting the reference map control current command.

As described above, according to the first embodiment, the command determination unit includes the map control command generated by the map control command generation unit from the torque command using the map, and the total magnetic flux control command generation unit generates the torque command and the rotating electrical machine. At least one of the phase and the magnitude of the total magnetic flux control command generated from the rotation speed and the armature current, and the phase or the magnitude of the total magnetic flux control command is within a predetermined range based on the map control command. The map control command is output as a drive command when the value exceeds, and the total magnetic flux control command is output as a drive command when the phase or magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command. Output as.
For this reason, even when a ROM abnormality or a RAM roll occurs, it is possible to prevent a decrease in the reliability of the total magnetic flux control.

Embodiment 2. FIG.
FIG. 8 is a block configuration diagram showing a control apparatus 100A for a rotating electrical machine according to Embodiment 2 of the present invention. In FIG. 8, a control device 100A for a rotating electrical machine includes a two-phase map control voltage command generation unit (map control command generation unit) 10A, a two-phase total magnetic flux control voltage command generation unit (total magnetic flux control command generation unit) 20A, and two phases. A voltage command determination unit (command determination unit) 30A, a PWM generation unit 50, a power converter 60, a position detector 70, and a current detector 80 are provided.

  The two-phase map control voltage command generation unit 10A generates an armature current command from the torque command by using a map in which the relationship between the torque command and the rotation speed of the rotating electrical machine and the armature current command is described. The command is converted into a two-phase armature voltage command and output as a two-phase map control voltage command (map control command).

  The two-phase total magnetic flux control voltage command generation unit 20A generates an armature current command by online real-time calculation from the torque command, the rotation speed of the rotating electrical machine, the armature current, the motor constant, and the like, and outputs the armature current command to 2 It converts into a phase armature voltage command, and outputs it as a two-phase total magnetic flux control voltage command (total magnetic flux control command).

  The two-phase voltage command determination unit 30A has at least a phase between the two-phase map control voltage command from the two-phase map control voltage command generation unit 10A and the two-phase total magnetic flux control voltage command from the two-phase total magnetic flux control voltage command generation unit 20A. And one of the sizes is compared, and it is determined which one is output as a drive command.

  Specifically, the two-phase voltage command determination unit 30A performs two-phase map control when the phase or magnitude of the two-phase total magnetic flux control voltage command exceeds a predetermined range with reference to the two-phase map control voltage command. When the voltage command is output as a drive command and the phase or magnitude of the two-phase total magnetic flux control voltage command is within a predetermined range with reference to the two-phase map control voltage command, the two-phase total magnetic flux control voltage command is output. Output as a drive command. Other configurations are the same as those shown in FIG.

  Next, the two-phase map control voltage command generation unit 10A will be described in detail with reference to FIG. FIG. 9 is a block diagram showing the two-phase map control voltage command generator 10A shown in FIG. In FIG. 9, the torque command, the rotation speed, the DC voltage of the battery, and the operating condition are input from the outside to the two-phase map control voltage command generation unit 10A, the position θ of the rotating electrical machine is input from the position detector 70, and the current Three-phase current values iu / iv / iw are input from the detector 80.

The two-phase map control voltage command generator 10A includes a map control current command generator 10 shown in FIG. 2 and a map control current command (q-axis current command iq ^* , d-axis current output from the map control current command generator 10). The command id ^* ) is converted into a two-phase armature voltage command by referring to the position θ of the rotating electrical machine and the three-phase current value iu / iv / iw, and a two-phase map control voltage command (q-axis voltage command Vq ^* , A map control current controller 12 for outputting as a d-axis voltage command Vd ^* ).

  Next, the two-phase total magnetic flux control voltage command generation unit 20A will be described with reference to FIG. FIG. 10 is a block diagram showing the two-phase total magnetic flux control voltage command generation unit 20A shown in FIG. In FIG. 10, the two-phase total magnetic flux control voltage command generation unit 20A receives a torque command, a rotation speed, a DC voltage of the battery, and an operating condition from the outside, and a position θ of the rotating electrical machine is input from the position detector 70. Three-phase current values iu / iv / iw are input from the current detector 80.

The two-phase total magnetic flux control voltage command generation unit 20A includes a total magnetic flux control current command generation unit 20 illustrated in FIG. 3 and a total magnetic flux control current command (magnetization current command iγ ^* , The torque current command iδ ^* and the estimated armature linkage magnetic flux phase ∠Φ) are converted into a two-phase armature voltage command with reference to the position θ of the rotating electric machine and the three-phase current value iu / iv / iw, The two-phase total magnetic flux control voltage command (magnetization voltage command Vγ ^* , torque voltage command Vδ ^* ) includes a total magnetic flux control current controller 25 that outputs together with the estimated armature flux linkage phase ∠Φ.

Next, the two-phase voltage command determination unit 30A will be described in detail with reference to FIG. FIG. 11 is a block diagram showing the two-phase voltage command determination unit 30A shown in FIG. In FIG. 11, the two-phase voltage command determination unit 30A receives the q-axis voltage command Vq ^* and the d-axis voltage command Vd ^* from the two-phase map control voltage command generation unit 10A, and the two-phase total magnetic flux control voltage command generation unit. Magnetizing voltage command Vγ ^* , torque voltage command Vδ ^*, and estimated armature flux linkage phase 磁 束 Φ are input from 20A.

The two-phase voltage command determination unit 30A includes a map control two-phase voltage command vector converter 31A, a total magnetic flux control two-phase voltage command vector converter 32A, a comparison determination unit 33A, and a coordinate converter 34. The map control two-phase voltage command vector converter 31A calculates the voltage vector V ₁ ^* and the phase θ ₃ from the q-axis voltage command Vq ^* and the d-axis voltage command Vd ^* by the following equations (5) and (6). .

The total magnetic flux control two-phase voltage command vector converter 32A calculates the voltage vector V from the magnetization voltage command Vγ ^* , the torque voltage command Vδ ^* and the estimated armature flux linkage phase ∠Φ by the following equations (7) and (8). ₂ ^* and calculates the phase theta _4.

Comparison determination unit 33A includes a voltage vector V ₁ ^* and the phase theta ₃ from map control two-phase specified voltage vector converter 31A, voltage vector V ₂ ^* and the phase theta of the total flux control two-phase specified voltage vector converter 32A ₄ to determine which one is output as a drive command. The coordinate converter 34 converts the two-phase map control voltage command or the two-phase total magnetic flux control voltage command output from the comparison determination unit 33A into a three-phase armature voltage command with reference to the position θ of the rotating electrical machine. .

Here, the relationship between the voltage vector V ₁ ^* and the phase θ ₃ and the voltage vector V ₂ ^* and the phase θ ₄ will be described with reference to FIG. FIG. 12 is a vector diagram showing the relationship between the voltage in the dq coordinate system and the voltage in the γ-δ coordinate system according to Embodiment 2 of the present invention.

  On the dq axis plane of FIG. 12, there is a γ-axis (magnetization) voltage vector in the direction of the total magnetic flux vector Φ, and there is a δ-axis (torque) voltage vector in the direction orthogonal to the total magnetic flux vector Φ. A voltage vector V is obtained. The voltage vector V is also a combined vector of the d-axis voltage vector and the q-axis voltage vector.

Inside the comparison determination unit 33A, a combined vector V ₁ ^* of the q-axis voltage command Vq ^* and the d-axis voltage command Vd ^* from the two-phase map control voltage command generation unit 10A, and a two-phase total magnetic flux control voltage command generation unit The resultant vector V ₂ ^* of the magnetization voltage command Vγ ^* and the torque voltage command Vδ ^* from 20A is slightly deviated as shown in FIG.

  This is a result obtained by the two-phase map control voltage command generated by the two-phase map control voltage command generation unit 10A based on data collected in advance, and an error from a value optimum for the operating condition at that time. This is because of the fact that the reliability based on actual measurements is high. On the other hand, the two-phase total magnetic flux control voltage command generation unit 20A generated by the two-phase total magnetic flux control voltage command generation unit 20A is an optimal result calculated online according to the operating conditions at that time point. The value is slightly inferior in reliability.

  Therefore, here, with reference to the two-phase map control voltage command, at least one of the length (magnitude) and phase of the voltage vector is compared with the two-phase total magnetic flux control voltage command, and the two-phase map control voltage command and It is determined which of the two-phase total magnetic flux control voltage commands is output as a drive command.

  Next, the determination process of the comparison determination unit 33A will be described with reference to the flowchart of FIG. Here, a case where only the lengths of the voltage vectors are compared will be described. Instead of comparing only the length of the voltage vector, only the phase may be compared, or both the length and the phase of the voltage vector may be compared.

First, the comparison determination unit 33A generates a voltage vector V ₁ ^* calculated from a two-phase map control voltage command (q-axis voltage command Vq ^* , d-axis voltage command Vd ^* ) and a two-phase total magnetic flux control voltage command (magnetization voltage). The voltage vector V ₂ ^* calculated from the command Vγ ^* and the torque voltage command Vδ ^* ) is compared, and it is determined whether or not the difference in length is smaller than a predetermined margin value Y (step S11).

In step S11, when it is determined that the difference in length is smaller than the predetermined margin value Y (that is, Yes), the comparison determination unit 33A outputs the two-phase total magnetic flux control voltage command as a drive command. (Step S12), the process of FIG. Specifically, the comparison determination unit 33A calculates the voltage vector V ₂ ^* calculated from the two-phase total magnetic flux control voltage command (magnetization voltage command Vγ ^* , torque voltage command Vδ ^* , estimated armature flux linkage phase ∠Φ) ^. and it outputs a phase theta ₄ as a drive command.

On the other hand, if it is determined in step S11 that the difference in length is equal to or greater than the predetermined margin value Y (ie, No), the comparison determination unit 33A outputs a two-phase map control voltage command as a drive command. (Step S13), the process of FIG. 14 is terminated. Specifically, the comparison determination unit 33A outputs the voltage vector V ₁ ^* and the phase θ ₃ calculated from the two-phase map control voltage command (q-axis voltage command Vq ^* , d-axis voltage command Vd ^* ) as a drive command. To do.

  That is, the two-phase total magnetic flux control voltage command generated by the two-phase total magnetic flux control voltage command generator 20A is always the two-phase map control voltage command generated by the reliable two-phase map control voltage command generator 10A. By using the reference two-phase map control voltage command when the predetermined range is exceeded, control failure can be prevented.

As described above, according to the second embodiment, the command determination unit includes the map control command generated by the map control command generation unit from the torque command using the map, and the total magnetic flux control command generation unit generates the torque command and the rotating electrical machine. At least one of the phase and the magnitude of the total magnetic flux control command generated from the rotation speed and the armature current, and the phase or the magnitude of the total magnetic flux control command is within a predetermined range based on the map control command. The map control command is output as a drive command when the value exceeds, and the total magnetic flux control command is output as a drive command when the phase or magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command. Output as.
For this reason, even when a ROM abnormality or a RAM roll occurs, it is possible to prevent a decrease in the reliability of the total magnetic flux control.

Embodiment 3 FIG.
FIG. 15 is a block diagram showing a control apparatus 100B for a rotating electrical machine according to Embodiment 3 of the present invention. In FIG. 15, the rotating electrical machine control device 100B includes a three-phase map control voltage command generation unit (map control command generation unit) 10B, a three-phase total magnetic flux control voltage command generation unit (total magnetic flux control command generation unit) 20B, and three phases. A voltage command determination unit (command determination unit) 30B, a PWM generation unit 50, a power converter 60, a position detector 70, and a current detector 80 are provided.

  The three-phase map control voltage command generation unit 10B generates an armature current command from the torque command using a map in which the relationship between the torque command and the rotational speed of the rotating electrical machine and the armature current command is described, and the armature current The command is converted into a two-phase armature voltage command and a three-phase armature voltage command and output as a three-phase map control voltage command (map control command).

  The three-phase total magnetic flux control voltage command generating unit 20B generates an armature current command by online real-time calculation from the torque command, the rotation speed of the rotating electrical machine, the armature current, the motor constant, etc. It converts into the armature voltage command of a phase, and the armature voltage command of 3 phases, and outputs it as a 3 phase total magnetic flux control voltage command (total magnetic flux control command).

  The three-phase voltage command determination unit 30B has the magnitudes of the three-phase map control voltage command from the three-phase map control voltage command generation unit 10B and the three-phase total magnetic flux control voltage command from the three-phase total magnetic flux control voltage command generation unit 20B. To determine which is output as a drive command.

  Specifically, the three-phase voltage command determination unit 30B determines that the three-phase map control voltage command when the magnitude of the three-phase total magnetic flux control voltage command exceeds a predetermined range with reference to the three-phase map control voltage command. Is output as a drive command, and when the magnitude of the 3-phase total magnetic flux control voltage command is within a predetermined range based on the 3-phase map control voltage command, the 3-phase total magnetic flux control voltage command is output as a drive command. To do. Other configurations are the same as those shown in FIG.

  Next, the three-phase map control voltage command generation unit 10B will be described in detail with reference to FIG. FIG. 16 is a block diagram showing the three-phase map control voltage command generation unit 10B shown in FIG. In FIG. 16, the torque command, the rotational speed, the DC voltage of the battery, and the operating condition are input from the outside to the three-phase map control voltage command generation unit 10B, the position θ of the rotating electrical machine is input from the position detector 70, and the current Three-phase current values iu / iv / iw are input from the detector 80.

The three-phase map control voltage command generator 10B includes a two-phase map control voltage command generator 10A shown in FIG. 9 and a two-phase map control voltage command (q-axis voltage command) output from the two-phase map control voltage command generator 10A. Vq ^* , d-axis voltage command Vd ^* ) is converted into a three-phase armature voltage command with reference to the position θ of the rotating electrical machine, and a three-phase map control voltage command (Vu ₁ ^* / Vv ₁ ^* / Vw ₁ ^* ) Includes a map control coordinate converter 13 output as

  Next, the three-phase total magnetic flux control voltage command generation unit 20B will be described with reference to FIG. FIG. 17 is a block diagram showing the three-phase total magnetic flux control voltage command generation unit 20B shown in FIG. In FIG. 17, the torque command, the rotational speed, the DC voltage of the battery, and the operating condition are input from the outside to the three-phase total magnetic flux control voltage command generation unit 20B, and the position θ of the rotating electrical machine is input from the position detector 70. Three-phase current values iu / iv / iw are input from the current detector 80.

The three-phase total magnetic flux control voltage command generation unit 20B includes a two-phase total magnetic flux control voltage command generation unit 20A shown in FIG. Magnetization voltage command Vγ ^* , torque voltage command Vδ ^* , estimated armature linkage flux phase ∠Φ) is converted into a three-phase armature voltage command with reference to the position θ of the rotating electrical machine, and three-phase total flux control And a total magnetic flux control coordinate converter 26 that outputs as a voltage command (Vu ₂ ^* / Vv ₂ ^* / Vw ₂ ^* ).

Here, the three-phase voltage command determination unit 30B receives the three-phase map control voltage command (Vu ₁ ^* / Vv ₁ ^* / Vw ₁ ^* ) from the three-phase map control voltage command generation unit 10B and the three-phase total magnetic flux control voltage. The size of at least one phase is compared with the three-phase total magnetic flux control voltage command (Vu ₂ ^* / Vv ₂ ^* / Vw ₂ ^* ) from the command generation unit 20B, and it is determined which is output as the drive command.

  Next, the determination process of the three-phase voltage command determination unit 30B will be described with reference to the flowchart of FIG. Here, a case where only the magnitudes of the U-phase voltage commands are compared will be described. Instead of comparing only the magnitude of the U-phase voltage command, the magnitude of the voltage command of any of the U-phase, V-phase, and W-phase may be compared, or the voltage commands of all three phases may be compared. The sizes may be compared.

First, 3-phase voltage command determination unit 30B, of the 3-phase map control voltage command _{^{(Vu 1 * / Vv 1 *}} / Vw 1 *), U -phase map control voltage command _Vu ^{1 *} and, 3-phase total flux control voltage The command (Vu ₂ ^* / Vv ₂ ^* / Vw ₂ ^* ) is compared with the U-phase total magnetic flux control voltage command Vu ₂ ^* to determine whether the difference in magnitude is smaller than a predetermined margin value Z. (Step S21).

In step S21, when it is determined that the difference in size is smaller than the predetermined margin value Z (that is, Yes), the three-phase voltage command determination unit 30B uses the three-phase total magnetic flux control voltage command as a drive command. Output (step S22), the process of FIG. 18 is terminated. Specifically, the three-phase voltage command determination unit 30B outputs a voltage vector V ₂ ^* calculated from the three-phase total magnetic flux control voltage command (Vu ₂ ^* / Vv ₂ ^* / Vw ₂ ^* ) as a drive command.

On the other hand, if it is determined in step S21 that the magnitude difference is equal to or greater than the predetermined margin value Z (ie, No), the three-phase voltage command determination unit 30B issues a three-phase map control voltage command as a drive command. (Step S23), and the process of FIG. 18 is terminated. Specifically, the three-phase voltage command determination unit 30B outputs a voltage vector V ₁ ^* calculated from the three-phase map control voltage command (Vu ₁ ^* / Vv ₁ ^* / Vw ₁ ^* ) as a drive command.

  That is, the three-phase total magnetic flux control voltage command generated by the three-phase total magnetic flux control voltage command generation unit 20B is always the three-phase map control voltage command generated by the highly reliable three-phase map control voltage command generation unit 10B. When a reference range is exceeded and a predetermined range is exceeded, failure of control can be prevented by adopting a reference three-phase map control voltage command.

As described above, according to the third embodiment, the command determination unit includes the map control command generated by the map control command generation unit from the torque command using the map, and the total magnetic flux control command generation unit generates the torque command and the rotating electrical machine. When the magnitude of the total magnetic flux control command exceeds the predetermined range with reference to the map control command, the magnitude of the total magnetic flux control command is compared with the total magnetic flux control command generated from the rotation speed and the armature current. The map control command is output as a drive command, and the total magnetic flux control command is output as a drive command when the magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command.
For this reason, even when a ROM abnormality or a RAM roll occurs, it is possible to prevent a decrease in the reliability of the total magnetic flux control.

  10 map control current command generation unit, 10A two-phase map control voltage command generation unit, 10B three-phase map control voltage command generation unit, 11 three-dimensional map, 12 map control current controller, 13 map control coordinate converter, 20 total magnetic flux Control current command generator, 20A 2-phase total flux control voltage command generator, 20B 3-phase total flux control voltage command generator, 21 torque current command generator, 22 flux command generator, 23 flux calculator, 24 flux controller , 25 total magnetic flux control current controller, 26 total magnetic flux control coordinate converter, 30 current command determination unit, 30A two-phase voltage command determination unit, 30B three-phase voltage command determination unit, 31 map control vector converter, 31A map control 2 Phase voltage command vector converter, 32 total magnetic flux control vector converter, 32A Total magnetic flux control two phase voltage command vector converter, 33, 33A Comparison determination unit, 34 coordinate converter, 40 current controller, 50 PWM generation unit, 60 power converter, 70 position detector, 80 current detector, 100, 100A, 100B controller.

Claims (6)

A control device for a rotating electrical machine that controls the driving of the rotating electrical machine based on a torque command,
A map control command generating unit that generates the map control command from the torque command, using a map in which the relationship between the torque command and the map control command is written;
A total magnetic flux control command generating unit that generates a total magnetic flux control command from the torque command and the rotation speed and armature current of the rotating electric machine;
Comparing at least one of the phase and magnitude of the map control command and the total magnetic flux control command, the phase or magnitude of the total magnetic flux control command exceeds a predetermined range with reference to the map control command The map control command is output as a drive command, and the total magnetic flux control command is driven when the phase or magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command. A command determination unit that outputs as a command ,
The map control command generation unit generates the armature current command from the torque command using a map in which the relationship between the torque command and the armature current command is described, and outputs the map control command as the map control command Current command generator,
The total magnetic flux control command generation unit generates the armature current command from the torque command, the rotation speed of the rotating electrical machine, and the armature current, and outputs the total magnetic flux control command as the total magnetic flux control command. And
The command determination unit outputs the map control command as the drive command and outputs the map control command when the phase or magnitude of the total magnetic flux control command exceeds a predetermined range with reference to the map control command. A current command determination unit that outputs the total magnetic flux control command as the drive command when the phase or magnitude of the control command is within a predetermined range with reference to the map control command;
The total magnetic flux control current command generator is
A torque current command generator that calculates a torque current command that is a torque component of the armature current command from a magnetization current command that is a magnetization component of the torque command, a magnetic flux command, and the armature current command;
A magnetic flux command generator for calculating the magnetic flux command from the torque current command;
From the armature current of the rotating electrical machine, a magnetic flux calculator that calculates the armature linkage flux,
And a magnetic flux controller that generates the magnetization current command so that the magnetic flux command and the armature linkage magnetic flux coincide with each other . A control device for a rotating electrical machine that controls the driving of the rotating electrical machine based on a torque command,
A map control command generating unit that generates the map control command from the torque command, using a map in which the relationship between the torque command and the map control command is written;
A total magnetic flux control command generating unit that generates a total magnetic flux control command from the torque command and the rotation speed and armature current of the rotating electric machine;
Comparing at least one of the phase and magnitude of the map control command and the total magnetic flux control command, the phase or magnitude of the total magnetic flux control command exceeds a predetermined range with reference to the map control command The map control command is output as a drive command, and the total magnetic flux control command is driven when the phase or magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command. A command determination unit that outputs as a command ,
The map control command generator is
A map control current command generation unit that generates the armature current command from the torque command, using a map in which the relationship between the torque command and the armature current command is described;
A map control current controller that converts the armature current command into a two-phase armature voltage command and outputs the command as the map control command;
A two-phase map control voltage command generator having
The total magnetic flux control command generator is
A total magnetic flux control current command generating unit that generates the armature current command from the torque command and the rotational speed and armature current of the rotating electrical machine;
A total magnetic flux control current controller that converts the armature current command into a two-phase armature voltage command and outputs the total magnetic flux control command;
A two-phase total magnetic flux control voltage command generator having
The command determination unit outputs the map control command as the drive command and outputs the map control command when the phase or magnitude of the total magnetic flux control command exceeds a predetermined range with reference to the map control command. A two-phase voltage command determination unit that outputs the total magnetic flux control command as the drive command when the phase or magnitude of the control command is within a predetermined range with reference to the map control command;
The total magnetic flux control current command generator is
A torque current command generator that calculates a torque current command that is a torque component of the armature current command from a magnetization current command that is a magnetization component of the torque command, a magnetic flux command, and the armature current command;
A magnetic flux command generator for calculating the magnetic flux command from the torque current command;
From the armature current of the rotating electrical machine, a magnetic flux calculator that calculates the armature linkage flux,
And a magnetic flux controller that generates the magnetization current command so that the magnetic flux command and the armature linkage magnetic flux coincide with each other . A control device for a rotating electrical machine that controls the driving of the rotating electrical machine based on a torque command,
A map control command generating unit that generates the map control command from the torque command, using a map in which the relationship between the torque command and the map control command is written;
A total magnetic flux control command generating unit that generates a total magnetic flux control command from the torque command and the rotation speed and armature current of the rotating electric machine;
Comparing at least one of the phase and magnitude of the map control command and the total magnetic flux control command, the phase or magnitude of the total magnetic flux control command exceeds a predetermined range with reference to the map control command The map control command is output as a drive command, and the total magnetic flux control command is driven when the phase or magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command. A command determination unit that outputs as a command ,
The map control command generator is
A map control current command generation unit that generates the armature current command from the torque command, using a map in which the relationship between the torque command and the armature current command is described;
A map control current controller for converting the armature current command into a two-phase armature voltage command;
A map control coordinate converter that converts the two-phase armature voltage command into a three-phase armature voltage command and outputs the map control command;
A three-phase map control voltage command generator having
The total magnetic flux control command generator is
A total magnetic flux control current command generating unit that generates the armature current command from the torque command and the rotational speed and armature current of the rotating electrical machine;
A total flux control current controller that converts the armature current command into a two-phase armature voltage command;
A total magnetic flux control coordinate converter that converts the two-phase armature voltage command into a three-phase armature voltage command and outputs the total magnetic flux control command;
A three-phase total magnetic flux control voltage command generator having
The command determination unit outputs the map control command as the drive command when the magnitude of at least one phase of the total magnetic flux control command exceeds a predetermined range based on the map control command, and A three-phase voltage command determination unit that outputs the total magnetic flux control command as the drive command when the magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command;
The total magnetic flux control current command generator is
A torque current command generator that calculates a torque current command that is a torque component of the armature current command from a magnetization current command that is a magnetization component of the torque command, a magnetic flux command, and the armature current command;
A magnetic flux command generator for calculating the magnetic flux command from the torque current command;
From the armature current of the rotating electrical machine, a magnetic flux calculator that calculates the armature linkage flux,
And a magnetic flux controller that generates the magnetization current command so that the magnetic flux command and the armature linkage magnetic flux coincide with each other . A method of controlling a rotating electrical machine that controls driving of the rotating electrical machine based on a torque command,
A map control command generating step for generating the map control command from the torque command using a map in which the relationship between the torque command and the map control command is described;
A total magnetic flux control command generating step for generating a total magnetic flux control command from the torque command and the rotational speed and armature current of the rotating electric machine;
Comparing at least one of the phase and magnitude of the map control command and the total magnetic flux control command, the phase or magnitude of the total magnetic flux control command exceeds a predetermined range with reference to the map control command The map control command is output as a drive command, and the total magnetic flux control command is driven when the phase or magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command. A command determination step for outputting as a command ,
The map control command generation step generates a map of the armature current command from the torque command using a map in which a relationship between the torque command and the armature current command is described, and outputs the map control command as a map control command. Current command generation step,
The total magnetic flux control command generation step generates the armature current command from the torque command, the rotational speed and the armature current of the rotating electric machine, and outputs the total magnetic flux control command as the total magnetic flux control command. And
The command determination step outputs the map control command as the drive command when the phase or magnitude of the total magnetic flux control command exceeds a predetermined range with reference to the map control command. A current command determination step of outputting the total magnetic flux control command as the drive command when the phase or magnitude of the control command is within a predetermined range with reference to the map control command;
The total magnetic flux control current command generation step includes:
A torque current command generating step for calculating a torque current command that is a torque component of the armature current command from a magnetization current command that is a magnetization component of the torque command, a magnetic flux command and the armature current command;
A magnetic flux command generating step for calculating the magnetic flux command from the torque current command;
From the armature current of the rotating electrical machine, a magnetic flux calculation step for calculating an armature flux linkage,
And a magnetic flux control step for generating the magnetization current command so that the magnetic flux command and the armature linkage magnetic flux coincide with each other . A method of controlling a rotating electrical machine that controls driving of the rotating electrical machine based on a torque command,
A map control command generating step for generating the map control command from the torque command using a map in which the relationship between the torque command and the map control command is described;
A total magnetic flux control command generating step for generating a total magnetic flux control command from the torque command and the rotational speed and armature current of the rotating electric machine;
Comparing at least one of the phase and magnitude of the map control command and the total magnetic flux control command, the phase or magnitude of the total magnetic flux control command exceeds a predetermined range with reference to the map control command The map control command is output as a drive command, and the total magnetic flux control command is driven when the phase or magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command. A command determination step for outputting as a command ,
The map control command generation step includes:
A map control current command generation step for generating the armature current command from the torque command using a map in which the relationship between the torque command and the armature current command is described;
A map control current control step for converting the armature current command into a two-phase armature voltage command and outputting the command as a map control command;
A two-phase map control voltage command generation step having
The total magnetic flux control command generation step includes:
A total magnetic flux control current command generating step for generating the armature current command from the torque command and the rotational speed and armature current of the rotating electrical machine;
A total magnetic flux control current control step for converting the armature current command into a two-phase armature voltage command and outputting the total magnetic flux control command;
A two-phase total magnetic flux control voltage command generation step having
The command determination step outputs the map control command as the drive command when the phase or magnitude of the total magnetic flux control command exceeds a predetermined range with reference to the map control command. A two-phase voltage command determination step of outputting the total magnetic flux control command as the drive command when the phase or magnitude of the control command is within a predetermined range with reference to the map control command;
The total magnetic flux control current command generation step includes:
A torque current command generating step for calculating a torque current command that is a torque component of the armature current command from a magnetization current command that is a magnetization component of the torque command, a magnetic flux command and the armature current command;
A magnetic flux command generating step for calculating the magnetic flux command from the torque current command;
From the armature current of the rotating electrical machine, a magnetic flux calculation step for calculating an armature flux linkage,
And a magnetic flux control step for generating the magnetization current command so that the magnetic flux command and the armature linkage magnetic flux coincide with each other . A method of controlling a rotating electrical machine that controls driving of the rotating electrical machine based on a torque command,
A map control command generating step for generating the map control command from the torque command using a map in which the relationship between the torque command and the map control command is described;
A total magnetic flux control command generating step for generating a total magnetic flux control command from the torque command and the rotational speed and armature current of the rotating electric machine;
Comparing at least one of the phase and magnitude of the map control command and the total magnetic flux control command, the phase or magnitude of the total magnetic flux control command exceeds a predetermined range with reference to the map control command The map control command is output as a drive command, and the total magnetic flux control command is driven when the phase or magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command. A command determination step for outputting as a command ,
The map control command generation step includes:
A map control current command generation step for generating the armature current command from the torque command using a map in which the relationship between the torque command and the armature current command is described;
A map control current control step for converting the armature current command into a two-phase armature voltage command;
A map control coordinate conversion step of converting the two-phase armature voltage command into a three-phase armature voltage command and outputting the command as the map control command;
A three-phase map control voltage command generation step having
The total magnetic flux control command generation step includes:
A total magnetic flux control current command generating step for generating the armature current command from the torque command and the rotational speed and armature current of the rotating electrical machine;
A total magnetic flux control current control step for converting the armature current command into a two-phase armature voltage command;
A total magnetic flux control coordinate conversion step of converting the two-phase armature voltage command into a three-phase armature voltage command and outputting the total magnetic flux control command;
A three-phase total magnetic flux control voltage command generation step having
The command determination step outputs the map control command as the drive command when the magnitude of at least one phase of the total magnetic flux control command exceeds a predetermined range with reference to the map control command, and A three-phase voltage command determination step for outputting the total magnetic flux control command as the drive command when the magnitude of the total magnetic flux control command is within a predetermined range with reference to the map control command;
The total magnetic flux control current command generation step includes:
A torque current command generating step for calculating a torque current command that is a torque component of the armature current command from a magnetization current command that is a magnetization component of the torque command, a magnetic flux command and the armature current command;
A magnetic flux command generating step for calculating the magnetic flux command from the torque current command;
From the armature current of the rotating electrical machine, a magnetic flux calculation step for calculating an armature flux linkage,
And a magnetic flux control step for generating the magnetization current command so that the magnetic flux command and the armature linkage magnetic flux coincide with each other .

Images