TW202023175A - Device and method for controlling rotary electric machine - Google Patents

Abstract

A control device for controlling rotary electric machine includes a current command unit, a voltage conversion device, a current conversion device, a signal demodulation device, an error compensation device, an adding device and a position estimation device. The current command unit provides a d-axis current command and a q-axis current command. The current conversion device converts a current of the rotary electric machine to a synchronous reference frame current. The signal demodulation device computes a current variation of the high frequency synchronous reference frame current. The error compensation device outputs a first correction value, corresponding to the d-axis current command and the q-axis current command. The adding device adds the current variation of the high frequency synchronous reference frame current and the first correction value to produce a second correction value. Based on the second correction value, the position estimation device adjusts a phase estimation value for the current conversion device and the voltage conversion device.

Description

Rotary electric machine control device and control method thereof

The present invention relates to a rotating electric machine control device and a control method thereof, in particular to a control device and a control method thereof without a rotating shaft sensor.

The application of drive technology without a shaft position sensor to permanent-magnetic synchronous motor (PMSM) is an important trend in the development of rotating motors in recent years. Since the shaft position sensor and its connection line are removed, the manufacturing cost and volume of the permanent magnet synchronous rotating motor are greatly reduced, and the reliability of the system is improved.

The current driving technology of the shaftless position sensor can be roughly classified into back electromotive force (EMF) or high frequency signal injection. Among them, the back-EMF method estimates the rotor position and shaft speed of the rotating electric machine based on the voltage model of the rotating electric machine, but this method is only suitable for the rotating electric machine to rotate at medium and high speeds. On the other hand, the high-frequency injection method can inject high-frequency voltage signals into the stationary coordinate axis of the rotating machine or the synchronous coordinate axis of the rotating machine according to different requirements, and this method is more suitable for rotating the rotating machine at zero, low or medium speed. However, when the rotating electric machine is driven by the high-frequency injection method, the d-axis and q-axis of the rotor in the rotating electric machine will have a cross-coupling effect. The cross-coupling effect produced by the d-axis and q-axis makes the traditional rotating electric machine control device in the estimation. Obvious error values are generated when measuring the rotation angle of the rotating electric machine. Such estimation errors will cause the rotating electric machine to oscillate during low-speed operation and reduce the operating efficiency of the rotating electric machine. In order to reduce the above-mentioned rotor position estimation error value, an error compensation device is installed in the current rotating electric machine control device. However, traditional error compensation devices need to collect a large number of different signals and related information, including: high-frequency flux current of synchronous coordinate axis, high-frequency torque current, d-axis current of static coordinate axis, q-axis current and measurement of rotation angle value …Wait. In addition, the error compensation device must be combined with a computing controller (such as a PI controller) to increase the accuracy of estimating the position of the rotating electrical machine. In this way, the computing load of the system and the processor is significantly increased, the system construction cost is increased, and the working efficiency of the processor or memory is reduced.

In view of this, the present invention provides a rotating electric machine control device, which has an error compensation unit, which can reduce the signal information to be collected and simplify the calculation process of the processor.

A control device for controlling a rotating electric machine includes: a current command unit, a voltage conversion device, a current conversion device, a signal demodulation device, an error compensation unit, an addition device and a position estimation device. The current command unit provides d-axis current commands and q-axis current commands. The voltage conversion device is coupled to the current command unit and the rotating electric machine. The current conversion device converts the rotating electric machine current flowing through the rotating electric machine into a synchronous reference coordinate current. The signal demodulation device receives the synchronous reference coordinate current to calculate the high-frequency current variation of the synchronous reference coordinate current. The error compensation unit outputs the first correction value corresponding to the d-axis current command and the q-axis current command according to the d-axis current command and the q-axis current command. The adding device adds the high-frequency current variation of the synchronous reference coordinate current and the first correction value to generate a second correction value. The position estimation device adjusts the estimation value to the current conversion device and the voltage conversion device according to the second correction value to perform coordinate axis conversion calculations.

A method for controlling a rotating electric machine includes the following steps: providing a d-axis current command and a q-axis current command. Convert the rotating motor current flowing through the rotating motor into a synchronous reference coordinate current. Calculate the high-frequency current variation of the synchronous reference coordinate current. The first correction value corresponding to the d-axis current command and the q-axis current command is output according to the d-axis current command and the q-axis current command. The high-frequency current variation of the synchronous reference coordinate current and the first correction value are added to generate a second correction value. And adjust the phase estimation value according to the second correction value to perform coordinate axis conversion operation.

The present invention is described with reference to the drawings, in which the same reference numerals are used in all the drawings to indicate similar or equivalent elements. The drawings are not drawn to scale, but merely serve to illustrate the invention. Several aspects of the present invention are described below, with reference to example applications for explanation. It should be understood that many specific details, relationships, and methods are set forth to provide a comprehensive understanding of the present invention. However, those of ordinary skill in the relevant art will readily recognize that the present invention can be implemented even without one or more specific details or without using other methods to implement the present invention. In other cases, the conventional structure or operation is not shown in detail to avoid obscuring the present invention. The present invention is not limited by the order of the actions or events shown, as some actions may occur in a different order and/or concurrently with other actions or events. In addition, not all the described actions or events need to be implemented according to the method of the present invention.

The following description is an embodiment of the present invention. Its purpose is to exemplify the general principles of the present invention, and should not be regarded as a limitation of the present invention. The scope of the present invention should be defined by the scope of the patent application.

Figure 1 is a diagram showing the relationship between the estimated error and the d-q axis current of the control device of the rotating electric machine according to an embodiment of the prior art. In the first figure, the vertical axis is the position estimation error value estimated by the control device of the rotating electrical machine, and the horizontal axis is the current (iq) magnitude of the q-axis. The rotor of a rotating electrical machine has a d-axis rated current and a q-axis rated current. The d-axis current level of the experimental conditions can be adjusted between 0%-100% of the maximum rated current, and the q-axis current level can be adjusted to 0% of the maximum rated current. -100% adjustment, the position error unit on the vertical axis is angle. In this embodiment, it can be seen from Figure 1 that when the d-axis current maintains a certain value, as shown in the figure, the d-axis current (id) is on six different curves with 0%-100%, regardless of the q-axis The current is a reverse current or a forward current. When the deviation of the q-axis current value is greater, the position estimation error generated by the control device of the rotating electric machine is greater. For example, when the d-axis current is maintained at 100% of the rated current, the position error increases as the q-axis current value increases. The position error is caused by the cross-coupling effect of the d-axis current and the q-axis current, which causes the DC offset current. The DC offset current can directly or indirectly affect the evaluation of the control device of the rotating electric machine. The accuracy of the rotation angle of the rotating motor.

In order to solve the above-mentioned problems, the present invention provides a control device for a rotating electric machine to improve the accuracy of estimating the rotation angle of the rotating electric machine, and the control device provided by the present invention can improve the estimation of the rotation angle in a more simplified operation mode. Accuracy. The working principle and process of the present invention will be described in detail below.

FIG. 2 is a block diagram of the control device 100 of the rotating electric machine 200 according to an embodiment of the present invention. In the present invention, the control device 100 for the rotating electric machine 200 includes: a current command unit 110, a controller 130, a current conversion device 134, a voltage conversion device 132, a signal demodulation device 140, an error compensation unit 190, an addition device 145, The position estimation device 170, the encoding device 150, the subtraction device 160, the error controller 180, and a plurality of switches 182, 184, and 195. When the rotating electric machine 200 is operating normally, the switches 182 and 184 are turned off and the switch 195 is turned on. Therefore, when the rotating electric machine 200 is operating normally, the signal output by the error controller 180 is not provided to the adding device 145 and the error compensation unit 190.

In the present invention, the voltage conversion device 132 is coupled to the current command unit 110 and the rotating electric machine 200. First, the current command unit 110 in the control device 100 is used to provide a d-axis current command Id and a q-axis current command Iq. The controller 130 simultaneously receives and inputs a high-frequency signal generated by the high-frequency signal generator 120, the aforementioned d-axis current command Id and the q-axis current command Iq, and correspondingly outputs the d-axis voltage Vd and the q-axis voltage on the synchronous reference coordinates Vq. Then, the voltage conversion device 132 converts the d-axis voltage Vd and the q-axis voltage Vq into three-phase voltages Va, Vb, and Vc on the stationary reference coordinates to the rotating electric machine 200 to control the rotating electric machine 200 to rotate.

In this embodiment, the voltage conversion device 132 of the present invention may include a synchronous/stationary axis converter, a stationary/three-phase axis converter, and an inverter (inverter )...Etc, but the present invention is not limited to this. In some embodiments of the present invention, the rotating electric machine 200 is a three-phase permanent magnet synchronous motor (three-phase PMSM), and the control of this type of motor is usually based on a synchronous reference coordinate system. Therefore, if the aforementioned voltage conversion device 132 uses a synchronous/static axis converter, it can convert the d-axis voltage Vd and the q-axis voltage Vq output by the controller 130 into the d-axis voltage and the q-axis voltage on the stationary reference coordinates. Then the static/three-phase axis converter converts the d-axis voltage and the q-axis voltage on the static reference coordinates into three-phase voltages Va, Vb, and Vc. In this embodiment, the voltage conversion device 132 may also include a frequency converter to adjust the amplitude and frequency of the three-phase voltage Va, Vb, and Vc to the rotating electric machine 200. Since those skilled in the art can understand the working principles of the synchronous/stationary axis converter, the stationary/three-phase axis converter and the inverter in the voltage conversion device 132, this disclosure document will not repeat them, nor will they be shown. In the second figure, it is stated first.

及轉矩電流

。亦即，透過座標軸轉換可將三相的旋轉電機電流Ia、Ib、Ic轉換為同步參考座標電流，而同步參考座標電流又可解析為磁通電流

及轉矩電流

。其中旋轉電機電流Ia、Ib、Ic為旋轉電機200的定子電流，並且磁通電流

及轉矩電流

為同步參考座標系統之電流。由於不同參考座標系統之因素，所以電流轉換裝置134可包含三相/靜止軸轉換器及靜止/同步軸轉換器，將靜止參考座標上的旋轉電機電流Ia、Ib、Ic轉換為同步參考座標上的磁通電流

及轉矩電流

。磁通電流

及轉矩電流

經訊號解調裝置140中的高通濾波器(圖未繪示)處理後分別可得高頻磁通電流

及高頻轉矩電流

。由於本領域之通常知識者可理解電流轉換裝置134中的三相/靜止軸轉換器及靜止/同步軸轉換器之工作原理，故本揭露文件並未繪示在第2圖中。特別注意的是，在本發明中，高頻磁通電流

為流經旋轉電機200的轉子之d軸電流中的部分電流訊號，高頻轉矩電流

為流經旋轉電機200的轉子之q軸電流中的部分電流訊號。在旋轉電機的向量控制概念中，控制d軸電流或電壓可調整旋轉電機200的定子磁通，而控制q軸電流或電壓可調整旋轉電機200的輸出轉矩。In the present invention, the current conversion device 134 captures the rotating motor currents Ia, Ib, Ic flowing through the rotating electric machine 200, and converts the rotating electric machine currents Ia, Ib, Ic flowing through the rotating electric machine 200 into synchronous reference coordinate currents, where The components of the rotating motor currents Ia, Ib, and Ic at the synchronous reference coordinate current on the d-axis and q-axis can be respectively defined as flux currents

And torque current

. That is, the three-phase rotating motor currents Ia, Ib, Ic can be converted into synchronous reference coordinate currents through coordinate axis conversion, and the synchronous reference coordinate currents can be resolved into flux currents

And torque current

. The rotating electric machine currents Ia, Ib, and Ic are the stator currents of the rotating electric machine 200, and the flux current

And torque current

It is the current of the synchronous reference coordinate system. Due to the factors of different reference coordinate systems, the current conversion device 134 may include a three-phase/stationary axis converter and a stationary/synchronous axis converter, which converts the rotating motor currents Ia, Ib, and Ic on the stationary reference coordinates into synchronous reference coordinates. Flux current

And torque current

. Flux current

And torque current

After processing by the high-pass filter (not shown) in the signal demodulation device 140, the high-frequency magnetic flux current can be obtained respectively

And high frequency torque current

. Since those skilled in the art can understand the working principles of the three-phase/stationary-axis converter and the stationary/synchronous-axis converter in the current conversion device 134, this disclosure document is not shown in FIG. 2. Special attention is that in the present invention, the high-frequency magnetic flux current

Part of the current signal in the d-axis current flowing through the rotor of the rotating electric machine 200, high-frequency torque current

It is a partial current signal in the q-axis current flowing through the rotor of the rotating electric machine 200. In the vector control concept of a rotating electric machine, controlling the d-axis current or voltage can adjust the stator flux of the rotating electric machine 200, and controlling the q-axis current or voltage can adjust the output torque of the rotating electric machine 200.

與磁通電流

，並透過一馬達數學模型或一高頻電流方程式計算，並經一高通濾波器轉換出一高頻轉矩電流

與一高頻磁通電流

，其中高頻電流方程式如下所示：

其中

為該高頻轉矩電流，

為高頻磁通電流，

為一微分運算子，

為一交叉耦合電感值，

為實際轉子位置與估測轉子位置的角度差值，

為一d軸電感值，

為一q軸電感值，其中

及

為量測值。此外，交叉耦合電感值

為降低旋轉電機200之控制裝置100評估旋轉電機之旋轉角度之準確度最主要的因素，並且交叉耦合電感值

與高頻轉矩電流

成正比，也就是說高頻轉矩電流

越大，交叉耦合電感值

增加。以下將詳述，控制裝置100減少交叉耦合電感值

所造成的影響之工作方法。In this embodiment, the signal demodulation device 140 receives the torque current output by the current conversion device 134

And flux current

, And calculated by a motor mathematical model or a high-frequency current equation, and converted into a high-frequency torque current through a high-pass filter

With a high frequency magnetic flux current

, Where the high-frequency current equation is as follows:

among them

Is the high frequency torque current,

Is the high frequency flux current,

Is a differential operator,

Is a cross-coupled inductance value,

Is the angle difference between the actual rotor position and the estimated rotor position,

Is a d-axis inductance value,

Is a q-axis inductance value, where

and

Is the measured value. In addition, the cross-coupling inductance value

In order to reduce the accuracy of the control device 100 of the rotating electric machine 200 in evaluating the rotation angle of the rotating electric machine, the most important factor is to cross-couple the inductance value

With high frequency torque current

Proportional, which means that the high frequency torque current

The larger the cross-coupled inductance value

increase. As will be detailed below, the control device 100 reduces the cross-coupling inductance value

The working method of the impact.

與磁通電流

，其中訊號解調裝置140更包含以下訊號解調方程式以計算出高頻轉矩電流

之電流變化量

及高頻磁通電流

之電流變化量

：

其中

為高頻訊號的電壓，並且

可為正值或負值。也就是說，在此實施例中，高頻訊號可為一方波訊號，但本發明不限於此。特別注意的是，高頻轉矩電流

之電流變化量

與高頻磁通電流

之電流變化量

中可發現交叉耦合電感值

可被視為造成估測位置誤差的直流偏置成分，本發明之主要技術即在於消除交叉耦合電感值

對於高頻轉矩電流

之電流變化量

、高頻磁通電流

之電流變化量

與旋轉電機200的控制裝置100所造成的影響。In this embodiment, the signal demodulation device 140 in the control device 100 is coupled to the current conversion device 134 and includes a high-pass filter (not shown), and receives the torque current calculated by the current conversion device 134

And flux current

, Wherein the signal demodulation device 140 further includes the following signal demodulation equation to calculate the high frequency torque current

The amount of current change

And high frequency flux current

The amount of current change

:

among them

Is the voltage of the high frequency signal, and

Can be positive or negative. In other words, in this embodiment, the high-frequency signal may be a square wave signal, but the invention is not limited to this. Special attention is that the high frequency torque current

The amount of current change

With high frequency flux current

The amount of current change

The cross-coupled inductance value can be found in

It can be regarded as the DC bias component that causes the estimated position error. The main technique of the present invention is to eliminate the cross-coupling inductance value.

For high frequency torque current

The amount of current change

, High frequency magnetic flux current

The amount of current change

And the control device 100 of the rotating electric machine 200.

即為前述同步參考座標電流的高頻電流變化量，其中透過高頻轉矩電流

之電流變化量

、高頻磁通電流

之電流變化量

或兩者之組合可表示出同步參考座標電流的高頻電流變化量

。以下為了簡單說明各個實施例，僅以電流變化量

代表說明高頻轉矩電流

之電流變化量

、高頻磁通電流

之電流變化量

或兩者之組合，但本發明不限於此。In addition, the amount of current change output by the signal demodulation device 140

It is the high-frequency current change of the aforementioned synchronous reference coordinate current, where the high-frequency torque current

The amount of current change

, High frequency magnetic flux current

The amount of current change

Or a combination of the two can indicate the high-frequency current variation of the synchronous reference coordinate current

. In order to briefly describe the various embodiments below, only the current variation

Representative description high frequency torque current

The amount of current change

, High frequency magnetic flux current

The amount of current change

Or a combination of the two, but the present invention is not limited to this.

表1In this embodiment, the error compensation unit 190 is coupled to the current command unit 110 and receives the d-axis current command Id and the q-axis current command Iq through the current command unit 110. The error compensation unit 190 outputs the first correction value C1 according to the d-axis current command Id and the q-axis current command. In this example, the error compensation unit 190 is provided with at least one table. The error compensation unit 190 searches the table according to the d-axis current command Id and the q-axis current command Iq, and searches the table corresponding to the d-axis current command Id and q-axis current The first correction value C1 of Iq is commanded to be output to the adding device 145. The following table 1 is a part of the first correction value C1 of the table set in the error compensation unit 190, wherein the d-axis current command and the q-axis current command corresponding to each first correction value C1 are different. For example, as shown in Table 1, C1 (Id1, Iq1) indicates that the first correction value C1 corresponds to the d-axis current command as Id1 and the q-axis current command as Iq1; C1 (Id2, Iq2) indicates the first correction value C1 corresponds to the d-axis current command as Id2 and the q-axis current command as Iq2, and so on. The present invention is not limited to this:

Table 1

及第一校正值C1進行相加以產生第二校正值C2，並將第二校正值C2輸出至位置估測裝置170。最後，位置估測裝置170依據第二校正值C2調整相位估測值

給電流轉換裝置134與電壓轉換裝置132，以調整計算轉矩電流

及磁通電流

的大小，其中相位估測值

為估測轉子之位置。電流轉換裝置134依據相位估測值

進行座標轉換得到轉矩電流

及磁通電流

之後，可將已調整的轉矩電流

及磁通電流

傳送給控制器130以改變d軸電壓Vd及q軸電壓Vq之大小，並將前述訊號傳給電壓轉換裝置132，進行座標軸轉換的運算以間接調整三相電壓Va、Vb、Vc之大小。如此一來，可以調整旋轉電機200的旋轉角度，並有效地降低旋轉電機200進行低速旋轉時所引起的震盪現象，並提升旋轉電機200的運轉效率。In this embodiment, the adding device 145 is coupled to the error compensation unit 190, the signal demodulation device 140 and the position estimation device 170. The adding device 145 is used to change the current

And the first correction value C1 are added to generate a second correction value C2, and the second correction value C2 is output to the position estimation device 170. Finally, the position estimation device 170 adjusts the phase estimation value according to the second correction value C2

To the current conversion device 134 and the voltage conversion device 132 to adjust and calculate the torque current

And flux current

, Where the estimated phase value

To estimate the position of the rotor. The current conversion device 134 is based on the estimated phase value

Perform coordinate conversion to obtain torque current

And flux current

After that, the adjusted torque current

And flux current

It is sent to the controller 130 to change the magnitude of the d-axis voltage Vd and the q-axis voltage Vq, and the aforementioned signal is sent to the voltage conversion device 132 to perform coordinate axis conversion calculations to indirectly adjust the magnitude of the three-phase voltages Va, Vb, and Vc. In this way, the rotation angle of the rotating electric machine 200 can be adjusted, and the vibration caused by the rotating electric machine 200 during low-speed rotation can be effectively reduced, and the operating efficiency of the rotating electric machine 200 can be improved.

相加以產生第二校正值C2，位置估測裝置170即可依據相加產生之該第二校正值C2運算，可有效提高相位估測值

之精準度。以下將詳述建立誤差補償單元190中的表格之程序。In summary, the error compensation unit 190 outputs the first correction value C1 corresponding to the d-axis and q-axis current commands in a table look-up mode, and then the first correction value C1 and the current change amount in the look-up table

The second correction value C2 is generated by the addition, and the position estimation device 170 can calculate according to the second correction value C2 generated by the addition, which can effectively improve the phase estimation value

The accuracy. The procedure for creating the table in the error compensation unit 190 will be described in detail below.

FIG. 3 is a structural diagram of the control device 100 of the rotating electric machine 200 in the test mode according to an embodiment of the present invention. In this embodiment, before the table in the error compensation unit 190 is created, the operator usually needs to perform a test mode on the rotating electric machine 200. In other words, the following procedure of creating a table is completed when the rotating electric machine 200 is in the test mode.

，其中實際量測的相位量測值

被視為實際轉子位置。編碼裝置180可為一編碼器(encoder)，但本發明並不限於此。於此同時，位置估測裝置170仍持續輸出相位估測值

給電流轉換裝置134及減法裝置160。In this embodiment, the switches 182 and 184 in the control device 100 are turned on, and the switch 195 is turned off. The encoding device 180 is used to measure the rotation angle of the rotating motor 200 to output the actual measured phase measurement value

, Where the actual measured phase measurement value

It is regarded as the actual rotor position. The encoding device 180 may be an encoder, but the invention is not limited to this. At the same time, the position estimation device 170 continues to output the phase estimation value

To the current conversion device 134 and the subtraction device 160.

與實際量測的相位量測值

進行相減以產生相位誤差

給誤差控制器180。承上所述，減法裝置160輸出的相位誤差

為實際轉子位置與估測轉子位置的差值。In some embodiments, the subtraction device 160 is coupled to the encoding device 180, the position estimation device 170, and the error controller 180. When the rotating electric machine 200 is in the test mode, the subtracting device 160 calculates the phase estimation value

Phase measurement value with actual measurement

Subtract to produce phase error

Give the error controller 180. Continuing from the above, the phase error output by the subtraction device 160

Is the difference between the actual rotor position and the estimated rotor position.

持續產生修正值R1給加法裝置145。特別注意的是，於測試模式中，誤差補償單元190與加法裝置145之間的開關195被斷開，所以加法裝置145無法接收誤差補償單元190輸出的第一校正值C1。當相位誤差

落於目標誤差範圍內時，誤差控制器180將修正值R1指定作為第一校正值C1，並將指定作為第一校正值C1的該修正值R1及其當時所對應的d軸電流命令Id及q軸電流命令Iq儲存於該誤差補償單元190。When the rotating electric machine 200 is in the test mode, because the switches 182 and 184 are turned on, the error controller 180 can be based on the phase error

The correction value R1 is continuously generated to the adding device 145. It is particularly noted that in the test mode, the switch 195 between the error compensation unit 190 and the addition device 145 is turned off, so the addition device 145 cannot receive the first correction value C1 output by the error compensation unit 190. When the phase error

When it falls within the target error range, the error controller 180 designates the correction value R1 as the first correction value C1, and designates the correction value R1 as the first correction value C1 and its corresponding d-axis current command Id and The q-axis current command Iq is stored in the error compensation unit 190.

的值。一般情況下，如果誤差控制器180偵測相位誤差

不等於零，則誤差控制器180輸出修正值R1給加法裝置145。加法裝置145將修正值R1與電流變化量

相加以產生第二校正值C2給位置估測裝置170。估測裝置170再依據第二校正值C2調整相位估測值

給減法裝置160，使得減法裝置160輸出的相位誤差

被調整。當誤差控制器180偵測相位誤差

落於目標誤差範圍內時(例如，誤差範圍2%~4%、或等於零時)，誤差控制器180將此時的修正值R1作為第一校正值C1，並將修正值R1儲存於誤差補償單元190。此時，誤差補償單元190將修正值R1紀錄為第一校正值，並且同時記錄所對應的d軸電流命令Id及q軸電流命令Iq。另外，當誤差控制器180偵測相位誤差

落於目標誤差範圍外時，則重複先前的程序尋找另一個相位誤差

並再次判斷。In some other embodiments, the error controller 180 detects the phase error

Value. In general, if the error controller 180 detects the phase error

If it is not equal to zero, the error controller 180 outputs the correction value R1 to the adding device 145. The adding device 145 compares the correction value R1 with the current variation

The addition generates a second correction value C2 for the position estimation device 170. The estimation device 170 then adjusts the phase estimation value according to the second correction value C2

Give the subtraction device 160 so that the phase error output by the subtraction device 160

Be adjusted. When the error controller 180 detects the phase error

When it falls within the target error range (for example, the error range is 2% to 4%, or equal to zero), the error controller 180 uses the correction value R1 at this time as the first correction value C1, and stores the correction value R1 in the error compensation Unit 190. At this time, the error compensation unit 190 records the correction value R1 as the first correction value, and simultaneously records the corresponding d-axis current command Id and the q-axis current command Iq. In addition, when the error controller 180 detects the phase error

When it falls outside the target error range, repeat the previous procedure to find another phase error

And judge again.

會被直接或間接地改變，使得減法裝置160輸出的相位誤差

也會被影響而改變。誤差控制器180將不斷地調整修正值R1，直到誤差控制器180偵測到相位誤差

落入目標範圍內(例如，誤差範圍2%~4%、或等於零)時，誤差控制器180停止調整該修正值R1並將該修正值R1儲存於誤差補償單元190。誤差補償單元190按照每個d軸電流命令Id及q軸電流命令Iq所對應的修正值R1進行儲存並指定該修正值R1為當前電流命令對應的第一校正值C1以建立表格。如此一來，表格具有複數個第一校正值C1，並且每個第一校正值C1所對應的d軸電流命令Id及q軸電流命令Iq皆不盡相同。When the current command unit 110 provides different d-axis current commands Id and q-axis current commands Iq each time, the amount of current change output by the signal demodulation device 140

Will be directly or indirectly changed, so that the phase error output by the subtraction device 160

Will be affected and changed. The error controller 180 will continuously adjust the correction value R1 until the error controller 180 detects the phase error

When it falls within the target range (for example, the error range is 2%-4%, or equal to zero), the error controller 180 stops adjusting the correction value R1 and stores the correction value R1 in the error compensation unit 190. The error compensation unit 190 stores the correction value R1 corresponding to each d-axis current command Id and the q-axis current command Iq, and designates the correction value R1 as the first correction value C1 corresponding to the current current command to create a table. As a result, the table has a plurality of first correction values C1, and the d-axis current command Id and the q-axis current command Iq corresponding to each first correction value C1 are different.

FIG. 4 shows a flowchart of a control method 400 of a rotating electric machine 200 according to an embodiment of the present invention. Hereinafter, please refer to FIG. 2 and FIG. 4 at the same time to illustrate the flow of the control method 400 of the rotating electric machine 200. The control method 400 starts at step 410. In step 410, when the current command unit 110 starts to output the d-axis current command Id and the q-axis current command Iq, the error compensation unit 190 starts to receive the d-axis current command Id and the q-axis current command Iq, and proceeds to step 420. At the same time, the controller 130 and the voltage conversion device 132 output three-phase voltages Va, Vb, and Vc according to the d-axis current command Id and the q-axis current command Iq generated by the current command unit 110 to drive the rotating electric machine 200.

In step 420, the error compensation unit 190 outputs the first correction value C1 corresponding to the d-axis current command Id and the q-axis current command Iq according to the d-axis current command Id and the q-axis current command Iq. The error compensation unit 190 includes a table, as shown in Table 1 above. The error compensation unit 190 searches the table for the first correction value C1 corresponding to the current d-axis current command Id and the q-axis current command Iq.

及磁通電流

，並進入步驟440。In step 430, when the rotating electric machine 200 starts to rotate, the current conversion device 134 captures the rotating electric machine currents Ia, Ib, Ic flowing through the rotating electric machine 200, and calculates the torque current

And flux current

, And go to step 440.

，並依據一馬達數學模型或一高頻電流方程式計算出高頻轉矩電流

及高頻磁通電流

。其中該高頻電流方程式或該馬達數學模型相同於以上所述，故不再贅述。控制裝置100中的訊號解調裝置140還依據電流轉換裝置134輸出的轉矩電流

及/或磁通電流

，計算出高頻轉矩電流

的電流變化量

及/或高頻磁通電流

的電流變化量

。其中高頻轉矩電流

的電流變化量

及高頻磁通電流

的電流變化量

計算的訊號解調方程式相同於以上所述，故不再贅述。In step 440, the signal demodulation device 140 receives the torque current

, And calculate the high-frequency torque current according to a motor mathematical model or a high-frequency current equation

And high frequency flux current

. The high-frequency current equation or the mathematical model of the motor is the same as described above, so it will not be repeated. The signal demodulation device 140 in the control device 100 is also based on the torque current output by the current conversion device 134

And/or flux current

, Calculate the high frequency torque current

Current change

And/or high frequency flux current

Current change

. Where high frequency torque current

Current change

And high frequency flux current

Current change

The calculated signal demodulation equation is the same as described above, so it will not be repeated.

的電流變化量

及/或高頻磁通電流

的電流變化量

及第一校正值C1進行相加以產生第二校正值C2，並進入步驟460。After completing steps 420 and 440, the control device 100 starts to perform step 450. The adding device 145 in the control device 100 divides the high-frequency torque current

Current change

And/or high frequency flux current

Current change

And the first correction value C1 are added to generate the second correction value C2, and step 460 is entered.

，並將已調整的相位估測值

輸出至電流轉換裝置134，並進入步驟470。In step 460, the position estimation device 170 in the control device 100 adjusts the phase estimation value according to the second correction value C1

, And the adjusted phase estimate

Output to the current conversion device 134 and go to step 470.

進行座標轉換得到轉矩電流

及磁通電流

，並將轉矩電流

及磁通電流

傳送至控制器130。控制器130可依據已調整的轉矩電流

及磁通電流

改變d軸電壓Vd及q軸電壓Vq之大小，並將前述訊號傳給電壓轉換裝置132，進行座標軸轉換的運算以間接調整三相電壓Va、Vb、Vc之大小。如此一來，控制裝置100可以調整旋轉電機200的旋轉角度，並有效地降低旋轉電機200進行低速旋轉時所引起的震盪現象。In step 470, the current conversion device 134 according to the adjusted phase estimation value

Perform coordinate conversion to obtain torque current

And flux current

, And the torque current

And flux current

Transfer to the controller 130. The controller 130 can be based on the adjusted torque current

And flux current

The magnitudes of the d-axis voltage Vd and the q-axis voltage Vq are changed, and the aforementioned signal is transmitted to the voltage conversion device 132 to perform coordinate axis conversion operations to indirectly adjust the magnitudes of the three-phase voltages Va, Vb, and Vc. In this way, the control device 100 can adjust the rotation angle of the rotating electric machine 200, and effectively reduce the vibration caused by the rotating electric machine 200 during low-speed rotation.

(高頻轉矩電流

的電流變化量

及/或高頻磁通電流

的電流變化量

)相加以產生第二校正值C2，位置估測裝置170可依據第二校正值C2運算，可有效提高相位估測值

之精準度。因此建立誤差補償單元190中的表格為本發明之部分主要技術特徵，以下將詳述建立誤差補償單元190中的表格之控制方法之流程。According to the control method 400 described in Fig. 4, the control device 100 of the present invention uses the error compensation unit 190 to output the first correction value C1 in a table look-up mode, and then compares the first correction value C1 with the current variation

(High frequency torque current

Current change

And/or high frequency flux current

Current change

) Is added together to generate a second correction value C2, and the position estimation device 170 can calculate according to the second correction value C2, which can effectively improve the phase estimation value

The accuracy. Therefore, the establishment of the table in the error compensation unit 190 is part of the main technical features of the present invention. The flow of the control method for establishing the table in the error compensation unit 190 will be described in detail below.

FIG. 5 shows a flowchart of a control method 500 of the rotating electric machine 200 in the test mode according to an embodiment of the present invention. Hereinafter, please refer to FIGS. 3 and 5 at the same time to describe the flow of the control method 500 of the rotating electric machine 200. The flow of the control method 500 in FIG. 5 is mainly used to create a table in the error compensation unit 190. Before creating the table in the error compensation unit 190, the operator needs to perform a test mode on the rotating electric machine 200. Therefore, the method steps described below are executed by the control device 100 when the rotating electric machine 200 is in the test mode.

及磁通電流

，並進入步驟520。The control method 500 starts at step 510. At this time, the motor should be in a stationary state, or the motor should be blocked in an appropriate manner to make it non-operational. When the current command unit 110 starts to output the d-axis current command Id and the q-axis current command Iq, the controller 130 and the voltage conversion device 132 output the three-phase voltage according to the d-axis current command Id and the q-axis current command Iq generated by the current command unit 110 Va, Vb, and Vc are used to drive the rotating motor 200. In step 510, the current conversion device 134 captures the rotating motor currents Ia, Ib, Ic flowing through the rotating motor 200, and performs coordinate conversion to obtain the torque current

And flux current

, And go to step 520.

及/或磁通電流

、高頻電流方程式及訊號解調方程式，計算出高頻轉矩電流

的電流變化量

及/或高頻磁通電流

的電流變化量

給加法裝置145。其中高頻轉矩電流

的電流變化量

及高頻磁通電流

的電流變化量

計算的方程式相同於以上所述，故不再贅述。於此同時，加法裝置145雖然僅接收到電流變化量

(高頻轉矩電流

的電流變化量

及/或高頻磁通電流

的電流變化量

)，但仍會執行步驟540：將誤差控制器180的修正值R1與高頻轉矩電流

的電流變化量

及/或高頻磁通電流

的電流變化量

進行相加以產生第二校正值C2，並進入步驟550。特別注意的是，在控制裝置100第一次執行步驟540時，誤差控制器180的修正值R1輸出為零。因此，此時加法裝置145第一次所輸出的第二校正值C2為依據高頻轉矩電流

的電流變化量

及/或高頻磁通電流

的電流變化量

。In step 520, the signal demodulation device 140 in the control device 100 depends on the torque current output by the current conversion device 134

And/or flux current

, High frequency current equation and signal demodulation equation, calculate high frequency torque current

Current change

And/or high frequency flux current

Current change

给Adding device 145. Where high frequency torque current

Current change

And high frequency flux current

Current change

The calculated equation is the same as the above, so it will not be repeated. At the same time, although the adding device 145 only receives the current change

(High frequency torque current

Current change

And/or high frequency flux current

Current change

), but step 540 will still be executed: the correction value R1 of the error controller 180 and the high-frequency torque current

Current change

And/or high frequency flux current

Current change

The addition is performed to generate the second correction value C2, and step 550 is entered. It is particularly noted that when the control device 100 executes step 540 for the first time, the output of the correction value R1 of the error controller 180 is zero. Therefore, at this time, the second correction value C2 output by the adding device 145 for the first time is based on the high-frequency torque current

Current change

And/or high frequency flux current

Current change

.

給減法裝置160，並進入步驟560。In step 550, the position estimation device 170 outputs a phase estimation value according to the second correction value C2

Give the subtracting device 160 and go to step 560.

給減法裝置160，並進入步驟560。When the rotating electric machine 200 is controlled according to the three-phase voltages Va, Vb, and Vc, the control device 110 also performs step 530: the encoding device 150 in the control device 100 measures the rotation angle of the rotating electric machine 200 and outputs the measured phase Measured value

Give the subtracting device 160 and go to step 560.

及相位量測值

，並計算出相位估測值

及相位量測值

之間的相位誤差

。完成計算相位誤差

之後，控制裝置100開始執行步驟570。In step 560, the subtraction device 160 receives the phase estimation values obtained in step 550 and step 530 respectively

And phase measurement

, And calculate the phase estimate

And phase measurement

Phase error between

. Complete calculation of phase error

After that, the control device 100 starts to execute step 570.

是否落入目標範圍內。也就是說，當誤差控制器180偵測相位誤差

落入目標範圍內時，控制裝置100則執行步驟590：誤差控制器180控制誤差補償單元190儲存修正值R1並指定該修正值R1為第一校正值C1，並且同時記錄該第一校正值C1當前所對應的d軸電流命令Id及q軸電流命令Iq。反之，當誤差控制器180偵測相位誤差

未落入目標範圍時，控制裝置100則執行步驟580：依據相位誤差

輸出修正值R1。In step 570, the error controller 180 detects the phase error

Whether it falls within the target range. That is, when the error controller 180 detects the phase error

When it falls within the target range, the control device 100 performs step 590: the error controller 180 controls the error compensation unit 190 to store the correction value R1, designate the correction value R1 as the first correction value C1, and record the first correction value C1 at the same time The current corresponding d-axis current command Id and q-axis current command Iq. Conversely, when the error controller 180 detects the phase error

When it does not fall within the target range, the control device 100 performs step 580: according to the phase error

The correction value R1 is output.

可能不會落入目標範圍。因此控制裝置100將由步驟570進入步驟580。誤差控制器180輸出修正值R1之後，控制裝置100執行步驟540。It is particularly noted that since in the previous step 540, the correction value R1 received by the addition device 145 in the initial stage is zero, so that when the control device 100 executes step 570 for the first time, the error controller 180 receives Phase error

May not fall into the target range. Therefore, the control device 100 will proceed from step 570 to step 580. After the error controller 180 outputs the correction value R1, the control device 100 executes step 540.

的電流變化量

及/或高頻磁通電流

的電流變化量

進行相加，並調整第二校正值C2給位置估測裝置170。控制裝置將繼續執行步驟550。When the control device 100 executes step 540 again, the addition device 145 compares the correction value R1 output by the error controller 180 and the high-frequency torque current

Current change

And/or high frequency flux current

Current change

The addition is performed, and the second correction value C2 is adjusted to the position estimation device 170. The control device will continue to perform step 550.

給減法裝置160。步驟560中，減法裝置160計算已調整的相位估測值

與相位量測值

之間的相位誤差

。來到步驟570，誤差控制器180偵測再次相位誤差

是否落入目標範圍。如果相位誤差

落入目標範圍，控制裝置100執行步驟590：誤差控制器180不改變修正值R1，並將其儲存於誤差補償單元190。誤差補償單元190將該修正值R1重新指定並儲存為第一校正值C1，並且同時記錄該第一校正值C1當前所對應的d軸電流命令Id及q軸電流命令Iq。In step 550, the position estimation device 170 changes the phase estimation value according to the adjusted second correction value C2

给 subtraction device 160. In step 560, the subtraction device 160 calculates the adjusted phase estimation value

And phase measurement

Phase error between

. Going to step 570, the error controller 180 detects the phase error again

Whether it falls within the target range. If the phase error

If it falls within the target range, the control device 100 executes step 590: the error controller 180 does not change the correction value R1, and stores it in the error compensation unit 190. The error compensation unit 190 reassigns and stores the correction value R1 as the first correction value C1, and records the d-axis current command Id and the q-axis current command Iq currently corresponding to the first correction value C1.

沒有落入目標範圍，控制裝置100則執行步驟580：誤差控制器180繼續依據相位誤差

調整修正值R1給加法裝置145。控制裝置100將不斷進行步驟540至580，直到在步驟570中誤差控制器180偵測到相位誤差

落入目標範圍為止。Continuing from the above, if the phase error

If it does not fall within the target range, the control device 100 performs step 580: the error controller 180 continues to follow the phase

The correction value R1 is adjusted to the adding device 145. The control device 100 will continue to perform steps 540 to 580 until the error controller 180 detects a phase error in step 570

Until it falls within the target range.

Therefore, every time the current command unit 110 changes the d-axis current command Id and the q-axis current command Iq, the control device 100 executes the flow of the control method 500 described above. In this way, after changing the d-axis current command Id and the q-axis current command Iq output by the current command unit 110 multiple times, the error compensation unit 190 can create a table. Among them, the operator can determine the number of times to execute the control method 500 according to actual needs. The more the number of executions, the more current commands are recorded. When the rotating electric machine 200 is operating normally, the rotation angle of the rotating electric machine 200 evaluated by the control device 100 will be more accurate, so that it can effectively solve the vibration of the rotating electric machine 200 when the rotating machine 200 is running at low speed. This phenomenon is related to improving the operating efficiency of the rotating electric machine 200.

FIG. 6 shows a block diagram of the actual operation of the control device 100 of the rotating electric machine 200 in the test mode according to an embodiment of the present invention. The speed control unit 115 in Figure 6 is an embodiment of the current command unit 110 described above, but the present invention is not limited to this. The speed control unit 115 can provide the d-axis current command Id, and the speed controller 115a in the speed control unit 115 can provide the q-axis current command Iq, and then through the controller 130 and the voltage conversion device 132 to generate three-phase voltages Va, Vb, Vc is given to the rotating electric machine 200. Among them, the voltage conversion device 132 includes a synchronous/static shaft converter 132a, a static/three-phase converter 132b, and an inverter 132c. The rotating electric machine 200 rotates according to the three-phase voltages Va, Vb, and Vc. Among them, the synchronous/static shaft converter 132a, the static/three-phase converter 132b, and the frequency converter 132c in the voltage conversion device 132 are conventional technologies, so they will not be described in detail in this disclosure.

可由處理器、微處理器或其他計算裝置等，提供給速度控制單元115。由於本領域之通常知識者可理解處理器、微處理器或其他計算裝置等裝置提供轉速命令

之技術，故未繪示出。位置估測裝置170還可產生轉速命令

給速度控制單元115。速度控制單元115可對轉速命令

及轉速命令

進行運算以產生轉速命令

，其中轉速命令

實質為前述轉速命令間之一轉速誤差，以至於速度控制器115a根據轉速命令

產生q軸電流命令Iq。In another embodiment, the speed control unit 115 may further include a speed controller 115a. Where the speed command

It can be provided to the speed control unit 115 by a processor, a microprocessor, or other computing devices. Since those skilled in the art can understand that processors, microprocessors or other computing devices provide speed commands

The technology is not shown. The position estimation device 170 can also generate a speed command

给Speed control unit 115. The speed control unit 115 can command the speed

And speed command

Perform calculations to generate speed commands

, Where the speed command

It is essentially a speed error between the aforementioned speed commands, so that the speed controller 115a according to the speed command

Generate the q-axis current command Iq.

及磁通電流

。電流轉換裝置134包含靜止/三相軸轉換器134a、靜止/同步轉換器134b及低通濾波器134c。其中，透過電流轉換裝置134中的靜止/三相軸轉換器134a及靜止/同步轉換器134b可計算出同步座標上的轉矩電流

及同步座標上的磁通電流

。特別注意的是，在此實施例中，本發明僅是選擇性地針對同步座標上的轉矩電流

進行運算以幫助提高位置評估的精準度，但本發明不限於此。其中靜止/三相軸轉換器134a及靜止/同步轉換器134b所構成的高頻電流方程式如同以上所述，故不再贅述。When the rotating electric machine 200 rotates according to the three-phase voltages Va, Vb, and Vc, the current conversion device 134 receives the rotating electric machine currents Ia, Ib, Ic flowing through the rotating electric machine 200, and calculates the torque current

And flux current

. The current conversion device 134 includes a static/three-phase shaft converter 134a, a static/synchronous converter 134b, and a low-pass filter 134c. Among them, the static/three-phase shaft converter 134a and the static/synchronous converter 134b in the current conversion device 134 can calculate the torque current on the synchronous coordinates.

And the flux current on the synchronous coordinate

. Special attention is that in this embodiment, the present invention only selectively targets the torque current on the synchronous coordinate.

The calculation is performed to help improve the accuracy of the location evaluation, but the present invention is not limited to this. The high-frequency current equations formed by the static/three-phase shaft converter 134a and the static/synchronous converter 134b are as described above, so they will not be repeated.

之後，訊號解調裝置140則依據轉矩電流

計算出高頻轉矩電流

與高頻轉矩電流

的電流變化量

。其中訊號解調裝置140包含高通濾波器140a及高頻訊號解調器140b。高通濾波器140a依據轉矩電流

計算出高頻轉矩電流

。高頻訊號解調器140b具有訊號解調方程式計算電流變化量

，訊號解調方程式如同以上所述，故不再贅述。旋轉電機200進行測試模式時，由控制裝置100所執行建立表格之方法已經詳述於前，故不再此另加敘述。The current conversion device 134 completes the calculation of the torque current on the synchronous coordinate axis

Then, the signal demodulation device 140 is based on the torque current

Calculate high frequency torque current

With high frequency torque current

Current change

. The signal demodulation device 140 includes a high-pass filter 140a and a high-frequency signal demodulator 140b. The high-pass filter 140a depends on the torque current

Calculate high frequency torque current

. The high frequency signal demodulator 140b has a signal demodulation equation to calculate the current variation

, The signal demodulation equation is as described above, so it will not be repeated. When the rotating electric machine 200 is in the test mode, the method of creating the table executed by the control device 100 has been described in detail above, so no further description will be given here.

的電流變化量

及/或高頻磁通電流

的電流變化量

，即可有效地提升位置估測裝置170的相位估測值

之精準度。相較於目前的技術，本發明大幅地減少處理器的運算量，並更有效提升旋轉電機的控制裝置之工作效率。此外，本發明亦可解決旋轉電機進行低速運轉時所產生的震盪現象，並提升旋轉電機的運轉效率。In summary, the present invention uses the error compensation unit 190 to receive the d-axis current command Id and the q-axis current command Iq to output the first correction value C1, and then calculate the high-frequency torque current

Current change

And/or high frequency flux current

Current change

, Can effectively improve the phase estimation value of the position estimation device 170

The accuracy. Compared with the current technology, the present invention greatly reduces the calculation amount of the processor, and more effectively improves the working efficiency of the control device of the rotating electric machine. In addition, the present invention can also solve the oscillating phenomenon generated when the rotating electric machine is running at a low speed, and improve the operating efficiency of the rotating electric machine.

Although the present invention is disclosed as above in preferred embodiments, it is not intended to limit the present invention. Anyone with ordinary technical knowledge in the art can make some changes and substitutions without departing from the spirit and scope of the present invention. Therefore, this The scope of protection of the invention shall be determined by the scope of the subsequent patent application.

The terms used herein are only used to describe specific embodiments and are not intended to limit the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" also include plural forms. In addition, as far as the terms "include", "include", "have" or other variations are used in detailed descriptions and/or claims, these terms are intended to have the same meaning in a manner similar to the term "include".

:磁通電流

:高頻磁通電流

:轉矩電流

:高頻轉矩電流

:電流變化量

:同步座標上的磁通電流

:同步座標上的轉矩電流

:相位估測值

:相位量測值

:相位誤差

:轉速命令100: Control device 110: Current command unit 115: Speed control unit 115a: Speed controller 120: High-frequency signal generator 130: Controller 132: Voltage conversion device 132a: Synchronous/stationary shaft converter 132b: Static/three-phase conversion 132c: frequency converter 134: current conversion device 134a: static/three-phase shaft converter 134b: static/synchronous converter 134c: low-pass filter 140: signal demodulation device 140a: high-pass filter 140b: high-frequency signal demodulation Device 145: Adding device 150: Encoding device 160: Subtracting device 170: Position estimation device 180: Error controller 182, 184, 195: Switch 190: Error compensation unit 200: Rotary motor 400: Control method 410~470: Step 500 : Control method 510~590: Step Id: d-axis current command Iq: q-axis current command Vd: d-axis voltage Vq: q-axis voltage Va, Vb, Vc: three-phase voltage Ia, Ib, Ic: three-phase current C1: First correction value C2: Second correction value R1: Correction value

: Flux current

: High frequency magnetic flux current

: Torque current

: High frequency torque current

: Current change

: Flux current on synchronous coordinates

: Torque current on synchronous coordinates

: Phase estimate

: Phase measurement value

: Phase error

: Speed command

Figure 1 is a diagram showing the relationship between the estimated error and the d-q axis current of the control device of the rotating electric machine according to an embodiment of the prior art. Figure 2 is a block diagram of a control device for a rotating electric machine according to an embodiment of the invention. FIG. 3 shows the structure diagram of the control device of the rotating electric machine in the test mode according to an embodiment of the present invention. Figure 4 shows a flowchart of a method for controlling a rotating electric machine according to an embodiment of the present invention. FIG. 5 shows a flowchart of a control method of a rotating electric machine in a test mode according to an embodiment of the present invention. Fig. 6 shows the actual operation block diagram of the control device of the rotating electric machine in the test mode according to an embodiment of the present invention.

100: control device

110: Current command unit

120: High frequency signal generator

130: Controller

132: Voltage conversion device

134: Current Conversion Device

140: Signal demodulation device

145: Adding device

150: coding device

160: Subtraction device

170: Position estimation device

180: error controller

182, 184, 195: switch

190: Error compensation unit

200: Rotating motor

R1: Correction value

Id: d-axis current command

Iq: q-axis current command

Vd: d axis voltage

Vq: q-axis voltage

Va, Vb, Vc: three-phase voltage

Ia, Ib, Ic: three-phase current

C1: First correction value

C2: Second correction value

i _d : flux current

i _q : Torque current

i _dh : high frequency magnetic flux current

i _qh : high frequency torque current

Δ i , Δ i _qh , Δ i _dh : current change

θ _a : Estimated phase value

θ _r : Phase measurement value

Δθ: phase error

Claims (18)

A control device for controlling a rotating electric machine, including: a current command unit that provides a d-axis current command and a q-axis current command; a voltage conversion device coupled to the current command unit and the rotating electric machine; a current conversion A device that converts a rotating electrical machine current flowing through the rotating electrical machine into a synchronous reference coordinate current; a signal demodulation device that receives the synchronous reference coordinate current, and calculates a high-frequency current variation of the synchronous reference coordinate current; An error compensation unit that outputs a first correction value corresponding to the d-axis current command and the q-axis current command according to the d-axis current command and the q-axis current command; an addition device that synchronizes the reference coordinate current The high-frequency current variation and the first correction value are added together to generate a second correction value; and a position estimation device adjusts a phase estimation value to the current conversion device and the voltage conversion device according to the second correction value , Carry out the calculation of coordinate axis conversion. For example, the control device described in item 1 of the scope of the patent application further includes: A subtraction device, when the rotating electrical machine is in a test mode, the phase estimation value is subtracted from the actual measured phase measurement value to A phase error occurs. For example, the control device described in item 2 of the scope of patent application further includes: an error controller, which continuously receives the phase error in the test mode and generates a correction value to the adding device according to the phase error. When the phase error When it falls within a target range, the correction value corresponding to the phase error is used as the first correction value, and the correction value and the corresponding d-axis current command and the q-axis current command are stored in the error Compensation unit. For the control device described in item 3 of the scope of patent application, in the test mode, and whenever the phase error falls within the target range, the error compensation unit follows the d-axis current command and the q-axis current command The corresponding first correction value is stored to create a table. The control device described in item 2 of the scope of patent application further includes an encoding device for measuring the rotation angle of the rotating electric machine to output the phase measurement value. In the control device described in item 1 of the scope of patent application, the synchronous reference coordinate current includes a torque current and a magnetic flux current. The control device described in item 6 of the scope of patent application, wherein calculating the high-frequency current variation of the synchronous reference coordinate current includes calculating a current variation of a high-frequency torque current and the high-frequency torque current, And calculate a current change amount of a high-frequency magnetic flux current and the high-frequency magnetic flux current. The control device described in item 7 of the scope of patent application further includes: a high-frequency signal generator for generating and inputting a high-frequency signal to calculate the high-frequency torque current and the high-frequency magnetic flux current. The control device described in item 8 of the scope of patent application further includes: a controller for simultaneously receiving the high-frequency signal, the d-axis current command and the q-axis current command, and correspondingly outputting them on a synchronous reference coordinate A d-axis voltage and a q-axis voltage. For example, the control device described in item 9 of the scope of patent application further includes: a speed controller for providing the q-axis current command, and then generating three-phase voltages Va, Vb, and Vc through the controller and the voltage conversion device. The rotating motor. A control method for a rotating electric machine includes the following steps: Provide a d-axis current command and a q-axis current command; Convert a rotating electric machine current flowing through the rotating electric machine into a synchronous reference coordinate current; Calculate the synchronous reference coordinate current One of the high-frequency current changes; According to the d-axis current command and the q-axis current command, output a first correction value corresponding to the d-axis current command and the q-axis current command; The high of the synchronous reference coordinate current The frequency current variation and the first correction value are added to generate a second correction value; and a phase estimation value is adjusted according to the second correction value, and the coordinate axis conversion operation is performed. For example, the control method described in item 11 of the scope of patent application further includes the following steps: When the rotating electric machine is in a test mode, the phase estimation value is subtracted from an actual measured phase measurement value to generate a Phase error. For example, the control method described in item 12 of the scope of patent application further includes the following steps: In the test mode, a correction value is continuously generated according to the phase error, and the correction value is combined with the high-frequency current of the synchronous reference coordinate current The amount of change is added together to generate the second correction value; and when the phase error falls within a target range, the correction value is used as the first correction value, and the correction value and the corresponding d-axis The current command and the q-axis current command are stored in an error compensation unit. Such as the control method described in item 13 of the scope of patent application, wherein in the test mode, and whenever the phase error falls within the target range, the error compensation unit is used according to the d-axis current command and the q-axis current The first correction value corresponding to the command is stored to create a table. The control method described in item 11 of the scope of patent application, wherein the synchronous reference coordinate current includes a torque current and a magnetic flux current. The control method described in item 15 of the scope of patent application, wherein calculating the high-frequency current variation of the synchronous reference coordinate current includes the following steps: calculating one of a high-frequency torque current and the high-frequency torque current The amount of current change, and calculate a current change amount of a high-frequency magnetic flux current and the high-frequency magnetic flux current. The control method described in item 16 of the scope of patent application further includes the following steps: inputting a high-frequency signal to calculate the high-frequency torque current and the high-frequency magnetic flux current. The control method described in item 17 of the scope of the patent further includes the following steps: simultaneously receiving the high-frequency signal, the d-axis current command and the q-axis current command, and correspondingly outputting a d-axis voltage and a synchronous reference coordinate A q-axis voltage.

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