WO2022208908A1 - Motor control device - Google Patents

Abstract

A motor control device for driving a motor by using current vector control in a dq-axis Cartesian coordinate system, said motor control device comprising: a means that finds combinations of intersections that are effective as a current command from among the intersections of two curves selected from among a power minimization curve (MP) , a current minimization curve (MA), a voltage minimization curve (MV), a current limit circle (LA), a voltage limit curve (LV), a constant torque curve (CT), a running-power limit curve (LP+), and a regenerative power limit curve (LP–) in the dq-axis Cartesian coordinate system; a means that arranges the combinations of intersections in the row and column directions, respectively, as the current state and the transitioned state, and creates a state transition table in which conditions for transition from the current state to the transitioned state have been set; and a means that selects a target current value for the motor on the basis of the positional relationships of intersections corresponding to the transitioned state on the curved lines when transitioned from optional intersections corresponding to the current state in accordance with the transition conditions.

Description

motor controller

The present invention relates to a motor control device that drives and controls an electric motor.

Traction motors such as IPMs, which are driving sources for electric vehicles and hybrid vehicles, use both magnet torque and reluctance torque. It is necessary to adjust the torque distribution according to the conditions and constraints such as the power supply voltage.　

Normally, in motor control, from the perspective of operating the motor up to the voltage and current limit, the current target value is generated under the conditions of satisfying the voltage and current limits and maximizing efficiency within that range.　

Patent Document 1 discloses a power limit circle, which is a d-axis and q-axis current characteristic based on the inner product of a voltage vector and a current vector on a rotating coordinate of vector control, and a d-axis and q-axis current characteristic based on angular velocity. By placing the points representing the d-axis command current and the q-axis command current on the rotating coordinates in both circles of a certain voltage limit circle, the d-axis current does not deviate from the d-axis command current, and the q-axis current becomes q A technique for driving a brushless motor without deviation from the axis command current is disclosed.　

　If the power limit is not taken into consideration in motor control, there is a concern that the battery will be damaged due to powering and regeneration that exceed the battery charge/discharge allowable power. For example, in Patent Document 2, when the load demand output of the drive motor of a vehicle (fuel cell vehicle) suddenly decreases, the excess power generated due to the response delay of the battery is consumed by the motor, and the excess power is transferred to the battery. Techniques are disclosed to avoid excessive charging current.

Japanese Patent Application Laid-Open No. 2020-54086 Japanese Patent No. 6395268

In conventional motor control, iron loss is not taken into consideration in the voltage equation used for that control, so there is a problem that an error occurs with respect to the actual maximum efficiency point. Conventionally, control is not performed by a current command that combines voltage, current, and power limits.　

As described above, Patent Document 2 discloses a motor regeneration technique for a fuel cell vehicle. protects Such control is minimum efficiency control (inefficient control), not maximum efficiency control. In addition, in Patent Document 2, iron loss Wf is defined as Wf=(Vd ² +Vq ² )/Rc (Rc is equivalent iron loss resistance), but a specific derivation method for equivalent iron loss resistance is mentioned. not.

On the other hand, in order to apply the control method to an actual product (motor), it is necessary to enable stable operation in all cases of voltage/current limitation. It only shows some of the possible cases.　

Furthermore, Non-Patent Document 1 does not cover all cases in that maximum efficiency control cannot be implemented because it does not explain by mathematical formulas even though it illustrates maximum efficiency control. Non-Patent Document 1 proposes an optimum current table method, but there is a problem that table generation for current command values is costly.　

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and its object is to provide a current command method that combines voltage, current, and power limits, and to enable selection of an optimum motor current target value. is.

　The following configuration is provided as a means of achieving the above objectives and solving the above problems. That is, a first exemplary invention of the present application is a motor control device that drives a motor by current vector control in a dq-axis orthogonal coordinate system, wherein a power minimization curve (MP) in a dq-axis orthogonal coordinate plane, a current minimum curve (MA), voltage minimum curve (MV), current limit circle (LA), voltage limit curve (LV), constant torque curve (CT), motoring power limit curve (LP+), and regenerative power limit curve (LP-) means for obtaining a combination of points of intersection effective as a current command from among the points of intersection of two curves selected from the above; means for creating a state transition table in which transition conditions to transition destination states are set; and means for selecting a current target value for the motor based on the positional relationship.　

A second exemplary invention of the present application is a motor control method for driving a motor by current vector control in a dq-axis orthogonal coordinate system, wherein a power minimization curve (MP) and a current minimum curve ( MA), minimum voltage curve (MV), current limit circle (LA), voltage limit curve (LV), constant torque curve (CT), power running power limit curve (LP+), and regenerative power limit curve (LP-) a step of obtaining a combination of points of intersection effective as a current command from among the points of intersection of the two curves; a step of creating a state transition table in which transition conditions to states are set; and a positional relationship on the curve of intersections corresponding to the transition destination state when transition is made from an arbitrary intersection corresponding to the current state according to the transition conditions. and selecting a current target value for the motor based on:

According to the motor control device of the present invention, the state transition table in which the transition conditions are set is used to calculate the command value of the current vector by focusing only on the intersections that are effective as the current target value (current output value) for the motor. By doing so, it is possible to reduce the amount of calculation of the current target value, improve the processing speed, and reduce the cost.

FIG. 1 is a block diagram showing the overall configuration of a motor control device according to an embodiment of the invention. FIG. 2 is a diagram representing valid combinations of intersections of two curves selected from eight curves. FIG. 3 is a diagram showing the positional relationship of multiple curves on the dq-axis orthogonal coordinate plane. FIG. 4 is a diagram summarizing the voltage, current, and power limitation conditions during power running. FIG. 5 is a diagram summarizing the voltage, current, and power limitation conditions during regeneration. FIG. 6 is a state transition table in which transition conditions from the current state to the destination state are set. FIG. 7 is a flowchart showing a current target value calculation process in the motor control device according to the present embodiment.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings.　

<Configuration of motor control device>
FIG. 1 is a block diagram showing the overall configuration of a motor control device according to an embodiment of the invention. A motor control device 1 shown in FIG. 1 includes a motor control unit 10, a motor drive unit 5 that supplies a predetermined drive current to an electric motor 15 to be controlled, and the like. The motor control unit 10 controls the overall control of the motor control device 1 and is composed of, for example, a microprocessor. ) and the like.

The current command unit 2 uses a state transition table, which will be described later, to determine a two-phase command current value ( A d-axis current command value Id ^* and a q-axis current command value Iq ^* , which are target current values), are generated.

In addition to the motor control program executed by the motor control unit 10, the memory 3 stores a state transition table, programs, etc. necessary for implementing state transitions described later. The memory 3 is, for example, a read only memory (ROM). The memory 3 may be built in the motor control unit 10 or may be externally attached.　

The subtractor 13 a calculates the difference between the q-axis current command value Iq ^* and the q-axis current Iq output from the coordinate conversion section 28 . Further, the subtractor 13 b calculates the difference between the d-axis current command value Id ^* and the d-axis current Id output from the coordinate conversion section 28 .

The q-axis PI control unit 16a performs PI (proportional plus integral) control so that the difference between Iq ^* and Iq converges to zero, and calculates a q-axis voltage command value Vq ^* , which is a command value for the q-axis voltage. Further, the d-axis PI control unit 16b performs PI (proportional plus integral) control so that the difference between Id ^* and Id converges to zero, thereby obtaining a d-axis voltage command value Vd ^* , which is a command value for the d-axis voltage. Calculate

The coordinate conversion unit 17 calculates motor applied voltages from the q-axis and d-axis voltage command values Vq ^* and Vd ^* and the rotation angle θ of the electric motor 15 . That is, the coordinate conversion unit 17 having a two-phase/three-phase conversion function converts the q-axis voltage command value Vq ^* and the d-axis voltage command value Vd ^* to voltage command values for each of the three phases based on the rotation angle θ. are converted into voltage command values Vu ^* , Vv ^* , and Vw ^* .

The voltage command values Vu ^* , Vv ^* , Vw ^* after the three-phase conversion are input to the PWM signal generator 21. FIG. The PWM signal generator 21 generates a drive signal for the electric motor 15 by increasing or decreasing the duty of a PWM (Pulse Width Modulation) control signal based on these voltage command values.

That is, the PWM signal generator 21 generates an ON/OFF control signal (PWM signal) for a plurality of semiconductor switching elements (FETs) forming the inverter circuit 23 according to the voltage command value. These semiconductor switching elements correspond to the respective phases (u-phase, v-phase, w-phase) of the electric motor 15 .　

A switching element (FET) is also called a power element. For example, switching elements such as MOSFET (Metal-Oxide Semiconductor Field-Effect Transistor) and IGBT (Insulated Gate Bipolar Transistor) are used.　

The PWM signal generator 21 may be built in a motor control integrated circuit (pre-driver IC) that generates a motor drive signal and functions as an FET drive circuit or the like.　

The inverter circuit 23 of the motor drive unit 5 is a motor drive circuit that generates alternating current for driving the electric motor 15 from power supplied from the battery BT via the power relay 24 . The electric motor 15 is, for example, an in-vehicle traction motor such as a surface magnet motor (SPM) or an interior magnet motor (IPM). The power supply relay 24 is configured to be able to cut off power from the battery BT, and can also be configured by a semiconductor relay.　

The motor drive current supplied from the inverter circuit 23 to the electric motor 15 is detected by a current detection section 25 consisting of a current sensor arranged corresponding to each phase. The current detection unit 25 detects, for example, a DC current flowing through a shunt resistor for detecting motor drive current using an amplifier circuit such as an operational amplifier.　

An output signal (current detection signal) from the current detection section 25 is input to an A/D conversion section (ADC) 27 . Here, the analog current values are converted into digital values by the A/D conversion function of the ADC 27 , and the three-phase currents Iu, Iv, and Iw obtained by the conversion are input to the coordinate conversion section 28 .　

A coordinate conversion unit 28 having a three-phase/two-phase conversion function outputs a q-axis current Iq and a d-axis current Id from the rotation angle θ detected by the rotation angle sensor 29 and the three-phase currents Iu, Iv, and Iw. That is, the coordinate conversion unit 28 calculates the d-axis current and the q-axis current based on the actual motor current (q-axis actual current, d-axis actual current).　

<Selection of current target value>
In order to select the current target value in the motor control of the motor control device according to the present embodiment, the first condition is to satisfy the voltage/current/power limits, the second condition is the command torque, and the third condition is power minimization. and Here, in order to clearly distinguish power running and regeneration in consideration of actual applications, the power limit curve (LP) described later is divided into LP + curve (power running) and LP- curve (regeneration) to limit power.

Therefore, the power minimization curve (MP) and the current minimum curve (MA), voltage minimum curve (MV), current limit circle (LA), voltage limit curve (LV), constant torque curve (CT), motoring power limit curve (LP+), and regenerative power limit curve (LP-) Define 8 curves of　

The area surrounded by these eight curves satisfies the above first condition. Furthermore, in order to satisfy the second and third conditions, a current target value is selected that overlaps or is closest to the constant torque curve and the power limit curve within the above regions.　

A constant torque curve (CT (Constant Torque) curve) is a trajectory of orthogonal coordinates (x, y) that satisfies a constant torque T, and can be expressed by Equation (1). The constant torque curve is hyperbolic, and in equation (1), ξ _m is the permanent magnet coefficient, which is 1 for motors with permanent magnets and 0 for motors without. Δη is the motor constant amplitude, which is the difference between the maximum value η _max and the minimum value η _min of the dimensionless motor constant η.

_The locus of (x,y) that makes the current norm i1 constant is _i12 ⁼ x2 ⁺ y2, and the current limiting function is LA( ^x ,y) ⁼ x2 ⁺ y2. If the current norm upper limit (the current upper limit relative to the current reference) is set to |i _max |, the current limit circle is the circle centered at the origin of radius |i _max |. Therefore, the curve represented by Equation (2) is called a current limit circle (LA (Limited Ampere) curve).

In this embodiment, iron loss is also taken into account in the voltage limit function (LV (Limited Voltage) function) and voltage norm minimum function (MV (Minimum Voltage) function). Assuming that the voltage norm upper limit (voltage upper limit value with respect to the voltage reference) is |v _max |, a voltage limit curve (LV (Limited Voltage) curve) LV(x, y) can be expressed by Equation (3).

A minimum voltage norm curve (minimum voltage curve, MV (Minimum Voltage) curve) MV (x, y) can be expressed by Equation (4).　

By deriving the current norm minimization condition for constant torque, the current norm minimum curve (current minimum curve, MA (Minimum Ampere) curve) shown in Equation (5) is defined.　

The power minimization curve (also called MP (Minimum Power) curve) is obtained by, for example, deriving the hysteresis loss factor and eddy current loss factor based on analysis or actual measurement data, and using a formula containing them, as follows: Define. A power minimization curve is also an efficiency maximization curve.　

In the above equations (4) and (6), K(ω) is a coefficient for iron loss calculation, and can be defined as follows, where _kh is the hysteresis loss coefficient and _ke is the eddy current loss coefficient. .

A power limit curve (LP (Limited Power) curve) derives a power balance formula based on the law of conservation of energy in a motor system, and is defined by a voltage equation that includes iron loss derived therefrom.　

Here, the AC power P _AC shown in Equation (8), which is derived from the target electromagnetic torque Te, the motor rotation angular frequency ω _M , the copper loss Wcu normalized by power, and the iron loss Wir_e during driving, is expressed by Equation ( Define an LP (Limited Power) function LP(x, y) represented by the left side of 9).

Then, an LP curve represented by Equation (10) is obtained as a general quadratic curve obtained by transforming Equation (9).　

There are two types of power limit values defined by power limit power P _{max ≧} 0 and regeneration limit power P _{min ≦ 0 .} limited in scope. Both LP(x, y) = P _max and LP(x, y) = P _min are LP curves _. The curve LP(x,y)=P _min is denoted as LP-curve.

The shape of the LP curve changes depending on the eccentricity e shown in Equation (11). In equation (11), a _xx =1+η _max ² K ² (ω), a _yy =1+η _min ² K ² (ω), and a _xy =Δηω.

The LP curve is a perfect circle when the above eccentricity e is e=0, a parabola when e=1, a hyperbola when e>1, and an ellipse when 0<e<1. On the other hand, the minimum current curve (MA), the minimum voltage curve (MV), and the minimum power curve (MP) are upward hyperbolas with the y-axis as the main axis.　

Next, a method of selecting a current command value (a method of narrowing down the current target value) in the motor control device according to this embodiment will be described. The current target value is the intersection point of two curves selected from the eight curves described above. As shown in FIG. ).　

FIG. 3 shows the positional relationship of the above eight curves (MV curve, MP curve, MA curve, LA curve, LV curve, CT curve, LP+ curve, LP- curve) on the dq-axis orthogonal coordinate plane. In FIG. 2, the horizontal axis is the iq axis (x axis) and the vertical axis is the id axis (y axis). relationship is established.　

As described above, there is no intersection between MA, MV, and MP, and MALV, MVLA, MPLV, MPLA, MACT, and MVCT are not valid current outputs. , LVCT, LACT, MVLV, MALA, and LVLA. Also, among the six LP curves related, six of MPLP+, LPCT-, LVLP+, LALP+, LVLP-, and LALP- are effective current outputs.　

In FIG. 3, the range sandwiched between the two parabolas of the MV curve and the MA curve is an effective operating point for current output. This range has its aperture limited by the LP+ and LP- curves in addition to the LA and LV curves.　

Area A in FIG. 3 is a current output possible range, which is a power limitation condition, the range of Pmin ≤ P _AC ≤ Pmax described above, and within the LV curve and within the LA curve (LV (x, y) ≤ v _max ² and LA(x, y)≦i _max ² ) and above the MA curve and below the MV curve (MA(x, y)≧0 and MV(x, y)≦0) are all satisfied.

Note that, only on the LP-curve, points that do not satisfy "MA (x, y) ≥ 0 and MV (x, y) ≤ 0" (thick line portion in Fig. 3) also fall within the current output possible range. During regeneration, moving on the LP- curve, MPLP- can output even smaller torque (larger absolute value) (in FIG. 3, the increase in torque advances from MALP- to LVLP- in the second quadrant). At this time, the MA curve is the current and the MV curve is the minimum condition of voltage, and since they are not related to power, the current output possible range is entered until they intersect the LA curve or LV curve.　

In motoring, MPLP+ is the maximum torque that can be output when only the power limit is considered, and since it does not move on the LP+ curve, LPCT+ does not become an effective current output.　

　The output of the target electromagnetic torque Te is possible when the CT curve based on Te is included in the current output possible range (also called constraint condition) due to the voltage/current/power limits shown in FIG. The current target value is set at the point of intersection with the MP curve or the closest point to minimize power consumption.　

On the other hand, if Te is large and the CT curve is not included within the range that satisfies the above constraints, the point that maximizes the torque within the voltage/current limit range is selected as the current target value.　

The selection range of the current target value in the motor control of the motor control device according to the present embodiment will be explained based on the interrelationship between the six curves excluding the CT curve. The power running limited by the LP+ curve and the regeneration limited by the LP- curve will be described.　

Fig. 4 is a diagram summarizing the voltage, current, and power restrictions during power running. A case with no intersection (NOVA, which will be described later) is omitted. In each case of FIG. 4, the area shown in gray is the current output possible area, and the maximum torque conditions in that range are indicated in the frame.　

In FIG. 4, the horizontal axis indicates cases when power saturation is ignored and torque is increased along the MP curve. (a) In voltage saturation, after voltage saturation is reached (* in FIG. 4), the LV curve shifts to the maximum torque (*).　

(b) In voltage → current saturation, after moving to the LV curve in (a) above, the current is saturated and the maximum torque is reached (marked with ★). (c) In current→voltage saturation, the LV curve shifts to the LV curve after current saturation is reached (marked with ☆), and the voltage is saturated and the maximum torque is reached (marked with ★). In (d) current saturation, after current saturation is reached (*), the LA curve shifts to the maximum torque (*).　

The vertical axis in Fig. 4 is classified according to whether the power is saturated at the points marked with ☆ and ★ above. Since there is no case of "☆ power saturation" and "★ power undersaturation", there are three cases.　

(A) In "☆ power saturation" and "★ power saturation", MPLP+ (marked with ▲) is the maximum torque on the LP+ curve, so the maximum torque condition is MPLP+ regardless of the horizontal axis. (B) In ☆power undersaturation and "★power saturation", the voltage or current is limited, resulting in power limitation. If the voltage saturates first then LVLP+ (▴) will be the maximum torque condition and if the current saturates first then LALP+ (▴) will be the maximum torque condition.　

(D) In "☆ power undersaturation" and "★ power undersaturation", only the voltage/current limit is taken into account and it becomes one of MVLV, LVLA, and MALA.　

Fig. 5 is a diagram summarizing the voltage, current, and power limitation conditions during regeneration. Also in each case of FIG. 5, the area shown in gray is the current output possible area, and the maximum torque conditions in that range are indicated in the frame.　

The horizontal axis in FIG. 5 is the same as during power running in FIG. In FIG. 5, the vertical axis is classified according to whether or not the power is saturated at the points indicated by * and *. Here, there are four cases because there are cases of "☆ power saturation" and "★ power not saturated".　

As described above, the LP-curve may be an ellipse, a parabola, or a hyperbola. In the case of an ellipse, the inside of the ellipse is power saturated, and in the case of a parabola/hyperbola, the power saturation is not including the origin. The torque absolute value during regeneration is referred to as regenerative torque.　

The MPLP- closer to the origin has the minimum regenerative torque on the LP-curve, and when the LP-curve becomes an ellipse, there is an MPLP- farther from the origin and the maximum regenerative torque. In FIG. 5, MPLP- (Δ mark) notation closer to the origin is added to all cases.　

(A) In "☆ power saturation" and "★ power saturation", the power is saturated first. Voltage saturation progresses in the MV direction and current saturation progresses in the MA direction on the LP-curve, and the ▴ mark is the maximum torque condition. Voltage to current saturation and current to voltage saturation can be LVLP- or LALP- maximum torque conditions.　

(B) In "☆ power not saturated" and "★ power saturated", LVLP- or LALP- is the maximum torque condition. Voltage or current saturates and then power saturates, but that point is not the maximum torque condition. The maximum torque condition (▴ mark) is determined farther from the MP curve.　

(C) In "☆ power saturation" and "★ power undersaturation", the maximum torque condition is marked with a star. Power saturation is canceled when the voltage or current saturates after power saturation.　

(D) In "☆ power undersaturation" and "★ power undersaturation", only voltage and current limits are considered, as in the case of motoring. However, as will be described later, there may be a case where power saturation occurs at an intermediate point between ☆ and ★.　

FIG. 6 shows that for both powering and regeneration, combinations of intersections effective as current target values are arranged in the row direction and column direction as the current state and the transition destination state, respectively, and the transition condition from the current state to the transition destination state (C1 to C60) is set. The current target value has a total of 13 states.　

A transition condition is a judgment condition for moving from an arbitrary intersection to another intersection, and since the judgment condition depends on the current intersection, it becomes a state transition machine. A cross indicates no transition. A case where there is no output possible range is defined as NOVA (No cross Voltage and Ampere).　

The state transitions shown in FIG. 6 have regularity. (1) Of the two curves involved in each state, only one is replaced before and after the state transition, and (2) the transition condition is the current target value of the current state. It has a relationship with the curve that is replaced at the transition destination.　

For example, in the transition from MPCT to LVCT, (1) the MP curve is replaced by the LV curve while the CT curve remains unchanged, and (2) the current target value of MPCT is substituted into the LV function that is replaced at the transition destination and confirmed, and the voltage is saturated. If it is, it transitions to LVCT.　

LVCT ⇔ LACT transitions via MPCT, LVLP+ ⇔ LALP+ transitions via MPLP+ or LVLA, and LVLP- ⇔ LALP- transitions via LVLA. Therefore, the state transition table in FIG. 6 indicates that there is no direct transition. Also, LVLA->LVCT and LVLA->LACT are separated by adding a comparison with the MP curve because the transition condition overlaps with the CT curve. The state transition from LVLA to LVCT is expressed as |T ^* |<|T| [MP≧0] because the torque condition is the trigger and the MP condition is the guard condition.

MPCT, MALA, MVLV, and MPLP+ always have intersection points, but LACT, LVCT, LVLA, LPCT-, LVLP+, LALP+, LVLP-, and LALP- may not have intersection points. All cases that do not have an intersection point can avoid the operation of the intersection point by state transition.　

LVCT, LACT, LPCT-, LVLA, LVLP+, and LVLP- must start calculating intersections after judging the state transition to another state. For example, since the condition that the LVCT has no intersection is the MVLV transition condition, it is checked whether the MVLV transition condition is satisfied before obtaining the intersection of the LVCT. At that time, since the LVCT intersection information cannot be used, the MVLV torque is compared with the command torque.　

Next, the output operation of the current target value in the motor control device according to this embodiment will be described. FIG. 7 is a flowchart showing a current target value calculation process in the motor control device according to the present embodiment.　

At step S11 in FIG. 7, the motor control unit 10 defines the eight quadratic curves described above on the dq-axis orthogonal coordinate plane. Specifically, power minimization curve (MP), current minimum curve (MA), voltage minimum curve (MV), current limit circle (LA), voltage limit curve (LV), constant torque curve (CT), power running power A limit curve (LP+) and a regenerative power limit curve (LP-) are drawn on the xy plane.　

In the following step S13, the intersection point of two curves selected from the eight curves drawn in step S11 is defined. Here, there are 13 combinations of intersections, ie, 12 combinations effective as current targets and combinations without intersections effective as current targets, as described above.　

In step S15, the combinations of intersections effective as current targets obtained in step S13 are arranged in the row direction and the column direction as the current state and the transition destination state, respectively, and transition conditions are added to them, as shown in FIG. Create a state transition table.　

In step S17, the motor control unit 10 sets an initial state (for example, starting from MPCT), and in step S19, determines whether or not a transition condition, which will be described later, is satisfied. If the transition condition is satisfied, in step S21, according to the state transition table created in step S15, current saturation, voltage saturation, power saturation, torque saturation, etc. are used as transition conditions, and the state is moved from a predetermined intersection to another intersection. Implement transitions. As a result, the transfer destination (transition destination) is narrowed down, and the current target value that provides the maximum torque within the voltage/current/power limit range is selected.　

In this way, as long as the initial value (x, y) satisfies the transition condition, the process of executing another state transition is repeated (steps S19, S21). If the transition condition is not satisfied (NO in step S19), the motor control unit 10 selects the current target value at the intersection of the current states in step S23.　

In step S25, it is determined whether or not the state transition process has ended. If not, the process returns to step S19 to perform state transition process based on other transition conditions.　

Next, verify the state transition table shown in FIG. Here, state transition tables for power running and regeneration are examined.　

[Verification of state transition table for motoring]
Power running control scenarios are verified for each of the maximum torque conditions classified with reference to FIG. Here, we consider both directions of torque increase and decrease, and examine cases where the maximum torque condition changes. Although the following description is for positive speed, it can also be implemented for negative speed. Also, torque is described as an absolute value unless otherwise specified.

From FIG. 4, there are six maximum torque conditions: MALA, MVLV, MPLP+, LVLA, LALP+, and LVLP+.　

<When the maximum torque condition is MALA>
(12) in FIG. 4 shows the relationship between the curves in the case of the maximum torque condition MALA. (12) in FIG. 4 is a case of power non-saturation and current saturation for both * and *. MALA (marked with *) is not power saturated, that is, it is the same state transition without considering power limitation.

State changes and their transition conditions are shown when the torque command increases from 0 and when the torque command decreases from infinity. That is, when the torque command increases, in the state transition _table of FIG. : current saturation) as a transition condition to the next state, and a transition is performed with the intersection coordinate (LACT) of the current limit circle and the constant torque curve as the transition destination state.

Subsequently, the current state is the intersection coordinate (LACT), the transition condition is C13 (MA≦0: torque saturation) in FIG. , the intersection coordinate (MALA) is the maximum torque condition.　

When the torque command decreases from infinity, the intersection coordinates (MALA) are set to the current state, and the intersection coordinates (LACT) are set to C25 (|T ^* |<|T|: elimination of torque saturation) in FIG. 6 as a transition condition. is the transition destination state. Subsequently, the current state is the intersection point coordinate (LACT), the transition condition is C11 (MP>0: elimination of current saturation) in FIG. conduct.

<When the maximum torque condition is MVLV>
(9) in FIG. 4 shows the case where both the * and * marks are power unsaturated and voltage saturated. In this case, there are three types of transitions depending on the speed, but when ω≦1, the transition is always MPCT ⇔ LVCT ⇔ MVLV in (9) of FIG. When ω>1, there is a possibility that LVCT <-> MPCT <-> LVCT <-> MVLV or LVCT <-> MVLV.

When the torque command increases, the current state is the intersection point (MPCT) between the power minimization curve and the constant torque curve, and C1 (|v|≧v _max : voltage saturation) in FIG. A transition is performed with the coordinates of the intersection with the constant torque curve (LVCT) as the transition destination state.

Subsequently, the current state is the intersection point coordinate (LVCT), and C7 (MV≧0: torque saturation) in FIG. A transition with an end point makes the intersection point coordinate (MVLV) the maximum torque condition.　

When the torque command decreases, the intersection coordinates (MVLV) are set to the current state, and C29 (|T ^* |<|T|: elimination of torque saturation) in FIG. Make a transition to the previous state. Subsequently, the current state is set to the coordinates of the intersection point (LVCT), C5 (MP<0: elimination of voltage saturation) in FIG. conduct.

<When the maximum torque condition is MPLP+>
(1) to (4) in FIG. 4 show the relationship of each curve when both the * and ☆ marks indicate power saturation and the maximum torque condition is MPLP+.

When the torque command increases, the current state is the intersection point ( _MPCT ) of the power minimization curve and the constant torque curve, and the power minimization curve and The intersection coordinate (MPLP+) with the power running power limit curve is the transition destination state and the end point, and the transition is performed such that the intersection coordinate (MPLP+) is the maximum torque condition.

When the torque command decreases, the intersection point coordinate (MPLP+) is set to the current state, and C22 (|T ^* |<T _pmax : elimination of power saturation) in FIG. Make a transition that is a state and an end point. T _pmax is the torque value of MPLP+(powering).

<When the maximum torque condition is LVLA>
In (10) and (11) of FIG. 4, the maximum torque condition is LVLA, and both the asterisks and the asterisks are power unsaturated cases. (10) in FIG. 4 corresponds to the case of saturation in the order of current→voltage, and (11) in FIG. 4 corresponds to the case of saturation in the order of voltage→current.

In the case of saturation in the order of current → voltage, when the torque command increases, the coordinates of the intersection point (MPCT) between the power minimization curve and the constant torque curve are set to the current state, and C2 (|i|≧i _max : Current saturation) is used as a transition condition, and a transition is performed with the intersection coordinate (LACT) of the current limit circle and the constant torque curve as the transition destination state.

Subsequently, the current state is the intersection point coordinate (LACT), C14 (|v|≧v _max : torque saturation) in FIG. , and the intersection coordinate (LVLA) is set as the maximum torque condition.

When the torque command decreases, the intersection coordinate (LVLA) is set to the current state, and C34 (|T ^* |<|T| [MP<0] in FIG. 6: Torque saturation is resolved and the intersection coordinate (LVLA) is (on the minimum current curve (MA) side) is set as a transition condition, and a transition is performed with the intersection coordinate (LACT) as a transition destination state.

Subsequently, the current state is the intersection point coordinate (LACT), the transition condition is C11 (MP>0: elimination of current saturation) in FIG. conduct.　

In the case of saturation in the order of voltage→current, when the torque command increases, the coordinates of the intersection point (MPCT) between the power minimization curve and the constant torque curve are set to the current state, and C1 (|v|≧v _max : Voltage saturation) is used as a transition condition, and a transition is performed with the intersection coordinates (LVCT) of the voltage limit curve and the constant torque curve as the transition destination state.

Subsequently, the current state is the intersection point coordinate (LVCT), and the transition condition is C8 (|i|≧i _max : torque saturation) in FIG. By performing a transition that is a state and an end point, the intersection coordinate (LVLA) is set as the maximum torque condition.

When the torque command decreases, the intersection coordinate (LVLA) is set to the current state, and C33 (|T ^* |<|T| [MP≧0] in FIG. A predetermined torque saturation (on the minimum current curve (MA) side) is eliminated, and the intersection coordinate (LVLA) is on the minimum voltage curve (MV) side) is set as a transition condition, and the intersection coordinate (LVCT) is set as a transition destination state. Make a transition.

After that, the current state is set to the coordinates of the intersection point (LVCT), and C5 (MP<0: elimination of voltage saturation) in FIG. .　

<When the maximum torque condition is LALP+>
(7) and (8) in FIG. 4 are scenarios in which the maximum torque condition is LALP+, and only the asterisks are two cases in which the power is saturated and the current is saturated first.

When the torque command increases, the intersection point (MPCT) between the power minimization curve and the constant torque curve is set as the current state, and C2 (|i|≧i _max : current saturation) in FIG. and the constant torque curve (LACT) is the transition destination state.

Subsequently, the current state is the intersection point coordinate (LACT), C15 (p≧p _max : power saturation) in FIG. , and the intersection coordinate (LALP+) is set as the maximum torque condition.

When the torque command decreases, the intersection coordinate (LALP+) is set to the current state, and C51 (|T ^* |<|T|: elimination of torque saturation) in FIG. Make a transition to the previous state. Subsequently, the current state is the intersection point coordinate (LACT), the transition condition is C11 (MP>0: elimination of current saturation) in FIG. conduct.

<When the maximum torque condition is LVLP+>
(5) and (6) in FIG. 4 are scenarios in which the maximum torque condition is LVLP+, and only the asterisks are two cases in which the power is saturated and the voltage is saturated first.

When the torque command increases, the current state is the intersection point (MPCT) between the power minimization curve and the constant torque curve, and C1 (|v|≧v _max : voltage saturation) in FIG. A transition is performed with the coordinates of the intersection with the constant torque curve (LVCT) as the transition destination state.

Next, with the intersection point coordinates (LVCT) as the current state and C9 (p≧p _max : power saturation) in FIG. , and the intersection coordinate (LVLP+) is set as the maximum torque condition.

When the torque command decreases, the intersection coordinate (LVLP+) is set to the current state, and C42 (|T ^* |<|T|: elimination of torque saturation) in FIG. Make a transition to the previous state. Then, the intersection coordinates (LVCT) are set to the current state, C5 (MP<0: elimination of voltage saturation) in FIG. .

Next, the transition when the maximum torque condition changes due to changes in speed, etc. during power running will be explained.　

Transitions when the maximum torque condition changes include the following transitions. For example, the intersection coordinate (MALA) is the current state, the transition condition is C26 (|v|≧v _max : voltage saturation) in FIG. ) is the current state, C35 (MA≦0: elimination of voltage saturation) in FIG. 6 is the transition condition, and the intersection coordinate (MALA) is the transition destination state.

The intersection coordinate (MALA) is the current state, the transition condition is C27 (p≧p _max : power saturation) in FIG. , with C53 (MA≦0: elimination of power saturation) in FIG.

With the intersection point coordinates (MVLV) as the current state and C30 (|i|≧i _max : current saturation) in FIG. Transition with current state, C36 (MP≧0: elimination of current saturation) in FIG. 6 as transition condition, and intersection coordinate (MVLV) as transition destination state.

The intersection coordinate (MVLV) is the current state, the transition condition is C31 (p≧p _max : power saturation) in FIG. , and with C44 (MV≧0: elimination of power saturation) in FIG.

With the intersection point coordinate (LALP+) as the current state and the transition condition C52 (MP>0: elimination of voltage saturation) in FIG. state, C24 (|i|≧i _max : current saturation) in FIG. 6 as a transition condition, and intersection coordinates (LALP+) as a transition destination state.

The intersection coordinate (LALP+) is the current state, the transition condition is C54 (|v|≧v _max : voltage saturation) in FIG. The current state is C39 (p≧p _max [MP<0]: power saturation and the intersection point coordinate (LVLA) is on the current minimum curve (MA) side) as a transition condition, and the intersection point coordinate (LALP+) is the transition destination state.

With the intersection point coordinate (LVLP+) as the current state and C43 (MP<0: elimination of voltage saturation) in FIG. state, C23 (|v|≧v _max : voltage saturation) in FIG. 6 as the transition condition, and the intersection coordinate (LVLP+) as the transition destination state.

The intersection coordinate (LVLP+) is the current state, the transition condition is C45 (|i|≧i _max : current saturation) in FIG. 6 (p ≥ p _max [MP ≥ 0]: power saturation and the intersection point coordinate (LVLA) is on the voltage minimum curve (MV) side) as a transition condition, and the intersection point coordinate (LVLP+) is set to Transition to be transition destination state.

The NOVA transition speed ω _NOVA in the state transition table of FIG. 6 is the speed at which the LA curve, the LV curve, and the LP curve have a triple intersection (approximately, the speed at which the y-intercept of the LA curve exists on the LV curve ). LVLA, LVLP+, and LALP+ transition to NOVA, and NOVA transitions to LVLA only.

[Verification of state transition table for regeneration]
A regeneration control scenario is verified for each maximum torque condition classified with reference to FIG. Since MPLP- does not reach the maximum torque condition in the regenerative state, the number of scenarios increases more than in the power running state described above.

<When the maximum torque condition is MALA>
(12) and (16) in FIG. 5 show the relationship between the curves in the case of the maximum torque condition MALA. (16) in FIG. 5 is not affected by the power limitation, so the maximum torque condition during power running is the same as in MALA.

(12) in FIG. 5 is a case where the power saturates before the current and the power saturation is canceled in the middle. In this case, when the torque command increases, the current state is the intersection point (MPCT) of the power minimization curve and the constant torque curve, and the transition condition is C3 (p ≤ p _min : power saturation) in FIG. A transition is made with the intersection point (LPCT-) of the power limit curve and the constant torque curve as the transition destination state.

Next, the current state is defined as the intersection coordinate (LPCT-), and the transition condition is C19 (|i|≧i _max [MA>0 and MP<0]: elimination of power saturation) in FIG. A transition is performed with the intersection coordinate (LACT) with the torque curve as the transition destination state.

Further, the current state is the intersection coordinate (LACT), the transition condition is C13 (MA≦0: torque saturation) in FIG. A transition with an endpoint causes its intersection coordinate (MALA) to be the maximum torque condition.　

When the torque command decreases, the intersection coordinate (MALA) is set to the current state, and C25 (|T ^* |<|T|: elimination of torque saturation) in FIG. Make a transition to the previous state. Subsequently, the intersection coordinate (LACT) is set as the current state, C12 (p≦p _min : power saturation) in FIG. 6 is set as the transition condition, and the intersection coordinate (LPCT−) is set as the transition destination state.

Furthermore, the intersection point coordinates (LPCT-) are set to the current state, and the intersection point coordinates (MPCT) are transitioned with C17 (|T _{pmin_l} |<|T ^* |<|T _{pmin_h} |: elimination of power saturation) in FIG. 6 as a transition condition. Make a transition that is the previous state and the end point. T _{pmin_l} is the MALA (regeneration: close to the origin) torque value, and T _{pmin_h} is the MALA (regeneration: far from the origin) torque value.

Although not shown in FIG. 5, there is a case where the maximum torque condition is MALA and power is saturated in the middle of LACT. In that case, when the torque command increases, the current state is the intersection point (MPCT) between the power minimization curve and the constant torque curve, and C2 (|i|≧i _max : current saturation) in FIG. 6 is the transition condition. , the intersection coordinates (LACT) of the current limiting circle and the constant torque curve are transition destination states.

Subsequently, the intersection coordinate (LACT) is the current state, C12 (p ≤ p _min : power saturation) in FIG. Make a state transition. Also, with the intersection point coordinate (LPCT−) as the current state and C19 (|i|≧i _max [MA>0 and MP<0]: elimination of power saturation) in FIG. Execute the transition to be the transition destination state.

Furthermore, with the intersection coordinates (LACT) as the current state and C13 (MA≦0: torque saturation) in FIG. The intersection coordinate (MALA) is the maximum torque condition due to the transition that ends at one.　

When the torque command decreases, the intersection coordinate (MALA) is set to the current state, and C25 (|T ^* |<|T|: elimination of torque saturation) in FIG. Make a transition to the previous state. Subsequently, the intersection coordinate (LACT) is set as the current state, C12 (p≦p _min : power saturation) in FIG. 6 is set as the transition condition, and the intersection coordinate (LPCT−) is set as the transition destination state.

Furthermore, with the intersection point coordinates (LPCT−) as the current state and C19 (|i|≧i _max : elimination of power saturation) in FIG. Subsequently, the intersection coordinate (LACT) is the current state, C11 (MP>0: elimination of current saturation) in FIG. 6 is the transition condition, and the intersection coordinate (MPCT) is the destination state and the end point I do.

<When the maximum torque condition is MVLV>
Since the case of (13) in FIG. 5 is not affected by the power limitation, the maximum torque condition during power running is the same as the case of MVLV described above.

The case shown in (9) in FIG. 5 is a case where the power is saturated before the voltage and the power saturation is canceled in the middle. In this case, when the torque command increases, the current state is the intersection point (MPCT) of the power minimization curve and the constant torque curve, and the transition condition is C3 (p ≤ p _min : power saturation) in FIG. A transition is made with the intersection point (LPCT-) of the power limit curve and the constant torque curve as the transition destination state.

Subsequently, the current state is the intersection coordinate (LPCT-), and C18 (|v|≧v _max [MV<0 and MP>0]: elimination of power saturation) in FIG. A transition is made with the intersection coordinates (LVCT) with the torque curve as the transition destination state.

Further, with the current state as the intersection point coordinates (LVCT) and C7 (MV≧0: torque saturation) in FIG. By making a transition to the end point, the intersection coordinate (MVLV) is set as the maximum torque condition.　

When the torque command decreases, the intersection coordinates (MVLV) are set to the current state, and C29 (|T ^* |<|T|: elimination of torque saturation) in FIG. Make a transition to the previous state. Subsequently, the current state is the intersection point coordinates (LVCT), the transition condition is C6 (p≦p _min : voltage saturation) in FIG. 6, and the intersection point coordinates (LPCT−) is the transition destination state. −) is the current state, C17 (|T _{pmin_l} |<|T ^* |<|T _{pmin_h} |: elimination of voltage saturation) in FIG. Make a point transition.

Although not shown in FIG. 5, there is a case where the maximum torque condition is MVLV and power is saturated during LVCT. In that case, when the torque command increases, the current state is the intersection point (MPCT) between the power minimization curve and the constant torque curve, and C1 (|v|≧v _max : voltage saturation) in FIG. 6 is the transition condition. , the intersection point coordinates (LVCT) of the voltage limit curve and the constant torque curve are transition destination states.

Subsequently, the current state is the intersection point coordinate (LVCT), the transition condition is C6 (p ≤ p _min : power saturation) in FIG. Make a state transition. Then, with the intersection point coordinates (LPCT−) as the current state and C18 (|v|≧v _max [MV<0 and MP>0]: elimination of power saturation) in FIG. Execute the transition to be the transition destination state.

Further, the current state is the intersection point coordinate (LVCT), the transition condition is C7 (MV≧0: torque saturation) in FIG. By performing a transition with an end point, the intersection coordinate (MVLV) is set as the maximum torque condition.　

When the torque command decreases, the intersection point coordinates (MVLV) are set to the current state, and the intersection point coordinates (LVCT) are set to the transition destination state with C29 (|T ^* |<|T|: Torque saturation elimination) in FIG. 6 as the transition condition. Make a transition to

Further, the current state is the intersection point coordinates (LVCT), the transition condition is C6 (p≦p _min : power saturation) in FIG. (LPCT-) is the current state, C18 (|v|≧v _max : elimination of power saturation) in FIG. 6 is the transition condition, and the intersection coordinate (LVCT) is the transition destination state.

After that, the current state is set to the coordinates of the intersection point (LVCT), and C5 (MP<0: elimination of voltage saturation) in FIG. .　

<When the maximum torque condition is LVLA>
(11) and (15) in FIG. 5 are cases in which the current saturates first. are the same.

In the case shown in (11) of FIG. 5, when the torque command increases, the current state is the intersection point (MPCT) between the power minimization curve and the constant torque curve, and C3 (p≤p _min : power saturation ) as the transition condition, the transition is performed with the intersection coordinate (LPCT-) between the regenerative power limit curve and the constant torque curve as the transition destination state.

Next, the intersection point coordinates (LPCT-) are defined as the current state, and C19 (|i|≧i _max [MA>0 and MP<0]: elimination of power saturation) in FIG. A transition is performed with the intersection coordinate (LACT) with the torque curve as the transition destination state.

Subsequently, the intersection coordinate (LACT) is the current state, the transition condition is C14 (|v|≧v _max : torque saturation) in FIG. 6, and the intersection coordinate (LVLA) is the transition destination state and transition point and the intersection coordinate (LVLA) is set as the maximum torque condition.

When the torque command decreases, the intersection coordinate (LVLA) is set to the current state, and C34 (|T ^* |<|T| [MP<0] in FIG. 6: Torque saturation is resolved and the intersection coordinate (LVLA) is (on the minimum current curve (MA) side) is set as a transition condition, and a transition is performed with the intersection coordinate (LACT) as a transition destination state.

Subsequently, the intersection coordinate (LACT) is set as the current state, C12 (p≤p _min : power saturation) in FIG. Let the coordinates ( _LPCT- ) be the current state, and _let C17 in FIG ^. There is a transition with an end point.

Although illustration is omitted, when the power is saturated in the middle of LACT, the transition is as follows. That is, when the torque command increases, the current state is the intersection point (MPCT) of the power minimization curve and the constant torque curve, and the transition condition is C2 (|i|≧i _max : current saturation) in FIG. A transition is made with the intersection coordinates (LACT) of the limit circle and the constant torque curve as the transition destination state.

Subsequently, the intersection coordinate (LACT) is the current state, C12 (p ≤ p _min : power saturation) in FIG. Make a state transition.

Further, with the intersection point coordinate (LPCT-) as the current state and C19 (|i|≧i _max [MA>0 and MP<0]: elimination of power saturation) in FIG. 6 as the transition condition, the current limit circle and the constant torque A transition is made with the intersection coordinate (LACT) with the curve as the transition destination state.

After that, the current state is the intersection coordinate (LACT), the transition condition is C14 (v≧v _max : torque saturation) in FIG. 6, and the intersection coordinate (LVLA) is the destination state and the end point. , intersection coordinates (LVLA) as the maximum torque condition.

When the torque command decreases, the intersection point coordinate (LVLA) is set to the current state, and C34 (|T ^* |<|T| [MP<0] in FIG. (on the minimum curve (MA) side) is set as a transition condition, and a transition is performed with the intersection coordinate (LACT) as a transition destination state.

Next, the intersection coordinates (LACT) are set to the current state, C12 (p≦p _min : power saturation) in FIG. With the intersection point coordinate (LPCT−) as the current state and C19 (|i|≧i _max : elimination of power saturation) in FIG.

Further, the intersection coordinate (LACT) is the current state, C11 (MP>0: elimination of current saturation) in FIG. .　

(10) and (14) in FIG. 5 are cases in which the voltage saturates first. are the same.　

In the case shown in (10) of FIG. 5, when the torque command increases, the current state is the intersection point (MPCT) between the power minimization curve and the constant torque curve, and C3 (p≤p _min : power saturation ) as the transition condition, the transition is performed with the intersection coordinate (LPCT-) between the regenerative power limit curve and the constant torque curve as the transition destination state.

Subsequently, the current state is the intersection coordinate (LPCT-), and C18 (|v|≧v _max [MV<0 and MP>0]: elimination of power saturation) in FIG. A transition is made with the intersection coordinates (LVCT) with the torque curve as the transition destination state.

After that, with the intersection point coordinates (LVCT) as the current state and C8 (|i|≧i _max : torque saturation) in FIG. A transition is made to the end point, and the intersection coordinate (LVLA) is set as the maximum torque condition.

When the torque command decreases, the intersection coordinate (LVLA) is set to the current state, and C33 (|T ^* |<|T| [MP≧0] in FIG. (on the minimum curve (MV) side) is set as a transition condition, and a transition is performed with the intersection coordinates (LVCT) as the transition destination state.

Next, the intersection coordinate (LVCT) is set to the current state, and C6 (p≦p _min : power saturation) in FIG. With the coordinate (LPCT−) as the current state and C17 (|T _pmin — l |<|T ^* |<|T _pmin — h |: elimination of voltage saturation) in FIG. There is a transition with an end point.

Although illustration is omitted, when power saturation occurs in the middle of LVCT, the transition is as follows. That is, when the torque command increases, the current state is the intersection point (MPCT) of the power minimization curve and the constant torque curve, and C1 (|v|≧v _max : voltage saturation) in FIG. A transition is made with the coordinates of the intersection point (LVCT) of the limit curve and the constant torque curve as the transition destination state.

Subsequently, the current state is the intersection point coordinate (LVCT), the transition condition is C6 (p ≤ p _min : power saturation) in FIG. Make a state transition. Then, with the intersection point coordinates (LPCT−) as the current state and C18 (|v|≧v _max [MV<0 and MP>0]: elimination of power saturation) in FIG. Execute the transition to be the transition destination state.

Further, the current state is the intersection point coordinate (LVCT), C8 (|i|≧i _max : torque saturation) in FIG. , and the intersection coordinate (LVLA) is set as the maximum torque condition.

When the torque command decreases, the intersection coordinate (LVLA) is set to the current state, and C33 (|T ^* |<|T| [MP>0] in FIG. 6: Torque saturation is eliminated and the intersection coordinate (LVLA) is (on the minimum voltage curve (MV) side) is set as a transition condition, and a transition is performed with the intersection coordinate (LVCT) as a transition destination state.

Subsequently, the intersection coordinate (LVCT) is set as the current state, C6 (p≦p _min : power saturation) in FIG. With the coordinate (LPCT-) as the current state, C18 (|v|≧v _max : elimination of power saturation) in FIG. 6 as the transition condition, and the intersection coordinate (LVCT) as the destination state.

Then, the intersection coordinates (LVCT) are set to the current state, C5 (MP<0: elimination of voltage saturation) in FIG. .　

<When the maximum torque condition is LALP->
The cases of the maximum torque condition LALP- can be classified into three types (4), (6) and (8) in FIG. First, the case of (8) in FIG. 5, in which only MALA (marked with *) is power saturated, will be described. In this case, since the torque is greater at the point farthest from the MP curve, the LALP- closer to the MP curve is not the maximum torque condition, and the LALP- farther from the MP curve is the maximum torque condition (▲) becomes.

When the torque command increases, the intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are set as the current state, and C2 (|i|≧i _max : current saturation) in FIG. A transition is performed with the intersection coordinate (LACT) with the constant torque curve as the transition destination state. Subsequently, the intersection coordinates (LACT) are the current state, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are the transition destination state with C12 (p ≤ p _min : power saturation) in FIG. 6 as the transition condition. Make a transition to

Further, with the intersection coordinate (LPCT-) as the current state and C21 (|i|≧i _max [MA≦0 or MP≧0]: torque saturation) in FIG. 6 as the transition condition, the current limit circle and the regenerative power limit curve A transition is made with the intersection coordinate (LALP-) as the transition destination state and the end point, and the intersection coordinate (LALP-) is set as the maximum torque condition.

When the torque command decreases, the intersection point coordinate (LALP-) is set to the current state, and the intersection point coordinate (LPCT-) is set to C56 (|T ^* |<|T|: cancellation of torque saturation) in FIG. 6 as a transition condition. Execute the transition to be the transition destination state.

Subsequently, the intersection coordinate (LPCT−) is set to the current state, and C19 (|i|≧i _max : elimination of power saturation) in FIG. After that, the current state is set to the intersection coordinate (LACT), and C11 (MP>0: elimination of current saturation) in FIG.

In the case of (4) in FIG. 5, both MALA (marked with ★) and MPLA (marked with ☆) are power saturated, and MPCT (△ mark) MA curve in which LALP- torque always increases at power saturation go to the side.　

In this case, when the torque command increases, the current state is the intersection point (MPCT) of the power minimization curve and the constant torque curve, and the transition condition is C3 (p ≤ p _min : power saturation) in FIG. A transition is made with the intersection point (LPCT-) of the power limit curve and the constant torque curve as the transition destination state.

Subsequently, the intersection coordinates (LPCT-) are the current state, and C21 (|i|≧i _max [MA≦0 or MP≧0]: torque saturation) in FIG. 6 is the transition condition. A transition is made with the intersection coordinate (LALP-) as the transition destination state and the end point, and the intersection coordinate (LALP-) is set as the maximum torque condition.

When the torque command decreases, the intersection point coordinate (LALP-) is set to the current state, and the intersection point coordinate (LPCT-) is transitioned with C56 (|T ^* |<|T|: cancellation of torque saturation) in FIG. 6 as the transition condition. After the transition to the previous state, the intersection coordinate (LPCT-) is set to the current state, and C17 (|T _{pmin_l} |<|T ^* |<|T _{pmin_h} |: elimination of power saturation) in FIG. 6 is set as the transition condition. , the intersection coordinates (MPCT) as the transition destination state and the end point.

(6) in FIG. 5 is a case where restrictions are made in the order of voltage limitation, power limitation, and current limitation. LALP-, which is the farthest from the MP curve, is the maximum torque condition (▴ mark). In this case, when the torque command increases, the current state is the intersection point (MPCT) between the power minimization curve and the constant torque curve, and C1 (|v|≧v _max : voltage saturation) in FIG. A transition is made with the coordinates of the intersection point (LVCT) of the limit curve and the constant torque curve as the transition destination state.

Subsequently, the intersection coordinates (LVCT) are the current state, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are the transition destination state with C6 (p ≤ p _min : power saturation) in FIG. 6 as the transition condition. Make a transition to

Furthermore, with the intersection coordinate (LPCT−) as the current state and C21 (|i|≧i _max [MA≦0 or MP≧0]: torque saturation) in FIG. The intersection point (LALP-) is the transition destination state and the end point, and the intersection point (LALP-) is set as the maximum torque condition.

When the torque command decreases, the intersection point coordinate (LALP-) is set to the current state, and the intersection point coordinate (LPCT-) is set to C56 (|T ^* |<|T|: cancellation of torque saturation) in FIG. 6 as a transition condition. After the transition to the transition destination state, the intersection coordinate (LPCT-) is set to the current state, and the intersection coordinate (LVCT) is transitioned with C18 (|v|≧v _max : elimination of power saturation) in FIG. 6 as the transition condition. Make a transition to the previous state.

Further, the current state is set to the coordinates of the intersection point (LVCT), C5 (MP<0: elimination of voltage saturation) in FIG. .　

<When the maximum torque condition is LVLP->
The cases of the maximum torque condition LVLP- can be classified into three types (1), (5) and (7) in FIG. In the case of (5) in FIG. 5, only the MVLV (marked with *) is power saturated, and the torque is greater at the point farthest from the MP curve, so the LVLP- closer to the MP curve does not meet the maximum torque condition. LVLP-, which is farther from the MP curve, is the maximum torque condition (marked with .tangle-solidup.).

In the case of (5) in FIG. 5, when the torque command increases, the current state is the intersection point (MPCT) between the power minimization curve and the constant torque curve, and C3 (p≦p _min : power saturation) in FIG. is the transition condition, and the transition destination state is the coordinate (LPCT-) of the intersection of the regenerative power limit curve and the constant torque curve.

Next, with the intersection coordinate (LPCT-) as the current state and C20 (|v|≧v _max [MV≧0 or MP≦0]: torque saturation) in FIG. 6 as the transition condition, the voltage limit curve and the regenerative power limit A transition is made with the coordinates of the intersection with the curve (LVLP-) being the destination state and the end point, and the coordinates of the intersection (LVLP-) being the maximum torque condition.

When the torque command decreases, the intersection point coordinate (LVLP-) is set to the current state, and the intersection point coordinate (LPCT-) is set to C47 (|T ^* |<|T|: cancellation of torque saturation) in FIG. 6 as a transition condition. Execute the transition to be the transition destination state. Next, with the intersection point coordinates (LPCT-) as the current state and C17 (|T _{pmin_l} |<|T ^* |<|T _{pmin_h} |: elimination of voltage saturation) in FIG. Executes a transition that is a transition destination state and an end point.

In the case of (1) in FIG. 5, the MPCT (.DELTA.mark) advances to the MV curve side where the torque of LVLP- always increases at the time of power saturation. In this case, when the torque command increases, the current state is the intersection point (MPCT) between the power minimization curve and the constant torque curve, and C1 (|v|≧v _max : voltage saturation) in FIG. 6 is the transition condition. , the intersection point coordinates (LVCT) of the voltage limit curve and the constant torque curve are transition destination states.

Subsequently, the intersection coordinates (LVCT) are the current state, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are the transition destination state with C6 (p ≤ p _min : power saturation) in FIG. 6 as the transition condition. Make a transition to

Furthermore, with the intersection coordinate (LPCT-) as the current state and C20 (|v|≧v _max [MV≧0 or MP≦0]: torque saturation) in FIG. 6 as the transition condition, the voltage limit curve and the regenerative power limit curve A transition is made with the intersection coordinate (LVLP-) as the transition destination state and the end point, and the intersection coordinate (LVLP-) is set as the maximum torque condition.

When the torque command decreases, the intersection point coordinate (LVLP-) is set to the current state, and the intersection point coordinate (LPCT-) is transitioned with C47 (|T ^* |<|T|: cancellation of torque saturation) in FIG. 6 as the transition condition. Make a transition to the previous state. Subsequently, the current state is set to the intersection coordinate (LPCT-), and the transition destination state is set to the intersection coordinate (LVCT) with C18 (|v|≧v _max : elimination of power saturation) as the transition condition.

Furthermore, the current state is the intersection point coordinates (LVCT), and C5 (MP<0: elimination of voltage saturation) in FIG.　

(7) in FIG. 5 is a case in which restrictions are made in the order of voltage limitation, power limitation, and current limitation. Here, the farthest point LVLP- (▴ mark) from the MP curve is the maximum torque condition. In this case, when the torque command increases, the intersection point (MPCT) between the power minimization curve and the constant torque curve is set as the current state, and C2 (|i|≧i _max : current saturation) in FIG. A transition is made with the intersection coordinates (LACT) of the limit circle and the constant torque curve as the transition destination state.

Subsequently, the intersection coordinates (LACT) are the current state, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are the transition destination state with C12 (p ≤ p _min : power saturation) in FIG. 6 as the transition condition. Make a transition to

Furthermore, with the intersection coordinate (LPCT-) as the current state and C20 (|v|≧v _max [MV≧0 or MP≦0]: torque saturation) in FIG. 6 as the transition condition, the voltage limit curve and the regenerative power limit curve A transition is made with the intersection coordinate (LVLP-) as the transition destination state and the end point, and the intersection coordinate (LVLP-) is set as the maximum torque condition.

When the torque command decreases, the intersection point coordinate (LVLP-) is set to the current state, and the intersection point coordinate (LPCT-) is transitioned with C47 (|T ^* |<|T|: cancellation of torque saturation) in FIG. 6 as the transition condition. Make a transition to the previous state. Then, the current state is set to the intersection coordinate (LPCT-), and C19 (|i|≧i _max : elimination of power saturation) in FIG.

Furthermore, the current state is the intersection point coordinate (LACT), and C11 (MP>0: elimination of current saturation) in FIG.　

<When the maximum torque condition is undefined>
(2) and (3) in FIG. 5 are cases in which it is uncertain whether the maximum torque condition is LVLP- or LALP-. If the torque on LALP- is greater, the following transitions occur.

When the torque command increases, the current state is the intersection point (MPCT) of the power minimization curve and the constant torque curve, and the regenerative power limit curve is determined with C3 (p≤p _min : power saturation) in FIG. 6 as the transition condition. A transition is made with the intersection coordinate (LPCT-) with the torque curve as the transition destination state.

Subsequently, the intersection coordinates (LPCT-) are the current state, and C21 (|i|≧i _max [MA≦0 or MP≧0]: torque saturation) in FIG. 6 is the transition condition. A transition is performed with the intersection coordinate (LALP-) of .

When the torque command decreases, the intersection point coordinate (LALP-) is set to the current state, and the intersection point coordinate (LPCT-) is set to C56 (|T ^* |<|T|: cancellation of torque saturation) in FIG. 6 as a transition condition. Transition to the transition destination state is performed, then the intersection coordinate (LPCT-) is set to the current state, and C17 (|T _{pmin_l} |<|T ^* |<|T _{pmin_h} |: elimination of power saturation) in FIG. 6 is transitioned. As a condition, a transition is performed with intersection coordinates (MPCT) as a transition destination state and an end point.

On the other hand, if the torque on LVLP- is greater, the following transition occurs. That is, when the torque command increases, the current state is the intersection point (MPCT) of the power minimization curve and the constant torque curve, and the regenerative power limit curve is set to C3 (p≤p _min : power saturation) in FIG. and the constant torque curve (LPCT-) is the transition destination state.

Next, with the intersection coordinate (LPCT-) as the current state and C20 (|v|≧v _max [MV≧0 or MP≦0]: torque saturation) in FIG. 6 as the transition condition, the voltage limit curve and the regenerative power limit A transition is made with the coordinates of the intersection with the curve (LVLP-) as the transition destination state and the end point, and the coordinates of the intersection (LVLP-) become the maximum torque condition.

When the torque command decreases, the intersection coordinate (LALP-) is set to the current state, and the intersection coordinate (LPCT-) is set to C47 (|T ^* |<|T|: elimination of torque saturation) in FIG. 6 as a transition condition. Execute the transition to be the transition destination state.

After that, the intersection point coordinates (LPCT-) are set to the current state, and the intersection point coordinates (MPCT) are transitioned with C17 (|T _{pmin_l} |<|T ^* |<|T _{pmin_h} |: elimination of power saturation) in FIG. 6 as the transition condition. Make a transition that is the previous state and the end point.

If the torque of LALP- and the torque of LVLP- are the same when the maximum torque condition is indefinite as described above, the one with higher efficiency is selected.　

Next, the transition when the maximum torque condition changes during regeneration will be explained. Transitions when the maximum torque condition changes include the following six transitions.　

The current state is the intersection point coordinate (MALA), the transition condition is C26 (|v|≧v _max : voltage saturation) in FIG. Transition with current state, C35 (MA≦0: elimination of voltage saturation) in FIG. 6 as a transition condition, and intersection coordinate (MALA) as a transition destination state.

The current state is the intersection coordinate (MALA), the transition condition is C28 (p≤p _min : power saturation) in FIG. 6, and the transition destination state is the intersection coordinate (LALP-). state, C57 (MA≦0: elimination of power saturation) in FIG. 6 as the transition condition, and the intersection coordinate (MALA) as the transition destination state.

The current state is the intersection coordinate (MVLV), the transition condition is C30 (|i|≧i _max : current saturation) in FIG. 6, and the transition destination state is the intersection coordinate (LVLA). 6 (MV≧0: elimination of current saturation) as a transition condition, and the intersection coordinate (MVLV) as a transition destination state.

The current state is the intersection coordinate (MVLV), the transition condition is C32 (p≤p _min : power saturation) in FIG. 6, and the transition destination state is the intersection coordinate (LVLP-). state, C48 (MV≧0: elimination of current saturation) in FIG. 6 as a transition condition, and intersection coordinates (MVLV) as a transition destination state.

The intersection coordinate (LALP-) is the current state, the transition condition is C58 (|v|≧v _max : voltage saturation) in FIG. 6, and the intersection coordinate (LVLA) is the transition destination state. 6 (p≤p _min [MP<0]: power saturation and the intersection coordinate (LVLA) is on the current minimum curve (MA) side) as a transition condition, and the intersection coordinate (LALP-) is set as a transition condition. Transition to be transition destination state.

The current state is the intersection coordinate (LVLP−), the transition condition is C49 (|i|≧i _max : current saturation) in FIG. 6, and the intersection coordinate (LVLA) is the transition destination state. 6 (p≤p _min [MP<0]: power saturation and the intersection coordinate (LVLA) is on the voltage minimum curve (MV) side) as the transition condition, and Transition to be transition destination state.

As described above, using the state transition table in which the transition conditions from the current state to the transition destination state are set, the positional relationship of the curve defined on the dq-axis orthogonal coordinate plane (current vector plane) on that plane can determine the transition destination based on At that time, by calculating the command value of the current vector by focusing on the intersection of the two curves, which is effective as the current target value (current output value) for the motor, the amount of calculation of the current target value is reduced and the processing speed is increased. can improve and reduce costs.　

In addition, by considering iron loss as energy loss, the accuracy of maximum efficiency control is improved, and by considering the power limit, it is possible to avoid damage to the battery due to power running and regeneration that exceed the battery charge/discharge allowable power. can. That is, the accuracy of the maximum efficiency control of the motor can be improved by including not only the copper loss but also the iron loss and considering the power limit.　

By incorporating states in the state transition table that do not have a possible output range (both the current and voltage conditions are not satisfied), it is possible to avoid unnecessary calculations under conditions where there is no solution, and the intersection point for the current command can be avoided. It is possible to prevent failure of coordinate calculation and stabilize control.

1 motor controller 2 central control unit (CPU)
3 memory 4 voltage command unit 5 motor drive unit 10 motor control unit 15 electric motor 16a q-axis PI control unit 16b d-axis PI control unit 17, 28 coordinate conversion unit 21 PWM signal generation unit 23 inverter circuit 24 power relay 25 current detection unit 27 A/D converter (ADC)
29 Rotation angle sensor BT External battery

Claims (29)

1. A motor control device for driving a motor by current vector control in a dq-axis orthogonal coordinate system,
   Power minimization curve (MP), current minimum curve (MA), voltage minimum curve (MV), current limit circle (LA), voltage limit curve (LV), constant torque curve (CT), motoring on dq axis Cartesian coordinate plane means for obtaining a combination of intersections effective as a current command from intersections of two curves selected from the power limit curve (LP+) and the regenerative power limit curve (LP-);
   means for arranging the combinations of intersections in the row direction and the column direction as a current state and a transition destination state, respectively, and creating a state transition table in which transition conditions from the current state to the transition destination state are set;
   and means for selecting a current target value for the motor based on the positional relationship on the curve of the intersection corresponding to the transition destination state when transition is made from an arbitrary intersection corresponding to the current state according to the transition condition. motor controller.
2. The motor control device according to claim 1, wherein the state transition table includes, as the current state and the transition destination state, states that do not have a valid intersection with the curve.
3. The state transition table, as a state transition at the time of power running,
   If the torque command increases,
   The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LACT) of the current limit circle and the constant torque curve are defined as the current state, and a predetermined current saturation as the transition condition. a transition to be a transition destination state;
   A transition in which the intersection coordinate (LACT) is the current state, a predetermined torque saturation is the transition condition, and the intersection coordinate (MALA) of the current minimum curve and the current limit circle is the transition destination state and the end point. and a first transition at which the intersection point coordinate (MALA) is a maximum torque condition;
   If the torque command decreases,
   a transition in which the coordinates of the intersection point (MALA) are the current state, the transition condition is elimination of a predetermined torque saturation, and the coordinates of the intersection point (LACT) are the transition destination state;
   a second transition including a transition in which the intersection coordinate (LACT) is the current state, the transition condition is elimination of a predetermined current saturation, and the intersection coordinate (MPCT) is the transition destination state and the end point; 2. The motor controller of claim 1, comprising:
4. The state transition table, as a state transition at the time of power running,
   If the torque command increases,
   The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LVCT) of the voltage limit curve and the constant torque curve are defined as the transition condition, with a predetermined voltage saturation as the transition condition. a transition to be a transition destination state;
   A transition in which the intersection coordinates (LVCT) are the current state, predetermined torque saturation is the transition condition, and the intersection coordinates (MVLV) of the voltage minimum curve and the voltage limit curve are the transition destination state and the end point. a third transition where the intersection point coordinate (MVLV) is a maximum torque condition;
   If the torque command decreases,
   a transition in which the intersection coordinates (MVLV) are the current state, the transition condition is elimination of predetermined torque saturation, and the intersection coordinates (LVCT) are the transition destination state;
   a fourth transition including a transition in which the intersection point coordinates (LVCT) are the current state, the intersection point coordinates (MPCT) are the transition destination state and the end point, with the transition condition being the elimination of a predetermined voltage saturation; 2. The motor controller of claim 1, comprising:
5. The state transition table, as a state transition at the time of power running,
   If the torque command increases,
   The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are set as the current state, and the intersection coordinates (MPLP+) of the power minimization curve and the power-running power limit curve are set with a predetermined power saturation as the transition condition. is the transition destination state and is the end point, and the intersection coordinate (MPLP+) is the maximum torque condition;
   If the torque command decreases,
   a sixth transition in which the intersection point coordinate (MPLP+) is the current state, the transition condition is elimination of a predetermined power saturation, and the intersection point coordinate (MPCT) is the transition destination state and the end point. The motor control device according to claim 1.
6. In the state transition table, as state transitions during power running,
   If the torque command increases,
   The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LACT) of the current limit circle and the constant torque curve are defined as the current state, and a predetermined current saturation as the transition condition. a transition to be a transition destination state;
   a transition in which the intersection coordinate (LACT) is the current state, a predetermined torque saturation is the transition condition, and the intersection coordinate (LVLA) of the voltage limit curve and the current limit circle is the transition destination state and the end point; and a seventh transition at which the intersection point coordinate (LVLA) is a maximum torque condition;
   If the torque command decreases,
   The intersection coordinate (LVLA) is set as the current state, and the intersection coordinate (LACT) is set as the transition condition that predetermined torque saturation is eliminated and the intersection coordinate (LVLA) is on the current minimum curve (MA) side. a transition to be the transition destination state;
   an eighth transition including a transition in which the intersection coordinate (LACT) is the current state, the transition condition is elimination of a predetermined current saturation, and the intersection coordinate (MPCT) is the transition destination state and the end point; 2. The motor controller of claim 1, comprising:
7. In the state transition table, as state transitions during power running,
   If the torque command increases,
   The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LVCT) of the voltage limit curve and the constant torque curve are defined as the transition condition, with a predetermined voltage saturation as the transition condition. a transition to be a transition destination state;
   A transition in which the intersection coordinates (LVCT) are the current state, predetermined torque saturation is the transition condition, and the intersection coordinates (LVLA) of the voltage limit curve and the current limit circle are the transition destination state and the end point. and a ninth transition where the intersection coordinate (LVLA) is a maximum torque condition;
   If the torque command decreases,
   The intersection point coordinates (LVLA) are set as the current state, and the intersection point coordinates (LVCT) are set as the transition condition that predetermined torque saturation is eliminated and the intersection point coordinates (LVLA) is on the voltage minimum curve (MV) side. a transition to be the transition destination state;
   a tenth transition including a transition in which the intersection point coordinates (LVCT) are the current state, the transition condition is elimination of a predetermined voltage saturation, and the intersection point coordinates (MPCT) are the transition destination state and the end point; 2. The motor controller of claim 1, comprising:
8. The state transition table, as a state transition at the time of power running,
   If the torque command increases,
   The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LACT) of the current limit circle and the constant torque curve are defined as the current state, and a predetermined current saturation as the transition condition. a transition to be a transition destination state;
   The intersection coordinate (LACT) is defined as the current state, a predetermined power saturation is defined as the transition condition, and the intersection coordinate (LALP+) of the current limit circle and the power running power limit curve is defined as the transition destination state and the end point. an eleventh transition, wherein the intersection coordinate (LALP+) is a maximum torque condition;
   If the torque command decreases,
   a transition in which the intersection coordinate (LALP+) is the current state, the transition condition is elimination of a predetermined torque saturation, and the intersection coordinate (LACT) is the transition destination state;
   a twelfth transition including a transition in which the intersection coordinate (LACT) is the current state, the transition condition is elimination of a predetermined current saturation, and the intersection coordinate (MPCT) is the transition destination state and the end point; 2. The motor controller of claim 1, comprising:
9. The state transition table, as a state transition at the time of power running,
   If the torque command increases,
   The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LVCT) of the voltage limit curve and the constant torque curve are defined as the transition condition, with a predetermined voltage saturation as the transition condition. a transition to be a transition destination state;
   The coordinates of the intersection point (LVCT) are the current state, the coordinates of the intersection point (LVLP+) of the voltage limit curve and the power limit curve are defined as the transition destination state and the end point, with a predetermined power saturation as the transition condition. a thirteenth transition, wherein the intersection coordinate (LVLP+) is a maximum torque condition;
   If the torque command decreases,
   a transition in which the intersection coordinate (LVLP+) is the current state, the transition condition is elimination of a predetermined torque saturation, and the intersection coordinate (LVCT) is the transition destination state;
   a fourteenth transition including a transition in which the intersection coordinate (LVCT) is the current state, the transition condition is elimination of a predetermined voltage saturation, and the intersection coordinate (MPCT) is the transition destination state and an end point; 2. The motor controller of claim 1, comprising:
10. The state transition table, when the maximum torque condition changes,
    A transition in which the intersection coordinate (MALA) is the current state, a predetermined voltage saturation is the transition condition, and the intersection coordinate (LVLA) is the transition destination state, and the intersection coordinate (LVLA) is the current state, a predetermined A fifteenth transition including a transition in which the transition condition is the elimination of voltage saturation of and the intersection coordinate (MALA) is the transition destination state;
    A transition in which the intersection coordinate (MALA) is the current state, a predetermined power saturation is the transition condition, and the intersection coordinate (LALP+) is the transition destination state, and the intersection coordinate (LALP+) is the current state, and a predetermined A sixteenth transition including a transition in which the transition condition is the elimination of power saturation of and the intersection coordinate (MALA) is the transition destination state;
    A transition in which the intersection coordinate (MVLV) is the current state, a predetermined current saturation is the transition condition, the intersection coordinate (LVLA) is the transition destination state, and the intersection coordinate (LVLA) is the current state, a predetermined A seventeenth transition including a transition in which the current saturation of is resolved as the transition condition and the intersection coordinate (MVLV) is the destination state;
    A transition in which the intersection coordinate (MVLV) is the current state, a predetermined power saturation is the transition condition, and the intersection coordinate (LVLP+) is the transition destination state, and the intersection coordinate (LVLP+) is the current state, and a predetermined an eighteenth transition including a transition in which the intersection coordinate (MVLV) is set as the transition destination state with the elimination of power saturation as the transition condition;
    A transition in which the intersection coordinates (LALP+) is the current state, a transition condition is the elimination of a predetermined voltage saturation, and the intersection coordinates (MPLP+) is the destination state, and the intersection coordinates (MPLP+) are the current state. , a nineteenth transition including a predetermined current saturation as the transition condition and the intersection coordinate (LALP+) as the transition destination state;
    A transition in which the intersection coordinate (LALP+) is the current state, a predetermined voltage saturation is the transition condition, the intersection coordinate (LVLA) is the transition destination state, and the intersection coordinate (LVLA) is the current state, a predetermined A twentieth transition including a power saturation of and a transition in which the intersection coordinate (LALP+) is the transition destination state with the transition condition that the intersection coordinate (LVLA) is on the current minimum curve (MA) side;
    A transition in which the intersection point coordinates (LVLP+) is the current state, a transition condition is the elimination of a predetermined voltage saturation, and the intersection point coordinates (MPLP+) is the destination state, and the intersection point coordinates (MPLP+) are the current state. , a 21st transition including a predetermined voltage saturation as the transition condition and the intersection coordinate (LVLP+) as the transition destination state;
    A transition in which the intersection coordinate (LVLP+) is the current state, a predetermined current saturation is the transition condition, the intersection coordinate (LVLA) is the transition destination state, and the intersection coordinate (LVLA) is the current state, a predetermined A twenty-second transition including power saturation and a transition in which the intersection coordinate (LVLP+) is the transition destination state with the transition condition that the intersection coordinate (LVLA) is on the voltage minimum curve (MV) side; The motor control device according to any one of claims 3 to 9, comprising:
11. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are set as the current state, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are set to a predetermined power saturation as the transition condition. a transition in which the transition destination state is
    a transition in which the intersection coordinate (LPCT−) is the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinate (LACT) of the current limit circle and the constant torque curve is the transition destination state;
    A transition in which the intersection coordinate (LACT) is the current state, a predetermined torque saturation is the transition condition, and the intersection coordinate (MALA) of the current minimum curve and the current limit circle is the transition destination state and the end point. and a twenty-third transition at which the intersection point coordinate (MALA) is a maximum torque condition, and
    If the torque command decreases,
    a transition in which the coordinates of the intersection point (MALA) are the current state, the transition condition is elimination of a predetermined torque saturation, and the coordinates of the intersection point (LACT) are the transition destination state;
    a transition in which the intersection coordinate (LACT) is the current state, a predetermined power saturation is the transition condition, and the intersection coordinate (LPCT-) is the transition destination state;
    A twenty-fourth transition including a transition in which the intersection point coordinate (LPCT-) is the current state, the transition condition is elimination of a predetermined power saturation, and the intersection point coordinate (MPCT) is the transition destination state and the end point. 2. The motor control device of claim 1, comprising:
12. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LACT) of the current limit circle and the constant torque curve are defined as the current state, and a predetermined current saturation as the transition condition. a transition to be a transition destination state;
    a transition in which the intersection coordinate (LACT) is the current state, a predetermined power saturation is the transition condition, and the intersection coordinate (LPCT-) of the regenerative power limit curve and the constant torque curve is the transition destination state;
    a transition in which the intersection coordinate (LPCT−) is the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinate (LACT) is the transition destination state;
    A transition in which the intersection coordinate (LACT) is the current state, a predetermined torque saturation is the transition condition, and the intersection coordinate (MALA) of the current minimum curve and the current limit circle is the transition destination state and the end point. and a twenty-fifth transition at which the intersection point coordinate (MALA) is a maximum torque condition,
    If the torque command decreases,
    a transition in which the coordinates of the intersection point (MALA) are the current state, the transition condition is elimination of a predetermined torque saturation, and the coordinates of the intersection point (LACT) are the transition destination state;
    a transition in which the intersection coordinate (LACT) is the current state, a predetermined power saturation is the transition condition, and the intersection coordinate (LPCT-) is the transition destination state;
    a transition in which the intersection coordinate (LPCT−) is the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinate (LACT) is the transition destination state;
    a twenty-sixth transition including a transition in which the intersection coordinate (LACT) is the current state, the transition condition is elimination of a predetermined current saturation, and the intersection coordinate (MPCT) is the transition destination state and the end point; 2. The motor controller of claim 1, comprising:
13. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are set as the current state, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are set to a predetermined power saturation as the transition condition. a transition in which the transition destination state is
    a transition in which the current state is the coordinates of the intersection point (LPCT-), and the destination state is the coordinates of the intersection point (LVCT) of the voltage limit curve and the constant torque curve, with the transition condition being the elimination of a predetermined power saturation;
    A transition in which the intersection coordinates (LVCT) are the current state, predetermined torque saturation is the transition condition, and the intersection coordinates (MVLV) of the voltage minimum curve and the voltage limit curve are the transition destination state and the end point. a twenty-seventh transition at which the intersection point coordinate (MVLV) is a maximum torque condition;
    If the torque command decreases,
    a transition in which the intersection coordinates (MVLV) are the current state, the transition condition is elimination of predetermined torque saturation, and the intersection coordinates (LVCT) are the transition destination state;
    a transition in which the intersection coordinates (LVCT) are the current state, a predetermined voltage saturation is the transition condition, and the intersection coordinates (LPCT−) are the transition destination state;
    A twenty-eighth transition including a transition in which the intersection point coordinate (LPCT-) is the current state, the transition condition is elimination of a predetermined voltage saturation, and the intersection point coordinate (MPCT) is the transition destination state and the end point. 2. The motor control device of claim 1, comprising:
14. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LVCT) of the voltage limit curve and the constant torque curve are defined as the transition condition, with a predetermined voltage saturation as the transition condition. a transition to be a transition destination state;
    a transition in which the intersection coordinates (LVCT) are the current state, a predetermined power saturation is the transition condition, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are the transition destination state;
    a transition in which the intersection coordinates (LPCT−) are the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinates (LVCT) are the transition destination state;
    A transition in which the intersection coordinates (LVCT) are the current state, predetermined torque saturation is the transition condition, and the intersection coordinates (MVLV) of the voltage minimum curve and the voltage limit curve are the transition destination state and the end point. a twenty-ninth transition at which the intersection coordinate (MVLV) is a maximum torque condition, comprising:
    If the torque command decreases,
    a transition in which the intersection coordinates (MVLV) are the current state, the transition condition is elimination of predetermined torque saturation, and the intersection coordinates (LVCT) are the transition destination state;
    a transition in which the intersection coordinates (LVCT) are the current state, a predetermined power saturation is the transition condition, and the intersection coordinates (LPCT-) are the transition destination state;
    a transition in which the intersection coordinates (LPCT−) are the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinates (LVCT) are the transition destination state;
    a thirtieth transition including a transition in which the intersection coordinates (LVCT) are the current state, the transition condition is elimination of a predetermined voltage saturation, and the intersection coordinates (MPCT) are the transition destination state and the end point; 2. The motor controller of claim 1, comprising:
15. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are set as the current state, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are set to a predetermined power saturation as the transition condition. a transition in which the transition destination state is
    a transition in which the intersection coordinate (LPCT−) is the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinate (LACT) of the current limit circle and the constant torque curve is the transition destination state;
    a transition in which the intersection coordinate (LACT) is the current state, a predetermined torque saturation is the transition condition, and the intersection coordinate (LVLA) is the transition destination state and the end point, and the intersection coordinate (LVLA) is the maximum torque condition; and
    If the torque command decreases,
    The intersection coordinate (LVLA) is set as the current state, and the intersection coordinate (LACT) is set as the transition condition that predetermined torque saturation is eliminated and the intersection coordinate (LVLA) is on the current minimum curve (MA) side. a transition to be the transition destination state;
    a transition in which the intersection coordinate (LACT) is the current state, a predetermined power saturation is the transition condition, and the intersection coordinate (LPCT-) is the transition destination state;
    A thirty-second transition including a transition in which the intersection point coordinate (LPCT-) is the current state, a predetermined current saturation is eliminated as the transition condition, and the intersection point coordinate (MPCT) is the transition destination state and the end point. 2. The motor control device of claim 1, comprising:
16. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LACT) of the current limit circle and the constant torque curve are defined as the current state, and a predetermined current saturation as the transition condition. a transition to be a transition destination state;
    a transition in which the intersection coordinate (LACT) is the current state, a predetermined power saturation is the transition condition, and the intersection coordinate (LPCT-) of the regenerative power limit curve and the constant torque curve is the transition destination state;
    a transition in which the intersection coordinate (LPCT−) is the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinate (LACT) of the current limit circle and the constant torque curve is the transition destination state;
    a transition in which the intersection coordinate (LACT) is the current state, a predetermined torque saturation is the transition condition, and the intersection coordinate (LVLA) is the transition destination state and the end point, and the intersection coordinate (LVLA) is the maximum torque condition; and
    If the torque command decreases,
    The intersection coordinate (LVLA) is set as the current state, and the intersection coordinate (LACT) is set as the transition condition that predetermined torque saturation is eliminated and the intersection coordinate (LVLA) is on the current minimum curve (MA) side. a transition to be the transition destination state;
    a transition in which the intersection coordinate (LACT) is the current state, a predetermined power saturation is the transition condition, and the intersection coordinate (LPCT-) is the transition destination state;
    a transition in which the intersection coordinate (LPCT−) is the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinate (LACT) is the transition destination state;
    a thirty-fourth transition including a transition in which the intersection coordinate (LACT) is the current state, the transition condition is elimination of a predetermined current saturation, and the intersection coordinate (MPCT) is the transition destination state and the end point; 2. The motor controller of claim 1, comprising:
17. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are set as the current state, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are set to a predetermined power saturation as the transition condition. a transition in which the transition destination state is
    a transition in which the current state is the coordinates of the intersection point (LPCT-), and the destination state is the coordinates of the intersection point (LVCT) of the voltage limit curve and the constant torque curve, with the transition condition being the elimination of a predetermined power saturation;
    a transition in which the intersection coordinates (LVCT) are the current state, predetermined torque saturation is the transition condition, and the intersection coordinates (LVLA) of the voltage limit curve and the current limit circle are the transition destination state and the end point; and a thirty-fifth transition at which the intersection point coordinate (LVLA) is a maximum torque condition;
    If the torque command decreases,
    The intersection point coordinates (LVLA) are set as the current state, and the intersection point coordinates (LVCT) are set as the transition condition that predetermined torque saturation is eliminated and the intersection point coordinates (LVLA) is on the voltage minimum curve (MV) side. a transition to be the transition destination state;
    a transition in which the intersection coordinates (LVCT) are the current state, a predetermined power saturation is the transition condition, and the intersection coordinates (LPCT-) are the transition destination state;
    A thirty-sixth transition including a transition in which the intersection point coordinate (LPCT-) is the current state, the transition condition is elimination of a predetermined voltage saturation, and the intersection point coordinate (MPCT) is the transition destination state and the end point. 2. The motor control device of claim 1, comprising:
18. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LVCT) of the voltage limit curve and the constant torque curve are defined as the transition condition, with a predetermined voltage saturation as the transition condition. a transition to be a transition destination state;
    a transition in which the intersection coordinates (LVCT) are the current state, a predetermined power saturation is the transition condition, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are the transition destination state;
    a transition in which the intersection coordinates (LPCT−) are the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinates (LVCT) are the transition destination state;
    a transition in which the intersection coordinates (LVCT) are the current state, predetermined torque saturation is the transition condition, and the intersection coordinates (LVLA) of the voltage limit curve and the current limit circle are the transition destination state and the end point; and a thirty-seventh transition at which the intersection point coordinate (LVLA) is a maximum torque condition;
    If the torque command decreases,
    The intersection point coordinates (LVLA) are set as the current state, and the intersection point coordinates (LVCT) are set as the transition condition that predetermined torque saturation is eliminated and the intersection point coordinates (LVLA) is on the voltage minimum curve (MV) side. a transition to be the transition destination state;
    a transition in which the intersection coordinates (LVCT) are the current state, a predetermined power saturation is the transition condition, and the intersection coordinates (LPCT-) are the transition destination state;
    a transition in which the intersection coordinates (LPCT−) are the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinates (LVCT) are the transition destination state;
    a thirty-eighth transition including a transition in which the intersection point coordinates (LVCT) are the current state, a predetermined voltage saturation is eliminated as the transition condition, and the intersection point coordinates (MPCT) are the transition destination state and the end point; 2. The motor controller of claim 1, comprising:
19. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LACT) of the current limit circle and the constant torque curve are defined as the current state, and a predetermined current saturation as the transition condition. a transition to be a transition destination state;
    a transition in which the intersection coordinate (LACT) is the current state, a predetermined power saturation is the transition condition, and the intersection coordinate (LPCT-) of the regenerative power limit curve and the constant torque curve is the transition destination state;
    The coordinates of the intersection point (LPCT-) are the current state, and a predetermined torque saturation is the transition condition. A thirty-ninth transition in which the intersection coordinate (LALP-) is the maximum torque condition, and
    If the torque command decreases,
    a transition in which the coordinates of the intersection point (LALP-) are the current state, the transition condition is elimination of a predetermined torque saturation, and the coordinates of the intersection point (LPCT-) are the transition destination state;
    a transition in which the intersection coordinate (LPCT−) is the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinate (LACT) is the transition destination state;
    a 40th transition including a transition in which the intersection coordinate (LACT) is the current state, the transition condition is elimination of a predetermined current saturation, and the intersection coordinate (MPCT) is the transition destination state and the end point; 2. The motor controller of claim 1, comprising:
20. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are set as the current state, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are set to a predetermined power saturation as the transition condition. a transition in which the transition destination state is
    The coordinates of the intersection point (LPCT-) are the current state, and a predetermined torque saturation is the transition condition. A 41st transition in which the intersection coordinate (LALP-) is the maximum torque condition, and
    If the torque command decreases,
    a transition in which the coordinates of the intersection point (LALP-) are the current state, the transition condition is elimination of a predetermined torque saturation, and the coordinates of the intersection point (LPCT-) are the transition destination state;
    A forty-second transition including a transition in which the intersection coordinate (LPCT-) is the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinate (MPCT) is the transition destination state and the end point. 2. The motor control device of claim 1, comprising:
21. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LVCT) of the voltage limit curve and the constant torque curve are defined as the transition condition, with a predetermined voltage saturation as the transition condition. a transition to be a transition destination state;
    a transition in which the intersection coordinates (LVCT) are the current state, a predetermined power saturation is the transition condition, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are the transition destination state;
    The coordinates of the intersection point (LPCT-) are the current state, and a predetermined torque saturation is the transition condition. A 43rd transition in which the intersection coordinate (LALP-) is the maximum torque condition, and
    If the torque command decreases,
    a transition in which the coordinates of the intersection point (LALP-) are the current state, the transition condition is elimination of a predetermined torque saturation, and the coordinates of the intersection point (LPCT-) are the transition destination state;
    a transition in which the intersection coordinates (LPCT−) are the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinates (LVCT) are the transition destination state;
    a forty-fourth transition including a transition in which the intersection point coordinates (LVCT) are the current state, the transition condition is elimination of a predetermined voltage saturation, and the intersection point coordinates (MPCT) are the transition destination state and the end point; 2. The motor controller of claim 1, comprising:
22. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are set as the current state, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are set to a predetermined power saturation as the transition condition. a transition in which the transition destination state is
    With the current state as the intersection coordinate (LPCT-), and with a predetermined torque saturation as the transition condition, the intersection coordinate (LVLP-) of the voltage limit curve and the regenerative power limit curve as the transition destination state and end point. A 45th transition in which the intersection coordinate (LVLP-) is the maximum torque condition, and
    If the torque command decreases,
    a transition in which the intersection point coordinates (LVLP−) are the current state, the transition condition is elimination of a predetermined torque saturation, and the intersection point coordinates (LPCT−) are the transition destination state;
    A forty-sixth transition including a transition in which the intersection point coordinate (LPCT-) is the current state, the transition condition is elimination of a predetermined voltage saturation, and the intersection point coordinate (MPCT) is the transition destination state and the end point. 2. The motor control device of claim 1, comprising:
23. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LVCT) of the voltage limit curve and the constant torque curve are defined as the transition condition, with a predetermined voltage saturation as the transition condition. a transition to be a transition destination state;
    a transition in which the intersection coordinates (LVCT) are the current state, a predetermined power saturation is the transition condition, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are the transition destination state;
    With the current state as the intersection coordinate (LPCT-), and with a predetermined torque saturation as the transition condition, the intersection coordinate (LVLP-) of the voltage limit curve and the regenerative power limit curve as the transition destination state and end point. A 47th transition in which the intersection coordinate (LVLP-) is the maximum torque condition, and
    If the torque command decreases,
    a transition in which the intersection point coordinates (LVLP−) are the current state, the transition condition is elimination of a predetermined torque saturation, and the intersection point coordinates (LPCT−) are the transition destination state;
    a transition in which the intersection coordinates (LPCT−) are the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinates (LVCT) are the transition destination state;
    a forty-eighth transition including a transition in which the intersection point coordinates (LVCT) are the current state, the transition condition is elimination of a predetermined voltage saturation, and the intersection point coordinates (MPCT) are the transition destination state and the end point; 2. The motor controller of claim 1, comprising:
24. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are defined as the current state, and the intersection coordinates (LACT) of the current limit circle and the constant torque curve are defined as the current state, and a predetermined current saturation as the transition condition. a transition to be a transition destination state;
    a transition in which the intersection coordinate (LACT) is the current state, a predetermined power saturation is the transition condition, and the intersection coordinate (LPCT-) of the regenerative power limit curve and the constant torque curve is the transition destination state;
    With the current state as the intersection coordinate (LPCT-), and with a predetermined torque saturation as the transition condition, the intersection coordinate (LVLP-) of the voltage limit curve and the regenerative power limit curve as the transition destination state and end point. A 49th transition in which the intersection coordinate (LVLP-) is the maximum torque condition, and
    If the torque command decreases,
    a transition in which the intersection point coordinates (LVLP−) are the current state, the transition condition is elimination of a predetermined torque saturation, and the intersection point coordinates (LPCT−) are the transition destination state;
    a transition in which the intersection coordinate (LPCT−) is the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinate (LACT) is the transition destination state;
    a fiftieth transition including a transition in which the intersection coordinate (LACT) is the current state, the transition condition is elimination of a predetermined current saturation, and the intersection coordinate (MPCT) is the transition destination state and the end point; 2. The motor controller of claim 1, comprising:
25. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are set as the current state, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are set to a predetermined power saturation as the transition condition. a transition in which the transition destination state is
    The coordinates of the intersection point (LPCT-) are the current state, and a predetermined torque saturation is the transition condition. A 51st transition in which the intersection coordinate (LALP-) is the maximum torque condition, and
    If the torque command decreases,
    a transition in which the coordinates of the intersection point (LALP-) are the current state, the transition condition is elimination of a predetermined torque saturation, and the coordinates of the intersection point (LPCT-) are the transition destination state;
    a fifty-second transition including a transition in which the intersection point coordinate (LPCT−) is the current state, the transition condition is elimination of a predetermined power saturation, and the intersection point coordinate (MPCT) is the transition destination state and the end point. 2. The motor control device of claim 1, comprising:
26. The state transition table shows, as state transitions during regeneration,
    If the torque command increases,
    The intersection coordinates (MPCT) of the power minimization curve and the constant torque curve are set as the current state, and the intersection coordinates (LPCT-) of the regenerative power limit curve and the constant torque curve are set to a predetermined power saturation as the transition condition. a transition in which the transition destination state is
    With the current state as the intersection coordinate (LPCT-), and with a predetermined torque saturation as the transition condition, the intersection coordinate (LVLP-) of the voltage limit curve and the regenerative power limit curve as the transition destination state and end point. a 53rd transition in which the intersection coordinate (LVLP-) is the maximum torque condition;
    If the torque command decreases,
    a transition in which the coordinates of the intersection point (LALP-) are the current state, the transition condition is elimination of a predetermined torque saturation, and the coordinates of the intersection point (LPCT-) are the transition destination state;
    a fifty-fourth transition including a transition in which the intersection coordinate (LPCT-) is the current state, the transition condition is elimination of a predetermined power saturation, and the intersection coordinate (MPCT) is the transition destination state and the end point. 2. The motor control device of claim 1, comprising:
27. The state transition table, when the maximum torque condition changes,
    A transition in which the intersection coordinate (MALA) is the current state, a predetermined voltage saturation is the transition condition, and the intersection coordinate (LVLA) is the transition destination state, and the intersection coordinate (LVLA) is the current state, a fifty-fifth transition including a transition in which the transition condition is elimination of a predetermined voltage saturation and the intersection coordinate (MALA) is the transition destination state;
    A transition in which the intersection coordinates (MALA) is the current state, a predetermined power saturation is the transition condition, and the intersection coordinates (LALP-) is the transition destination state, and the intersection coordinates (LALP-) is the current state. , a 56th transition including a transition in which the transition condition is elimination of a predetermined power saturation and the intersection coordinate (MALA) is the transition destination state;
    A transition in which the intersection coordinate (MVLV) is the current state, a predetermined current saturation is the transition condition, the intersection coordinate (LVLA) is the transition destination state, and the intersection coordinate (LVLA) is the current state, a predetermined A fifty-seventh transition including a transition in which the current saturation of
    a transition in which the intersection point coordinates (MVLV) are the current state, a predetermined power saturation is the transition condition, and the intersection point coordinates (LVLP−) are the transition destination state; and the intersection point coordinates (LVLP−) are the current state. , a 58th transition including a transition in which the transition condition is elimination of a predetermined current saturation and the intersection coordinate (MVLV) is the transition destination state;
    a transition in which the intersection coordinate (LALP-) is the current state, a predetermined voltage saturation is the transition condition, and the intersection coordinate (LVLA) is the transition destination state; and the intersection coordinate (LVLA) is the current state, A fifty-ninth transition including predetermined power saturation and a transition in which the transition condition is that the intersection point coordinate (LVLA) is on the current minimum curve (MA) side and the intersection point coordinate (LALP-) is the transition destination state. When,
    a transition in which the intersection coordinate (LVLP−) is the current state, a predetermined current saturation is the transition condition, and the intersection coordinate (LVLA) is the transition destination state; and the intersection coordinate (LVLA) is the current state, A 60th transition including predetermined power saturation and a transition in which the intersection coordinate (LVLP-) is set as the transition destination state with the transition condition that the intersection coordinate (LVLA) is on the voltage minimum curve (MV) side. 27. The motor control device according to any one of claims 11 to 26, comprising:
28. The power minimization curve (MP), the voltage limit curve (LV) and the voltage minimum curve (MV) are quadratic curves described using the iron loss of the motor, and the power running power limit curve (LP+) 28. The motor control according to any one of claims 1 to 27, wherein the regenerative power limit curve (LP-) is any one of a parabola, a perfect circle, an ellipse, or a hyperbola defined by a voltage equation including iron loss Device.
29. A motor control method for driving a motor by current vector control in a dq-axis orthogonal coordinate system,
    Power minimization curve (MP), current minimum curve (MA), voltage minimum curve (MV), current limit circle (LA), voltage limit curve (LV), constant torque curve (CT), motoring on dq axis Cartesian coordinate plane A step of obtaining a combination of intersections effective as a current command from intersections of two curves selected from the power limit curve (LP+) and the regenerative power limit curve (LP-);
    a step of arranging the combinations of the intersection points in the row direction and the column direction as the current state and the transition destination state, respectively, and creating a state transition table in which transition conditions from the current state to the transition destination state are set;
    selecting a current target value for the motor based on the positional relationship on the curve of the intersection corresponding to the transition destination state when transition is made from an arbitrary intersection corresponding to the current state according to the transition condition. motor control method.

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