Rotating electric machine control device and electric power steering device

Abstract

The rotating electric machine control device includes: a first inverter that applies an AC voltage to the three-phase windings of the first system of the rotating electric machine based on a first DC voltage output from a DC power supply of a first system; a second inverter that applies an AC voltage to the three-phase windings of the second system of the rotating electric machine based on a second DC voltage output from a DC power supply of a second system; a first control unit; and a second control unit, wherein, when the DC voltage of the current system is higher than the DC voltage of other systems, the first control unit and the second control unit respectively use the DC voltage of the other systems to limit the voltage command of the current system related to the voltage applied to the three-phase windings of the current system, and generate a value normalized to the current system voltage command using the DC voltage of the current system as a command value for the inverter of the current system.

Description

Technical Field

[0001] This disclosure relates to a rotary electric motor control device and an electric power steering device. Background Technology

[0002] Conventionally, in electric power steering systems that utilize the driving force of a rotary electric motor to assist steering, rotary electric motor control devices that control the steering assistance amount in two independent systems are known (see, for example, Patent Document 1). In such rotary electric motor control devices, as in Patent Document 1, if the assistance amount is calculated independently in each system and the current control is performed independently, mismatches sometimes occur between the systems. Therefore, for example, in the technology described in Patent Document 2, a master control unit and a slave control unit are provided, and mismatches between the systems are reduced by sending the command value calculated by the master control unit to the slave control unit. Existing technical documents Patent documents

[0003] Patent Document 1: Japanese Patent Application Publication No. 2011-195089 Patent Document 2: International Publication No. 2018 / 088465 Summary of the Invention The technical problem that the invention aims to solve

[0004] However, in a rotating electric motor, the current supplied to the motor is determined by the difference between the induced voltage, which is proportional to the rotational speed, and the applied voltage of the power converter (e.g., inverter) driving the motor. Therefore, when the motor rotates at high speed, the induced voltage increases, and the voltage required to supply the motor with a current corresponding to the commanded value sometimes exceeds the upper limit of the inverter's applied voltage. In other words, since the current supplied to the motor is based on the difference between the upper limit of the applied voltage and the induced voltage, sometimes a current different from the commanded value is supplied to the motor. In this case, if the inverters of each system receive DC voltage from the same DC power source, no mismatch occurs between the systems. However, when the inverters of each system receive DC voltage from different DC power sources, the difference in DC voltage between the multiple DC power sources manifests as a difference in the applied voltage supplied to the rotating motor from the multiple inverters, and sometimes mismatch occurs between the systems.

[0005] Therefore, in existing rotary motor control devices, for example, when the DC voltage output by the DC power supply of multiple systems controlling the rotary motor differs, mismatch may still occur between the systems.

[0006] This invention was developed to solve the aforementioned problems, and its purpose is to provide a rotary electric motor control device and an electric power steering device that can reduce mismatch between systems even when the DC voltage output by the DC power supply of multiple systems controlling the rotary electric motor differs. Technical means for solving technical problems

[0007] To address the aforementioned problems, in one embodiment of this disclosure, a rotating electric machine control device includes: a first inverter that applies an AC voltage to the three-phase windings of the first system of the rotating electric machine based on a first DC voltage output from a DC power supply of the first system; a second inverter that applies an AC voltage to the three-phase windings of the second system of the rotating electric machine based on a second DC voltage output from a DC power supply of the second system; and a first control unit that generates a control function for the rotating electric machine based on a command value, the first DC voltage, and the second DC voltage. The first inverter has a command value; and the second control unit generates a command value for the second inverter based on the command value of the rotating motor, the first DC voltage, and the second DC voltage. When the DC voltage of this system is higher than that of other systems, the first control unit and the second control unit respectively use the DC voltage of other systems to limit the voltage command of this system related to the voltage of the three-phase windings of this system, and generate a value that is normalized to the DC voltage of this system using the DC voltage of this system as the command value for the inverter of this system.

[0008] Furthermore, in one embodiment of this disclosure, the electric power steering device includes: the rotary motor control device described above; the rotary motor for assisting steering; and a torque sensor for detecting the steering torque, wherein the rotary motor control device controls the rotary motor by using a steering assistance command corresponding to the steering torque detected by the torque sensor as a command value for the rotary motor. Invention Effects

[0009] According to this disclosure, even when the DC voltage output by the DC power supply of multiple systems controlling a rotating electric machine differs, mismatch between systems can be reduced. Attached Figure Description

[0010] Figure 1 This is a block diagram illustrating an example of the rotary electric motor control device according to Embodiment 1. Figure 2 This is a block diagram showing an example of the control section of the two systems of the rotary electric machine control device according to Embodiment 1. Figure 3This is a block diagram illustrating an example of a current controller that generates d-axis voltage command values ​​in Embodiment 1. Figure 4 This is a block diagram illustrating an example of a current controller that generates q-axis voltage command values ​​in Embodiment 1. Figure 5 This is a block diagram illustrating an example of a control signal generator in Implementation 1. Figure 6 This is a diagram illustrating an example of the processing of the carrier comparison unit in Embodiment 1. Figure 7 This is a diagram illustrating an example of the voltage command vector of the first system in Embodiment 1. Figure 8 This is a diagram illustrating an example of the voltage command vector of the second system in Embodiment 1. Figure 9 This is a graph showing the relationship between rotational speed and q-axis current in Embodiment 1. Figure 10 This is a block diagram illustrating an example of the rotary motor control device according to Embodiment 2. Figure 11 This is a block diagram showing an example of the control section of the two systems of the rotary electric machine control device according to Embodiment 2. Figure 12 This is a block diagram illustrating an example of the control signal generator of the first system in Embodiment 3. Figure 13 This is a block diagram illustrating an example of the control signal generator of the second system in Embodiment 3. Figure 14 This is a graph showing the waveforms of the duty cycle of each phase when the detection voltage of other systems in Embodiment 3 is used. Figure 15 This is a graph showing the waveform of the duty cycle of each phase when the detection voltage of the system in Embodiment 3 is used. Figure 16 This is a block diagram illustrating an example of the control signal generator of the first system in Embodiment 4. Figure 17 This is a block diagram illustrating an example of the control signal generator of the second system in Embodiment 4. Figure 18 This is a graph showing the waveforms of the duty cycle of each phase when the detection voltage of other systems in Embodiment 4 is used. Figure 19 This is a graph showing the waveform of the duty cycle of each phase when the detection voltage of the system in Embodiment 4 is used. Figure 20This is a block diagram illustrating an example of the electric power steering device according to Embodiment 5. Detailed Implementation

[0011] Hereinafter, the rotary motor control device and electric power steering device according to the embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0012] [Implementation Method 1] Figure 1 This is a block diagram illustrating an example of the rotary electric motor control device 1 according to Embodiment 1. The rotary electric motor control device 1 involved in Embodiment 1 is a control device for controlling the rotary electric motor 10. For example... Figure 1 As shown, the rotary motor controller 1 includes a position detection unit 2, a DC power supply 3-1, a DC power supply 3-2, a capacitor 4-1, a capacitor 4-2, an inverter 5-1, an inverter 5-2, a current detection unit 6-1, a current detection unit 6-2, a control unit 7-1, and a control unit 7-2.

[0013] The rotating electric motor control device 1 controls the rotating electric motor 10 through two systems: a first system and a second system. The first system includes a DC power supply 3-1, a capacitor 4-1, an inverter 5-1, a current detection unit 6-1, and a control unit 7-1. The second system includes a DC power supply 3-2, a capacitor 4-2, an inverter 5-2, a current detection unit 6-2, and a control unit 7-2.

[0014] In this embodiment, the designation "-1" is assigned to the structures included in the first system, and the designation "-2" is assigned to the structures included in the second system. When the structures of the first system and the structures of the second system represent any structure possessed by the rotary electric motor control device 1, or when no system is specifically distinguished, the designation "-1" or "-2" indicating the system is deleted from the designation. For example, when representing the structures of the first system and the second system respectively, the designation "-1" or "-2" indicating the system is added to the designation.

[0015] The rotary motor 10 is a rotary motor having a first system of three-phase windings (u1, v1, w1) and a second system of three-phase windings (u2, v2, w2). The rotary motor 10 can be, for example, a permanent magnet synchronous motor, an induction motor, a synchronous reluctance motor, etc.; any motor having two three-phase windings can be applied to this disclosure. In the following description of this embodiment, a non-salient pole permanent magnet synchronous motor will be described as an example of the rotary motor 10.

[0016] The position detection unit 2 detects the rotational position θ of the rotary motor 10 as the rotational position θ1 (=θ) of the first system and the rotational position θ2 (=θ) of the second system. The position detection unit 2 outputs the rotational position θ1 of the first system to the control unit 7-1, which will be described later. In addition, the position detection unit 2 outputs the rotational position θ2 of the second system to the control unit 7-2, which will be described later.

[0017] Furthermore, although the case described here is that the position detection unit 2 outputs two redundant rotational position signals, it is not limited to the redundant type, and the rotational position θ1 of the first system and the rotational position θ2 of the second system can be obtained by using a control method without rotational position sensors.

[0018] DC power supply 3-1 is a first system DC power supply with two outputs, a high-potential side and a low-potential side, and is an example of a first DC power supply. DC power supply 3-1 outputs a first DC voltage Vdc1 to the inverter 5-1 described later, as the voltage across the two outputs on the high-potential side and the low-potential side. DC power supply 3-1 may include, for example, all devices that output DC voltage, such as batteries, DC-DC converters, diode rectifiers, PWM rectifiers, etc.

[0019] DC power supply 3-2 is a second system DC power supply with two outputs, one on a high-potential side and one on a low-potential side, and is an example of a second DC power supply. DC power supply 3-2 outputs a second DC voltage Vdc2 to the inverter 5-2 (described later) as the voltage across the two outputs on the high-potential and low-potential sides. DC power supply 3-2 may include, for example, all devices that output DC voltage, such as batteries, DC-DC converters, diode rectifiers, PWM rectifiers, etc.

[0020] Capacitor 4-1 is a capacitor with a specified electrostatic capacitance. Capacitor 4-1 is connected between the two output signal lines of DC power supply 3-1 and is electrically connected in parallel with DC power supply 3-1. Capacitor 4-1 serves as a smoothing capacitor, suppressing fluctuations in the first DC voltage Vdc1 supplied to inverter 5-1 (described later) to achieve a stable DC voltage. Furthermore, the DC voltage Vdc1 in capacitor 4-1 is detected, for example, by a voltage detection unit (not shown), and output as the detected DC voltage Vdc1s to control unit 7-1 (described later).

[0021] Capacitor 4-2 is a capacitor with a specified electrostatic capacitance. Capacitor 4-2 is connected between the two output signal lines of DC power supply 3-2 and is electrically connected in parallel with DC power supply 3-2. Capacitor 4-2 serves as a smoothing capacitor, suppressing fluctuations in the second DC voltage Vdc2 supplied to inverter 5-2 (described later) to achieve a stable DC voltage. Furthermore, the DC voltage Vdc2 in capacitor 4-2 is detected, for example, by a voltage detection unit (not shown), and output as a detected DC voltage Vdc2s to control unit 7-2 (described later).

[0022] Inverter 5-1 (an example of the first inverter) applies AC voltage to the three-phase windings (u1, v1, w1) of the first system of the rotating motor 10 based on the first DC voltage Vdc1 output from DC power supply 3-1. Inverter 5-1 turns on and off three switching elements (51-1, 53-1, 55-1) on the high-potential side and three switching elements (52-1, 54-1, 56-1) on the low-potential side of DC power supply 3-1 based on control signals GS11 to GS16 (an example of the first control signal) output from control unit 7-1 (described later), thereby converting the first DC voltage Vdc1 output from DC power supply 3-1 into power and applying AC voltage to the three-phase windings (u1, v1, w1) of the first system. Therefore, inverter 5-1 energizes currents Iu1, Iv1, and Iw1 to the three-phase windings (u1, v1, w1) of the first system.

[0023] Here, control signals GS11, GS13, and GS15 are used to turn the high-potential side switching elements 51-1, 53-1, and 55-1 on and off (set to on or off states) respectively in inverter 5-1. Here, control signals GS12, GS14, and GS16 are used to turn the low-potential side switching elements 52-1, 54-1, and 56-1 on and off (set to on or off states) respectively in inverter 5-1.

[0024] For example, when the control signals GS11 to GS16 are in a logic state of "1" (or high), the switching element is turned on, and when they are in a logic state of "0" (or low), the switching element is turned off.

[0025] Switching elements 51-1, 52-1, 53-1, 54-1, 55-1, and 56-1 are semiconductor switches such as IGBTs (Insulated Gate Bipolar Transistors), bipolar transistors, and MOS (Metal Oxide Semiconductor) power transistors. Furthermore, diodes (or body diodes) are connected in reverse parallel to each of switching elements 51-1, 52-1, 53-1, 54-1, 55-1, and 56-1.

[0026] Inverter 5-2 (an example of a second inverter) applies AC voltage to the three-phase windings (u2, v2, w2) of the second system of the rotating motor 10 based on the second DC voltage Vdc2 output from DC power supply 3-2. Inverter 5-2 turns on and off three switching elements (51-2, 53-2, 55-2) on the high-potential side and three switching elements (52-2, 54-2, 56-2) on the low-potential side of DC power supply 3-2 based on control signals GS21 to GS26 (an example of a second control signal) output from control unit 7-2 (described later), thereby converting the second DC voltage Vdc2 output from DC power supply 3-2 into power and applying AC voltage to the three-phase windings (u2, v2, w2) of the second system. Therefore, inverter 5-2 energizes currents Iu2, Iv2 and Iw2 to the three-phase windings (u2, v2, w2) of the second system.

[0027] Here, control signals GS21, GS23, and GS25 are used to turn the high-potential side switching elements 51-2, 53-2, and 55-2 on and off (set to on or off states) in inverter 5-2, respectively. Furthermore, control signals GS22, GS24, and GS26 are used to turn the low-potential side switching elements 52-2, 54-2, and 56-2 on and off (set to on or off states) in inverter 5-2, respectively.

[0028] For example, when the control signals GS21 to GS26 are in a logic state of "1" (or high), the switching element is turned on, and when they are in a logic state of "0" (or low), the switching element is turned off.

[0029] Switching elements 51-2, 52-2, 53-2, 54-2, 55-2, and 56-2 are semiconductor switches such as IGBTs, bipolar transistors, and MOS power transistors, respectively. Furthermore, diodes (or body diodes) are connected in reverse parallel to each of switching elements 51-2, 52-2, 53-2, 54-2, 55-2, and 56-2.

[0030] The current detection unit 6-1 (an example of the first current detection unit) detects the currents Iu1, Iv1, and Iw1 flowing through the three-phase windings (u1, v1, w1) of the first system of the rotating electric machine 10, and uses them as current values ​​I. us1 Current value I vs1 and current value I ws1 The current detection unit 6-1 can be configured to detect current by connecting a current detection resistor (shunt resistor) in series with the switching elements 52-1, 54-1, and 56-1 of the inverter 5-1 (so-called lower arm 3 shunt method). Alternatively, the current detection unit 6-1 can also detect DC current by placing a current detection resistor between the inverter 5-1 and the capacitor 4-1, and regenerate the currents Iu1, Iv1, and Iw1 flowing through the three-phase windings (u1, v1, w1) of the first system of the rotating motor 10 (bus 1 shunt method).

[0031] The current detection unit 6-2 (an example of the second current detection unit) detects the currents Iu2, Iv2, and Iw2 flowing through the three-phase windings (u2, v2, w2) of the second system of the rotating electric machine 10, and uses them as current values ​​I. us2 Current value I vs2 and current value I ws2 The current detection unit 6-2 can be configured to detect the current by connecting a current detection resistor (shunt resistor) in series with the switching elements 52-2, 54-2, and 56-2 of the inverter 5-2 (so-called lower arm 3 shunt method). Alternatively, the current detection unit 6-2 can also be configured to detect the DC current by placing a current detection resistor between the inverter 5-2 and the capacitor 4-2, and regenerating the currents Iu2, Iv2, and Iw2 flowing through the three-phase windings (u2, v2, w2) of the second system of the rotating motor 10 (bus 1 shunt method).

[0032] Control unit 7-1 (an example of the first control unit) includes, for example, a CPU (Central Processing Unit) and controls the rotary motor 10 through the first system. Control unit 7-1 generates command values ​​for the inverter 5-1 based on the command value Ts1 (command signal) of the rotary motor 10, the first DC voltage Vdc1 (=Vdc1s), and the second DC voltage Vdc2 (=Vdcs2). Control unit 7-1 sets the command values ​​(Id_target1 = 0, Iq_target1) of the current supplied to the rotary motor 10 based on the command value Ts1 of the rotary motor 10, as the control target value of the rotary motor 10.

[0033] The control unit 7-1 uses the command values ​​of current (Id_target1, Iq_target1), the rotational position θ1 detected by the position detection unit 2, and the current value I detected by the current detection unit 6-1. us1 Current value I vs1 and current value I ws1 The first DC voltage Vdc1s and the second DC voltage Vdc2s obtained from the control unit 7-2 are used to output control signals GS11 to GS16 (first control signals) related to the switching of the inverter 5-1.

[0034] When the DC voltage Vdc1s of this system is higher than the DC voltage Vdc2s of other systems, the control unit 7-1 uses the DC voltage Vdc2s of other systems to limit the voltage command of this system, which is related to the voltage applied to the three-phase windings of this system. Furthermore, the control unit 7-1 generates a standardized value of the system voltage command based on the DC voltage Vdc1s of this system, which is then used as the command value for the inverter of this system. In addition, for detailed information about the structure of the control unit 7-1, please refer to... Figure 2 This will be explained later.

[0035] Control unit 7-2 (an example of a second control unit) includes, for example, a CPU and controls the rotary motor 10 via a second system. Control unit 7-2 generates command values ​​for the inverter 5-2 based on the command value Ts2 of the rotary motor 10, the first DC voltage Vdc1 (=Vdc1s), and the second DC voltage Vdc2 (=Vdcs2). Control unit 7-2 sets the command values ​​(Id_target2=0, Iq_target2) for the current supplied to the rotary motor 10 based on the command value Ts2 of the rotary motor 10, as the control target value for the rotary motor 10.

[0036] The control unit 7-2 uses the current command values ​​(Id_target2, Iq_target1), the rotational position θ2 detected by the position detection unit 2, and the current value I detected by the current detection unit 6-2. us2 Current value I vs2 and current value I ws2 The second DC voltage Vdc2s and the first DC voltage Vdc1s obtained from the control unit 7-1 are used to output control signals GS21 to GS26 (second control signals) related to the switching of the inverter 5-2.

[0037] When the DC voltage Vdc2s of this system is higher than the DC voltage Vdc1s of other systems, the control unit 7-2 uses the DC voltage Vdc1s of other systems to limit the voltage command of this system, which is related to the voltage applied to the three-phase windings of this system. Furthermore, the control unit 7-2 generates a standardized value of the system voltage command based on the DC voltage Vdc2s of this system, which serves as the command value for the inverter of this system. In addition, for detailed information about the structure of the control unit 7-2, please refer to... Figure 2 This will be explained later.

[0038] Next, refer to Figure 2 This section will explain the detailed structure of control unit 7-1 and control unit 7-2. Figure 2 This is a block diagram showing an example of the control unit 7 of the two systems of the rotary electric machine control device 1 according to this embodiment.

[0039] like Figure 2 As shown, the control unit 7-1 includes a current command arithmetic unit 70-1, a subtractor 71-1, a current controller 72-1, a subtractor 73-1, a current controller 74-1, a coordinate converter 75-1, a MIN selection unit 76-1, a coordinate converter 77-1, and a control signal generator 78-1.

[0040] The current command arithmetic unit 70-1 generates the d-axis current command value Id_target1 and the q-axis current command value Iq_target1 of the first system based on the command value (Ts1) of the rotating motor.

[0041] The coordinate converter 75-1 converts the current value I detected by the current detection unit 6-1 based on the rotational position θ1. us1 Current value I vs1 and current value I ws1 Converted to current I on the rotating two axes d1 and current I q1 Specifically, the coordinate converter 75-1 uses the following equation (1) to determine the coordinates based on the current value I. us1 Current value Ivs1 Current value I ws1 Rotate the position θ1 to generate a current I on the two rotating axes. d1 and current I q1 .

[0042] [Mathematical Expression 1]

[0043] Subtractor 71-1 subtracts the current I on the rotating second axis from the d-axis current command value Id_target1. d1 The result is then output to the current controller 72-1. Current I d1 Output from coordinate converter 75-1.

[0044] Subtractor 73-1 subtracts the current I on the rotating second axis from the q-axis current command value Iq_target1. q1 The result is then output to the current controller 74-1. Current I q1 Output from coordinate converter 75-1.

[0045] The MIN selection unit 76-1 compares the first DC voltage Vdc1s and the second DC voltage Vdc2s, and outputs the lower one (the smaller value) as the minimum DC voltage Vdc_min.

[0046] The current controller 72-1 performs proportional and integral control on the output value of the subtractor 71-1, ensuring that the output value of the subtractor 71-1 is "0" (zero), thereby outputting the voltage V on the rotating shaft. d1 Here, refer to Figure 3 This section will explain the detailed structure of the current controller 72-1.

[0047] Figure 3 This is a block diagram illustrating an example of a current controller 72-1 that generates d-axis voltage command values ​​in this embodiment. like Figure 3 As shown, the current controller 72-1 includes an amplifier 721-1, an adder 722-1, an amplifier 723-1, an integrator 724-1, and a limiter 725-1.

[0048] Amplifier 721-1 will convert (d-axis current command value Id_target1-I) d1 The amplification factor Kpd is set to a factor of Kpd, and the result is output as the output value Vd1_p to adder 722-1. Here, the amplification factor Kpd is, for example, the value (ωcc×Ld) obtained by multiplying the desired current control response ωcc ([rad / s (radians / second)]) by the d-axis inductance Ld of the rotary motor 10.

[0049] Amplifier 723-1 will convert (d-axis current command value Id_target1-I) d1 The amplification factor Kid is set to a multiple of Kid and output. Here, the amplification factor Kid is, for example, a value obtained by multiplying the desired current control response ωcc by the winding resistance R of the rotary motor 10 (ωcc×R).

[0050] The output of integrator 724-1 to amplifier 723-1 (Kid×(Id1_target1-I d1 Integrate the result and output it as the value Vd1_i. That is, the value Vd1_i is (Kid / s × (Id1_target1 - I...)). d1 Here, "s" stands for the Laplace operator.

[0051] Adder 722-1 adds the output value Vd1_p of amplifier 721-1 to the output value Vd1_i of integrator 724-1, and outputs it as the output value Vd1' to limiter 725-1.

[0052] Limiter 725-1 limits the output value Vd1' of adder 722-1 based on the minimum DC voltage Vdc_min. Specifically, limiter 725-1 limits the output value Vd1' of adder 722-1 by the following equation (2), and generates a voltage V on the rotating two-axis as the output value. d1 .

[0053] [Mathematical Expression 2]

[0054] As shown in equation (2), limiter 725-1 generates the voltage V on the rotating two axes according to the relationship between the output value Vd1' of adder 722-1 and the minimum DC voltage Vdc_min, as follows. d1 .

[0055] (a) When the output value Vd1' of adder 722-1 is less than (-Vdc_min / 2) 0.5 In the case of ), limiter 725-1 generates (-Vdc_min / 2) 0.5 ) as voltage V d1 (V d1 =-Vdc_min / 2 0.5 ).

[0056] (b) The output value Vd1' of adder 722-1 is in (-Vdc_min / 2) 0.5 ) and (Vdc_min / 2 0.5 In the case of a given condition, limiter 725-1 generates the output value Vd1' of adder 722-1 as the voltage V.d1 (V d1 =Vd1').

[0057] (c) The output value Vd1' of adder 722-1 is greater than (Vdc_min / 2) 0.5 In the case of ), limiter 725-1 generates (Vdc_min / 2) 0.5 ) as voltage V d1 (V d1 =Vdc_min / 2 0.5 ).

[0058] Therefore, limiter 725-1 generates voltage V d1 This makes the absolute value of the output value Vd1' of adder 722-1 (Vdc_min / 2) 0.5 For example, when it is desired to actively reset the output value Vd1_i of the integrator 724-1 as an integral term, the limiter 745-1 can use anti-saturation control of known techniques.

[0059] Back Figure 2 As explained, the current controller 74-1 performs proportional and integral control on the output value of the subtractor 73-1, ensuring that the output value of the subtractor 73-1 is "0" (zero), thereby outputting the voltage V on the rotating shaft. q1 Here, refer to Figure 4 This section will explain the detailed structure of the current controller 74-1.

[0060] Figure 4 This is a block diagram illustrating an example of a current controller 74-1 that generates q-axis voltage command values ​​in this embodiment. like Figure 4 As shown, the current controller 74-1 includes an amplifier 741-1, an adder 742-1, an amplifier 743-1, an integrator 744-1, and a limiter 745-1.

[0061] Amplifier 741-1 will convert the q-axis current command value Id_target1-I q1 The amplification factor Kpq is set to a factor of Kpq, and the result is output as the output value Vq1_p to adder 742-1. Here, the amplification factor Kpq is, for example, the value (ωcc×Lq) obtained by multiplying the desired current control response ωcc ([rad / s (radians / second)]) by the q-axis inductance Lq of the rotary motor 10.

[0062] Amplifier 743-1 will convert the q-axis current command value Iq_target1-I q1The amplification factor Kiq is set to Kiq and output. Here, the amplification factor Kiq is, for example, the value obtained by multiplying the desired current control response ωcc by the winding resistance R of the rotary motor 10 (ωcc×R).

[0063] The output of integrator 744-1 to amplifier 743-1 (Kid×(Iq_target1-I q1 Integrate the result and output it as the value Vq1_i. That is, the value Vq1_i is (Kiq / s × (Iq_target1 - I...)). q1 Here, "s" stands for the Laplace operator.

[0064] Adder 742-1 adds the output value Vq1_p of amplifier 741-1 to the output value Vq1_i of integrator 744-1, and outputs it as the output value Vq1' to limiter 745-1.

[0065] Limiter 745-1 is based on the minimum DC voltage Vdc_min and voltage V d1 The output value Vq1' of adder 742-1 is limited. Specifically, limiter 745-1 limits the voltage Vq1' of adder 742-1 by the following equation (3), and generates a voltage V on the rotating two-axis as the output value. q1 .

[0066] [Mathematical Expression 3]

[0067] As shown in equation (3), limiter 745-1 calculates the voltage V from the minimum DC voltage Vdc_min based on the output value Vq1' of adder 742-1. d1 The obtained value is (Vdc_min-V d1 The relationship between ) is used to generate voltage V as follows. q1 .

[0068] (d) When the output value Vq1' of adder 742-1 is less than (-(Vdc_min-V) d1 ) / 2 0.5 In the case of ), limiter 745-1 generates (-(Vdc_min-V) d1 ) / 2 0.5 ) as voltage V q1 (V q1 =-(Vdc_min-V d1 ) / 2 0.5 ).

[0069] (e) The output value Vq1' of adder 742-1 is in (-(Vdc_min-V d1 ) / 20.5 ) and ((Vdc_min-V d1 ) / 2 0.5 In the case of a given value between ), limiter 745-1 generates the output value Vq1' of adder 742-1 as the voltage V. q1 (V q1 =Vq1').

[0070] (f) The output value Vq1' of adder 742-1 is greater than ((Vdc_min-V) d1 ) / 2 0.5 In the case of ), limiter 745-1 generates ((Vdc_min-V d1 ) / 2 0.5 ) as voltage V q1 (V q1 =(Vdc_min-V d1 ) / 2 0.5 ).

[0071] Therefore, limiter 745-1 generates voltage V q1 So that the absolute value of the output value Vq1' of adder 742-1 is ((Vdc_min-V d1 ) / 2 0.5 (See below.) Additionally, for example, when it is desired to actively reset the output value Vq1_i of the integrator 744-1 as an integral term, the limiter 745-1 can use anti-saturation control with known techniques. In addition, the aforementioned voltage V d1 and voltage V q1 It is the voltage command value on the two rotating axes.

[0072] Return again Figure 2 The coordinate converter 77-1 uses the rotational position θ1 as the voltage V, which is the voltage command on the two rotational axes. d1 and voltage V q1 Converted to voltage command on the three-phase axis, i.e., voltage V u1 Voltage V v1 and voltage V w1 Specifically, the coordinate converter 77-1 uses the following equation (4) based on the voltage V. d1 Voltage V q1 The voltage command, V, is generated on the three-phase shaft by rotating the position θ1. u1 Voltage V v1 and voltage V w1 .

[0073] [Mathematical Expression 4]

[0074] The coordinate converter 77-1 converts the generated voltage V u1 Voltage V v1 and voltage V w1 Output to control signal generator 78-1.

[0075] The control signal generator 78-1 is based on the first DC voltage Vdc1s and the voltage V, which serves as the voltage command value on the three-phase axis. u1 Voltage V v1 and voltage V w1 To output control signals GS11 to GS16 from inverter 5-1. Here, refer to... Figure 5 This section will explain the detailed structure of the control signal generator 78-1.

[0076] Figure 5 This is a block diagram illustrating an example of the control signal generator 78-1 of this embodiment. like Figure 5 As shown, the control signal generator 78-1 includes a duty cycle calculation unit 781-1 and a carrier comparison unit 782-1.

[0077] Duty cycle calculation unit 781-1 based on voltage V u1 Voltage V v1 and voltage V w1 The output value, normalized to the first DC voltage Vdc1s, is the first duty cycle (du1, dv1, dw1). For example, the duty cycle calculation unit 781-1 generates the first duty cycle (du1, dv1, dw1) using the following equation (5).

[0078] [Mathematical Expression 5]

[0079] In addition, the duty cycle calculation unit 781-1 includes a multiplier 81-1, an adder 82-1, a multiplier 83-1, an adder 84-1, a multiplier 85-1, and an adder 86-1.

[0080] Multiplier 81-1 pairs voltage V u1 Multiply by (1 / Vdc1s) and output the result of the multiplication to adder 82-1. Adder 82-1 adds the constant "0.5" to the output value of multiplier 81-1 and outputs it as the first duty cycle du1 to carrier comparator 782-1.

[0081] Multiplier 83-1 pairs voltage V v1 Multiply by (1 / Vdc1s) and output the result of the multiplication to adder 84-1. Adder 84-1 adds “0.5”, which is a constant, to the output value of multiplier 83-1 and outputs it as the first duty cycle dv1 to carrier comparator 782-1.

[0082] Multiplier 85-1 pairs voltage V w1 Multiply by (1 / Vdc1s) and output the result of the multiplication to adder 86-1. Adder 86-1 adds “0.5”, which is a constant, to the output value of multiplier 85-1 and outputs it as the first duty cycle dw1 to carrier comparator 782-1.

[0083] The carrier comparator 782-1 outputs control signals GS11 to GS16 of the inverter 5-1 based on the first duty cycle (du1, dv1, dw1). Here, refer to... Figure 6 This will explain the processing of the carrier comparison unit 782-1.

[0084] Figure 6 This is a diagram illustrating an example of the processing of the carrier comparison unit 782-1 in this embodiment. exist Figure 6 In the diagram, waveforms W1 to W3 show the waveforms of the first duty cycle (du1, dv1, dw1). Furthermore, waveform W4 shows the waveform of a triangular carrier wave CA with a peak level of "1" and a valley level of "0". Additionally, waveforms W5 to W10 sequentially show the waveforms of control signals GS11, GS13, GS15, GS12, GS14, and GS16. Figure 6 The horizontal axis of the graph shown represents time, and the period Tc (=1 / fc, where fc represents frequency) indicates the period of the carrier CA.

[0085] like Figure 6 As shown, the carrier comparator 782-1 compares the first duty cycle (du1, dv1, dw1) of waveforms W1 to W3 with the carrier CA of waveform W4. When the first duty cycle is high in each phase, the control signals (GS11, GS13, GS15) corresponding to the switching elements (51-1, 53-1, 55-1) on the high-potential side of the inverter 5-1 are turned on (value "1"). Conversely, when the first duty cycle is low in each phase, the carrier comparator 782-1 turns off the control signals (GS11, GS13, GS15) corresponding to the switching elements (51-1, 53-1, 55-1) on the high-potential side of the inverter 5-1 (value "0").

[0086] Furthermore, the carrier comparator 782-1 compares the first duty cycle (du1, dv1, dw1) of waveforms W1 to W3 with the carrier CA of waveform W4. When the first duty cycle is low in each phase, the control signals (GS12, GS14, GS16) corresponding to the switching elements (52-1, 54-1, 56-1) on the low-potential side of the inverter 5-1 are turned on (value "1"). Conversely, when the first duty cycle is high in each phase, the carrier comparator 782-1 turns off the control signals (GS12, GS14, GS18) corresponding to the switching elements (52-1, 54-1, 56-1) on the high-potential side of the inverter 5-1 (value "0").

[0087] Through the processing of the carrier comparator 782-1 described above, for any one phase (X phase) of each phase, if we set it to the first duty cycle dx1, then during the period Tc of the carrier CA, the proportion of the control signal on the high potential side causing the switching element to be in the conducting state is dx1, while the proportion of the control signal on the low potential side causing the switching element to be in the conducting state is (1-dx1). Therefore, when the high potential side is in the conducting state, the X phase potential of the inverter 5-1 is the first DC voltage Vdc1, and when the low potential side is in the conducting state, the X phase potential of the inverter 5-1 is "0" (GND). Therefore, the output voltage Vx1_PWM of the X phase is represented by the following equation (6).

[0088] [Mathematical Expression 6] Vx1_PWM=dx1×Vdc1…(6)

[0089] Here, the duty cycle of phase X is expressed by the above equation (5) as the following equation (7).

[0090] [Mathematical Expression 7]

[0091] If equation (7) is substituted into equation (6), the output voltage Vx1_PWM of phase X is represented by the following equation (8).

[0092] [Mathematical Expression 8]

[0093] Here, if the detected first DC voltage Vdc1s is equal to the first DC voltage Vdc1 (true value), then the first term on the right side of the actual output voltage Vx1_PWM of phase X is only Vx1. As a result, the output voltage Vx1_PWM, centered around the second term on the right (0.5 × Vdc1), becomes the voltage whose first term matches its command value Vx1. Therefore, inverter 5-1 can output a voltage corresponding to the command value.

[0094] Return to Figure 2 According to the description, the control unit 7-2 includes a current command arithmetic unit 70-2, a subtractor 71-2, a current controller 72-2, a subtractor 73-2, a current controller 74-2, a coordinate converter 75-2, a MIN selection unit 76-2, a coordinate converter 77-2, and a control signal generator 78-2.

[0095] The current command arithmetic unit 70-2 generates the d-axis current command value Id_target2 and the q-axis current command value Iq_target2 of the second system based on the command value (Ts2) of the rotating motor 10. The current command arithmetic unit 70-2 has the same structure as the current command arithmetic unit 70-1.

[0096] The coordinate converter 75-2 converts the current value I detected by the current detection unit 6-2 based on the rotational position θ2. us2 Current value I vs2 and current value I ws2 Converted to current I on the rotating two axes d2 and current I q2 The coordinate converter 75-2 has the same structure as the coordinate converter 75-1.

[0097] The MIN selection unit 76-2 compares the first DC voltage Vdc1s and the second DC voltage Vdc2s, and outputs the lower one (the smaller value) as the minimum DC voltage Vdc_min. The MIN selection unit 76-2 has the same structure as the MIN selection unit 76-1.

[0098] Subtractor 71-2 subtracts the current I on the rotating second axis from the d-axis current command value Id_target2. d2 The result is then output to the current controller 72-2. Current I d2 Output from coordinate converter 75-2.

[0099] Subtractor 73-2 subtracts the current I on the rotating second axis from the q-axis current command value Iq_target2. q2 The result is then output to the current controller 74-2. Current I q2 Output from coordinate converter 75-2.

[0100] The current controller 72-2 performs proportional and integral control on the output value of the subtractor 71-2, ensuring that the output value of the subtractor 71-2 is "0" (zero), thereby outputting the voltage V on the rotating shaft. d2 Since the structure of the current controller 72-2 is the same as that of the current controller 72-1 described above, its description is omitted here.

[0101] The current controller 74-2 performs proportional and integral control on the output value of the subtractor 73-2, ensuring that the output value of the subtractor 73-2 is "0" (zero), thereby outputting the voltage V on the rotating shaft. q2 Since the structure of the current controller 74-2 is the same as that of the current controller 74-1 described above, its description is omitted here.

[0102] The coordinate converter 77-2 uses the rotational position θ2 as the voltage V, which is the voltage command on the two rotational axes. d2 and voltage V q2 Converted to voltage command on the three-phase axis, i.e., voltage V u2 Voltage V v2 and voltage V w2 Since the structure of coordinate converter 77-2 is the same as that of coordinate converter 77-1 described above, its description is omitted here.

[0103] The control signal generator 78-2 is based on the second DC voltage Vdc2s and the voltage V, which serves as the voltage command value on the three-phase axis. u2 Voltage V v2 and voltage V w2 This is used to output control signals GS21 to GS26 for inverter 5-2. Since the structure of control signal generator 78-2 is the same as that of control signal generator 78-1 described above, its description is omitted here.

[0104] Next, the operation and effects of the rotary motor control device 1 according to this embodiment will be explained. First, in the control unit 7-1 of the first system, the current controller 72-1 and the current controller 74-1 limit the voltage command, i.e., the output V, based on the output of the MIN selection unit 76-1, i.e., the minimum DC voltage Vdc_min. d1 and output V q1 .

[0105] For example, when the first DC voltage Vdc1 is greater than the second DC voltage Vdc2 (Vdc1 > Vdc2), the output V d1 and output V q1 The generated first voltage command vector V1 * like Figure 7 As shown, the constraint is a circle CR2 (size within |Vdc_min| / 2). 0.5 (Inner). In this case, the first DC voltage Vdc1 is greater than the second DC voltage Vdc2 (Vdc1 > Vdc2), therefore, |Vdc_min| is the second DC voltage Vdc2 (|Vdc_min| = Vdc2). Additionally, Figure 7In the diagram, circle CR1 indicates that the magnitude of the first DC voltage Vdc1 used for comparison is |Vdc1| / 2. 0.5 A circle.

[0106] Next, in the control unit 7-2 of the second system, the current controller 72-2 and the current controller 74-2 limit the voltage command, i.e., the output V, based on the output of the MIN selection unit 76-2, i.e., the minimum DC voltage Vdc_min. d2 and output V q2 .

[0107] For example, when the first DC voltage Vdc1 is greater than the second DC voltage Vdc2 (Vdc1 > Vdc2), the output V d2 and output V q2 The generated second voltage command vector V2 * like Figure 8 As shown, the constraint is a circle CR4 (size within |Vdc_min| / 2). 0.5 (Inner). In this case, the first DC voltage Vdc1 is greater than the second DC voltage Vdc2 (Vdc1 > Vdc2), therefore, |Vdc_min| is the second DC voltage Vdc2 (|Vdc_min| = Vdc2). Additionally, Figure 8 In the diagram, circle CR3 indicates that the magnitude of the first DC voltage Vdc1 used for comparison is |Vdc1| / 2. 0.5 A circle.

[0108] First voltage command vector V1 * With the second voltage command vector V2 * Similarly, it is limited by the second DC voltage Vdc2. Therefore, according to... Figure 7 and Figure 8 It is clear that the voltage command (V) of the first system d1 V q1 ) and the voltage command (V) of the second system d2 V q2 Equal (V) d1 =V d2 And V q1 =V q2 Therefore, specifically, as an effect under the operating conditions of the rotary motor 10, the rotary motor control device 1 according to the embodiment is as follows: Figure 9 As shown, even when the rotational speed of the rotary motor 10 increases and reaches the voltage saturation region, the mismatch between systems can be reduced.

[0109] Figure 9 This is a graph showing the relationship between the rotational speed and the q-axis current in this embodiment. Figure 9In the diagram, the vertical axis represents the q-axis current and rotational speed, and the horizontal axis represents time. Furthermore, waveforms W11 and W12 represent the q-axis current I of the second system in this embodiment. q2 and the q-axis current I of the first system q1 Furthermore, waveform W13 represents the q-axis current I of the first system in the prior art. q1 For comparison. Furthermore, waveform W14 represents the change in rotational speed of the rotary motor 10. Additionally, region RG1 represents the voltage saturation region.

[0110] like Figure 9 As shown, the q-axis current I q1 and q-axis current I q2 The current is limited by the first DC voltage Vdc1 and the second DC voltage Vdc2, respectively. Furthermore, if the voltage required to supply the current corresponding to the command value to the rotating motor 10 exceeds the upper limit of the applied voltage of each inverter 5, the q-axis current I... q1 and q-axis current I q2 Decrease the q-axis current Iq_target relative to the target q-axis current. (The q-axis current I...) q1 and q-axis current I q2 The region RG1 where the q-axis current Iq_target decreases relative to the target is called the voltage saturation region.

[0111] For example, when the first DC voltage Vdc1 is larger than the second DC voltage Vdc2, in the prior art, in the voltage saturation region, the q-axis current I... q1 (Waveform W13) becomes more than the q-axis current I q2 (Waveform W11) needs to be large. Therefore, in the prior art, it is difficult to control the q-axis current I equally. q1 and q-axis current I q2 .

[0112] In contrast, in the rotating electric motor control device 1 according to this embodiment, the current controller 72-1 and the current controller 74-1 of the first system are limited by the minimum DC voltage value Vdc_min (=Vdc2). Therefore, even in the voltage saturation region (region RG1), the voltage command can be made approximately equal (Vdc_min = Vdc2 ... d1 ≈V d2 And V q1 ≈V q2 It can control the q-axis current I approximately equally. q1 and q-axis current I q2 (Waveform W11 and waveform W12).

[0113] Furthermore, when the first DC voltage Vdc1 is less than the second DC voltage Vdc2 (Vdc1 < Vdc2), the current controllers 72-1 and 74-2 of the second system are also limited by the minimum DC voltage Vdc_min (=Vdc1). Therefore, the q-axis current I can be controlled approximately equally. q1 and q-axis current I q2 . Therefore, the rotary motor control device 1 according to this embodiment can reduce the mismatch between systems (difference in the current energized to the rotary motor 10).

[0114] Furthermore, in this embodiment, the control signal generator 78-1 of the first system uses the first DC voltage Vdc1 to set the voltage command value (V) on the three-phase shaft. u1 V v1 V w1 Standardization. Furthermore, the control signal generator 78-2 of the second system uses the second DC voltage Vdc2 to set the voltage command value (V) on the three-phase shaft. u2 V v2 V w2 Standardization. Here, the effect of using the DC voltage of this system to standardize the voltage command value of this system will be explained.

[0115] Control unit 7-1 uses the minimum DC voltage value Vdc_min to limit the voltage command value (V) on the three-phase shaft. u1 V v1 V w1 Therefore, under normal circumstances, even when the voltage command value is normalized using the minimum DC voltage value Vdc_min, the rotary motor 10 can be controlled in a steady state. However, in transient states (e.g., when the q-axis current command value Iq_target1 changes drastically, or when the rotational speed changes drastically), the desired voltage cannot be output when the voltage command value of the system is normalized using the minimum DC voltage value Vdc_min. When the voltage command value (V) is normalized using the minimum DC voltage value Vdc_min... u1 V v1 V w1 When the first duty cycle (du1, dv1, dw1) is calculated by referring to the above equation (5), it becomes the following equation (9).

[0116] [Mathematical Expression 9]

[0117] Furthermore, when the three-phase output voltages (Vu1_PWM, Vv1_PWM, Vw1_PWM) in this case are expressed in the same way as Equations (6) to (8) above, they become Equation (10) below.

[0118] [Mathematical Expression 10]

[0119] Here, focusing on the first term on the right side of equation (10), the three-phase output voltages (Vu1_PWM, Vv1_PWM, Vw1_PWM) are set to (Vdc1 / Vdc_min) times the original voltage command, resulting in a voltage error. This voltage error is absorbed by current controllers 72-1 and 72-2, and therefore, in a steady state, becomes the value after setting the original voltage command value to (Vdc_min / Vdc1). Therefore, the voltage command value (Vu1_PWM, Vv1_PWM, Vw1_PWM) on the three-phase shaft is... u1 '、V v1 '、V w1 ') becomes like the following formula (11).

[0120] [Mathematical Expression 11]

[0121] As shown in equation (11), the voltage error caused by the standardization of the minimum DC voltage value Vdc_min is absorbed by the current controllers 72-1 and 72-2. However, in the transient state, due to the influence of the voltage error, the control units 7-1 and 7-2 have difficulty controlling the rotary motor 10 with the desired transient characteristics. Therefore, the rotary motor control device 1 according to this embodiment can achieve the desired transient characteristics by standardizing the voltage command value of the system using the DC voltage of the system.

[0122] As explained above, the rotating electric machine control device 1 of this embodiment includes an inverter 5-1 (first inverter), an inverter 5-2 (second inverter), a control unit 7-1 (first control unit), and a control unit 7-2 (second control unit). Inverter 5-1 applies an AC voltage to the three-phase windings (u1, v1, w1) of the first system based on the first DC voltage Vdc1 output from the DC power supply 3-1 of the first system. Inverter 5-2 applies an AC voltage to the three-phase windings (u2, v2, w2) of the second system based on the second DC voltage Vdc2 output from the DC power supply 3-2 of the second system. Control unit 7-1 generates a command value for inverter 5-1 based on the command value (Ts1) of the rotating electric machine 10, the first DC voltage Vdc1, and the second DC voltage Vdc2. Control unit 7-2 generates a command value for inverter 5-2 based on the command value (Ts1) of rotating motor 10, the first DC voltage Vdc1, and the second DC voltage Vdc2. When the DC voltage of this system (e.g., the first DC voltage Vdc1) is higher than the DC voltage of other systems (e.g., the second DC voltage Vdc2), control units 7-1 and 7-2 (control unit 7) respectively use the DC voltage of other systems (e.g., the minimum DC voltage Vdc_min = Vdc2) to limit the voltage command (V) of this system related to the voltage applied to the three-phase windings of this system. d1 V q1 ), and generate a value that is standardized by using the DC voltage of this system (e.g., the first DC voltage Vdc1) to the voltage command of this system (e.g., refer to equations (5) and (7)) as the command value to the inverter 5 (e.g., inverter 5-1) of this system.

[0123] Therefore, as described above, the rotary electric machine control device 1 according to this embodiment can reduce system mismatch even when differences arise in the DC voltages output from the DC power supplies (3-1, 3-2) of the multiple systems controlling the rotary electric machine 10. Specifically, the rotary electric machine control device 1 according to this embodiment uses the smaller of the first DC voltage Vdc1 and the second DC voltage Vdc2, i.e., the minimum DC voltage Vdc_min, to limit the system voltage command value applied to the three-phase windings of the system, thus reducing system mismatch (differences in the current energized to the rotary electric machine 10). Furthermore, the rotary electric machine control device 1 according to this embodiment outputs the standardized values ​​(first duty cycle, second duty cycle) of the system voltage command to the inverters 5 (5-1, 5-2) of the first and second systems respectively, thus improving transient characteristics.

[0124] In this embodiment, control unit 7-1 includes a first CPU, and control unit 7-2 includes a second CPU. The first CPU sends a first DC voltage Vdc1 (=Vdc1s) to the second CPU, and the second CPU sends a second DC voltage Vdc2 (=Vdc2s) to the first CPU.

[0125] Therefore, the rotary motor control device 1 according to this embodiment is processed by two independent CPUs, so that even if, for example, one system fails, the remaining system can continue to control the rotary motor 10.

[0126] Furthermore, in this embodiment, when the DC voltage of this system (e.g., the first DC voltage Vdc1) is higher than the DC voltage of other systems (e.g., the second DC voltage Vdc2), the control unit 7 (e.g., control unit 7-1) uses the DC voltage of other systems (e.g., the minimum DC voltage Vdc_min = Vdc2) to limit the voltage command (V) on the dq axis of the voltage command of this system. d1 V q1 ). Therefore, the rotary motor control device 1 according to this embodiment can be adjusted so that the voltage commands on the dq axis are consistent across systems.

[0127] Furthermore, in this embodiment, the control unit 7 (e.g., control unit 7-1) can limit the magnitude of the voltage command vector on the stationary coordinate axis in the voltage command of this system to the value that can be output by the DC voltage of other systems (e.g., the first DC voltage Vdc1) when the DC voltage of this system (e.g., the first DC voltage Vdc1) is higher than the DC voltage of other systems (e.g., the minimum DC voltage Vdc_min = Vdc2). Therefore, the rotary motor control device 1 according to this embodiment can be adjusted so that the magnitudes of the voltage command vectors on the stationary coordinate axes between systems are consistent.

[0128] [Implementation Method 2] Next, the rotary motor control device 1a according to Embodiment 2 will be described with reference to the accompanying drawings. Figure 10 This is a block diagram illustrating an example of the rotary motor control device 1a according to Embodiment 2.

[0129] like Figure 10 As shown, the rotary motor controller 1a includes a position detection unit 2, a DC power supply 3-1, a DC power supply 3-2, a capacitor 4-1, a capacitor 4-2, an inverter 5-1, an inverter 5-2, a current detection unit 6-1, a current detection unit 6-2, a control unit 7a-1, and a control unit 7a-2. In addition, Figure 10 In the middle, to and Figure 1 The same structures as those in Embodiment 1 are given the same reference numerals and their descriptions are omitted.

[0130] In this embodiment, the difference from the rotary motor control device 1 of Embodiment 1 is that a control unit 7a (7a-1, 7a-2) is provided instead of a control unit 7 (7-1, 7-2). Furthermore, in this embodiment, the first system has a wiring resistance (Rp1) for the DC portion flowing from the DC power supply 3-1 to the inverter 5-1, and the actual DC voltage resulting from the voltage drop due to the wiring resistance (Rp1) is set as the first DC voltage Vdc1_real. Similarly, the second system has a wiring resistance (Rp2) for the DC portion flowing from the DC power supply 3-2 to the inverter 5-2, and the actual DC voltage resulting from the voltage drop due to the wiring resistance (Rp2) is set as the second DC voltage Vdc2_real.

[0131] Control unit 7a-1 (an example of a first control unit) includes, for example, a CPU and controls the rotary motor 10 through the first system. Control unit 7-1 controls the rotary motor 10 based on the current command values ​​(Id_target1, Iq_target1), the rotational position θ1 detected by position detection unit 2, and the current value I detected by current detection unit 6-1. us1 Current value I vs1 and current value I ws1 The first DC voltage Vdc1s and the second DC voltage Vdc2s obtained from the control unit 7a-2 are used to output control signals GS11 to GS16 (first control signals) related to the switching of the inverter 5-1.

[0132] Control unit 7a-2 (an example of a second control unit) includes, for example, a CPU and controls the rotary motor 10 via the second system. Control unit 7a-2 controls the rotary motor 10 based on the current command values ​​(Id_target2, Iq_target2), the rotational position θ1 detected by position detection unit 2, and the current value I detected by current detection unit 6-2. us2 Current value I vs2 and current value I ws2 The second DC voltage Vdc2s and the first DC voltage Vdc1s obtained from the control unit 7a-1 are used to output control signals GS21 to GS26 (second control signals) related to the switching of the inverter 5-2.

[0133] Here, refer to Figure 11 The structure of the control unit 7a of the two systems of the rotary electric motor control device 1a according to this embodiment will be explained. Figure 11This is a block diagram showing an example of the control unit 7a of the two systems of the rotary electric machine control device 1a according to this embodiment.

[0134] like Figure 11 As shown, the control unit 7a-1 includes a current command arithmetic unit 70-1, a subtractor 71-1, a current controller 72-1, a subtractor 73-1, a current controller 74-1, a coordinate converter 75-1, a MIN selection unit 76-1, a coordinate converter 77-1, a control signal generator 78-1, a battery current calculation unit 61-1 for this system, a battery current calculation unit 62-1 for other systems, and a voltage deviation calculation unit 63-1. Furthermore, the MIN selection unit 76-1 and the voltage deviation calculation unit 63-1 are included in the minimum voltage calculation unit 60-1.

[0135] The battery current calculation unit 61-1 of this system is based on the three-phase current value (current value I) of this system. us1 Current value I vs1 and current value I ws1 The system's current I is calculated using the system's duty cycle, specifically the first duty cycle (du1, dv1, dw1). dc1 The current I in this system is... dc1 (The DC current of this system) is the current flowing into the DC portion of the inverter 5-1, and is the DC current of the first system. The battery current calculation unit 61-1 of this system calculates the current I of this system using, for example, the following formula (12). dc1 .

[0136] [Mathematical Expression 12] I dc1 =du1×I us1 +dv1×I vs1 +dw1×I ws1 …(12)

[0137] Other system battery current calculation unit 62-1 based on the current I of this system dc1 The detected DC voltage value of this system (i.e., the first DC voltage Vdc1s) and the detected DC voltage value of other systems (i.e., the second DC voltage Vdc2s) are used to calculate the current I of other systems. dc2 The current I in other systems here dc2 (DC current of other systems) is the current flowing into the DC portion of inverter 5-2, and is the DC current of the second system. The battery current calculation unit 62-1 of other systems calculates the current I of other systems, for example, using the following formula (13). dc2 .

[0138] [Mathematical Expression 13]

[0139] The voltage deviation calculation unit 63-1 calculates the current I of the system based on the output of the battery current calculation unit 61-1. dc1 The current I of other systems output by the battery current calculation unit 62-1 of other systems. dc2 To calculate the voltage deviation ΔV of the first system. a The voltage deviation calculation unit 63-1 calculates the voltage deviation ΔV of the first system, for example, using the following formula (14). a .

[0140] [Mathematical Expression 14] ΔV a =R p (I dc2 -I dc1 (14)

[0141] In equation (14), the resistance R p (=Rp1) represents the wiring resistance of the first system. Therefore, the voltage deviation ΔV of the first system a For the current I from the first system dc1 and the current I of the second system dc2 Current I in other systems dc2 Subtract the current I of this system dc1 The value after multiplying by the DC current (current I) of this system represents the DC component current. dc1 The resistance of the wiring through which the current flows is R. p The value obtained from (=Rp1).

[0142] The minimum voltage calculation unit 60-1 includes a MIN selection unit 76-1 and a voltage deviation calculation unit 63-1. The minimum voltage calculation unit 60-1 calculates the voltage deviation ΔV of the first system based on the minimum DC voltage Vdc_min output by the MIN selection unit 76-1 and the voltage deviation ΔV of the first system calculated by the minimum voltage calculation unit 60-1. a This process generates a new minimum DC voltage value, Vdc_min2, and outputs the generated minimum DC voltage value, Vdc_min2. The minimum DC voltage value Vdc_min2 takes into account the voltage deviation ΔV. a The correction value of the minimum DC voltage Vdc_min. The minimum voltage calculation unit 60-1 calculates the minimum DC voltage Vdc_min2 using, for example, the following formula (15).

[0143] [Mathematical Expression 15]

[0144] That is, when the DC voltage Vdc1s of this system is smaller than the DC voltage Vdc2s of other systems, the minimum voltage calculation unit 60-1 outputs the minimum DC voltage Vdc_min (=Vdc1s) as the minimum DC voltage Vdc_min2. Furthermore, when the DC voltage Vdc1s of this system is larger than the DC voltage Vdc2s of other systems, the minimum voltage calculation unit 60-1 subtracts the voltage deviation ΔV from the minimum DC voltage Vdc_min (=Vdc2s). a The obtained value is then output as the minimum DC voltage value Vdc_min2.

[0145] The minimum DC voltage value Vdc_min2 output by the minimum DC voltage calculation unit 60-1 is provided to subtractors 71-1 and 73-1 instead of the minimum DC voltage value Vdc_min. The processing after the control unit 7a-1 is the same as that of the control unit 7-1 in Embodiment 1, so its description is omitted here.

[0146] Furthermore, the control unit 7a-2 includes a current command arithmetic unit 70-2, a subtractor 71-2, a current controller 72-2, a subtractor 73-2, a current controller 74-2, a coordinate converter 75-2, a MIN selection unit 76-2, a coordinate converter 77-2, a control signal generator 78-2, a battery current calculation unit 61-2 for this system, a battery current calculation unit 62-2 for other systems, and a voltage deviation calculation unit 63-2. Additionally, the MIN selection unit 76-2 and the voltage deviation calculation unit 63-2 are contained within the minimum voltage calculation unit 60-2.

[0147] The battery current calculation unit 61-2 of this system is based on the three-phase current value (current value I) of this system. us2 Current value I vs2 and current value I ws2 The system's current I is calculated using the system's duty cycle, specifically the second duty cycle (du2, dv2, dw2). dc2 The current I in this system is... dc2 (The DC current of this system) is the current flowing into the DC portion of inverter 5-2, and is the DC current of the second system. The battery current calculation unit 61-2 of this system calculates the current I of this system, for example, using the following formula (16). dc2 .

[0148] [Mathematical Expression 16] I dc2 =du2×I us2 +dv2×I vs2 +dw2×I ws2 …(16)

[0149] Other system battery current calculation unit 62-2 based on the current I of this system dc2 The detected DC voltage value of this system (i.e., the second DC voltage Vdc2s) and the detected DC voltage value of other systems (i.e., the first DC voltage Vdc1s) are used to calculate the current I of other systems. dc1 The current I in other systems here dc1 (DC current of other systems) is the current flowing into the DC portion of inverter 5-1, and is the DC current of the first system. The battery current calculation unit 62-1 of other systems calculates the current I of other systems, for example, using the following formula (17). dc1 .

[0150] [Mathematical Expression 17]

[0151] The voltage deviation calculation unit 63-2 calculates the current I of the system based on the output of the battery current calculation unit 61-2. dc2 The current I of other systems output by the battery current calculation unit 62-2 of other systems. dc1 To calculate the voltage deviation ΔV of the second system. b The voltage deviation calculation unit 63-2 calculates the voltage deviation ΔV of the second system, for example, using the following formula (18). b .

[0152] [Mathematical Expression 18] ΔV b =R p (I dc1 -I dc1 )…(18)

[0153] In equation (18), the resistance R p (=Rp2) represents the wiring resistance of the second system. Therefore, the voltage deviation ΔV of the second system b The current I from the second system dc2 and the current I of the first system dc1 Current I in other systems dc1 Subtract the current I of this system dc2 The value after multiplying by the DC current (current I) of this system represents the DC component current. dc2 The resistance of the wiring through which the current flows is R. p The value obtained by (=Rp2).

[0154] The minimum voltage calculation unit 60-2 includes a MIN selection unit 76-2 and a voltage deviation calculation unit 63-2. The minimum voltage calculation unit 60-2 calculates the voltage deviation ΔV of the second system based on the minimum DC voltage Vdc_min output by the MIN selection unit 76-2 and the voltage deviation ΔV of the second system calculated by the minimum voltage calculation unit 60-2. b This process generates a new minimum DC voltage value, Vdc_min2, and outputs the generated minimum DC voltage value, Vdc_min2. The minimum DC voltage value Vdc_min2 takes into account the voltage deviation ΔV. b The correction value of the minimum DC voltage Vdc_min. The minimum voltage calculation unit 60-2 calculates the minimum DC voltage Vdc_min2 using, for example, the following formula (19).

[0155] [Mathematical Expression 19]

[0156] That is, when the DC voltage Vdc2s of this system is smaller than the DC voltage Vdc1s of other systems, the minimum voltage calculation unit 60-2 outputs the minimum DC voltage Vdc_min (=Vdc2s) as the minimum DC voltage Vdc_min2. Furthermore, when the DC voltage Vdc2s of this system is larger than the DC voltage Vdc1s of other systems, the minimum voltage calculation unit 60-2 subtracts the voltage deviation ΔV from the minimum DC voltage Vdc_min (=Vdc1s). b The obtained value is then output as the minimum DC voltage value Vdc_min2.

[0157] The minimum DC voltage value Vdc_min2 output by the minimum voltage calculation unit 60-2 is provided to subtractors 71-2 and 73-2 instead of the minimum DC voltage value Vdc_min. The subsequent processing of the control unit 7a-2 is the same as that of the control unit 7-2 in Embodiment 1.

[0158] Next, the operation and effects of the rotary electric motor control device 1a according to this embodiment will be explained. In this embodiment, compared to embodiment 1, a voltage drop occurs in the DC voltage due to the wiring resistance (Rp1, Rp2) of the inverter 5. Furthermore, here, we assume Rp1 = Rp2 = R... p .

[0159] In inverter 5-1, there is a wiring resistance R. p Therefore, a deviation occurs between the detected voltage Vdc1s and the actual input voltage Vdc1_real in this system. Furthermore, in inverter 5-2, there is a wiring resistance R. pTherefore, a deviation occurs between the detected voltage Vdc2s and the actual input voltage Vdc2_real in this system. Thus, in order to make the current in the first system and the second system energized to the rotating motor 10 consistent, inverters 5-1 and 5-2 need to apply a voltage based on the smaller of the actual input voltages Vdc1_real and Vdc2_real.

[0160] However, the actual detectable voltages are the detection voltage Vdc1s and the detection voltage Vdc2s, thus generating an error. Therefore, the rotary motor control device 1a according to this embodiment uses a voltage deviation calculation unit 63-1 and a voltage deviation calculation unit 63-2 to correct this error. In this embodiment, the rotating motor control device 1a controls the power supplied by the inverter 5-1 and the inverter 5-2 to the rotating motor 10 to be consistent, so the following equation (20) holds.

[0161] [Mathematical Expression 20] Vdc1s×I dc1 =Vdc2s×I dc2 …(20)

[0162] In addition, according to Figure 10 The voltage drop in the first and second systems of the rotating electric motor control device 1a is such that the following equation (21) holds.

[0163] [Mathematical Expression 21]

[0164] First, for comparison, the voltage deviation ΔV is not used. a The correction process will be explained. For example, when the detection voltage Vdc1s of the first system is larger than the detection voltage Vdc2s of the second system (Vdc1s > Vdc2s), according to the above equation (13), the current I of the first system... dc1 It becomes more powerful than the current I of the second system. dc2 Small (I) dc1 <I dc2 Here, in the second system, the input voltage Vdc2_real shown in equation (21) above is output to inverter 5-2.

[0165] In contrast, in the first system, the MIN selection unit 76-1 selects the voltage Vdc2s as the minimum DC voltage Vdc_min, and therefore the input voltage Vdc1_real shown in the following equation (22) is output to the inverter 5-1.

[0166] [Mathematical Expression 22] Vdc1_real = Vdc2s-R p ·I dc1 …(twenty two)

[0167] Here, when the detection voltage Vdc1s of the first system is larger than the detection voltage Vdc2s of the second system (Vdc1s > Vdc2s), the current I of the first system... dc1 It becomes more powerful than the current I of the second system. dc2 Small (I) dc1 <I dc2 Therefore, the relationship becomes the following equation (23).

[0168] [Mathematical Expression 23] Vdc1_real>Vdc2_real…(23)

[0169] That is, without performing the voltage deviation ΔV-based implementation of this embodiment... a Under the corrected condition, the voltage applied to inverter 5-1 (input voltage Vdc1_real) is inconsistent with the voltage applied to inverter 5-2 (input voltage Vdc2_real). Consequently, the current energized to the three-phase windings (u1, v1, w1) of the first system is inconsistent with the current energized to the three-phase windings (u2, v2, w2) of the second system, which, for example, generates noise in the rotating motor 10.

[0170] In contrast, in the rotary electric motor control device 1a according to this embodiment, the minimum voltage calculation unit 60-1 uses the voltage deviation ΔV shown in formula (14). a To correct the minimum DC voltage Vdc_min, the voltage applied to inverter 5-1 (input voltage Vdc1_real) is represented by the following equation (24).

[0171] [Mathematical Expression 24] Vdc1_real=Vdc2s-ΔV a -R p ·I dc1 =Vdc2s-R p ·(I dc2 -I dc1 )-R p ·I dc1 =Vdc2s-R p ·I dc2 …(twenty four)

[0172] The right side of equation (24) is the same as the input voltage Vdc2_real shown in equation (21) above. Therefore, in the rotary motor control device 1a according to this embodiment, the voltage applied to inverter 5-1 (input voltage Vdc1_real) is the same as the voltage applied to inverter 5-2 (input voltage Vdc2_real).

[0173] Next, when the detection voltage Vdc1s of the first system is smaller than the detection voltage Vdc2s of the second system (Vdc1s < Vdc2s), according to the above equation (13), the current I of the first system is... dc1 It becomes more powerful than the current I of the second system. dc2 Big (I) dc1 >I dc2 Here, in the first system, the input voltage Vdc1_real shown in equation (21) above is output to inverter 5-1.

[0174] In contrast, in the second system, the MIN selection unit 76-2 selects voltage Vdc1s as the minimum DC voltage Vdc_min, and therefore, the input voltage Vdc2_real shown in the following equation (25) is output to the inverter 5-2.

[0175] [Mathematical Expression 25] Vdc2_real = Vdc1s-R p ·I dc2 …(25)

[0176] Here, when the detection voltage Vdc1s of the first system is smaller than the detection voltage Vdc2s of the second system (Vdc1s < Vdc2s), the current I of the first system... dc1 It becomes more powerful than the current I of the second system. dc2 Big (I) dc1 >I dc2 Therefore, the relationship becomes the following equation (26).

[0177] [Mathematical Expression 26] Vdc1_real<Vdc2_real…(26)

[0178] That is, without performing the voltage deviation ΔV-based implementation of this embodiment... b Under the corrected condition, the voltage applied to inverter 5-1 (input voltage Vdc1_real) is inconsistent with the voltage applied to inverter 5-2 (input voltage Vdc2_real). Consequently, the current energized to the three-phase windings (u1, v1, w1) of the first system is inconsistent with the current energized to the three-phase windings (u2, v2, w2) of the second system, which, for example, generates noise in the rotating motor 10.

[0179] In contrast, in the rotary electric motor control device 1a according to this embodiment, the minimum voltage calculation unit 60-2 uses the voltage deviation ΔV shown in formula (14). b To correct the minimum DC voltage Vdc_min, the voltage applied to inverter 5-2 (input voltage Vdc2_real) is represented by the following equation (27).

[0180] [Mathematical Expression 27] Vdc2_real=Vdc1s-ΔV b -R p ·I dc2 =Vdc1s-R p ·(I dc1 -I dc2 )-R p ·I dc2 =Vdc1s-R p ·I dc1 …(27)

[0181] The right side of equation (27) is the same as the input voltage Vdc1_real shown in equation (21) above. Therefore, in the rotating electric machine control device 1a according to this embodiment, the voltage applied to inverter 5-1 (input voltage Vdc1_real) is the same as the voltage applied to inverter 5-2 (input voltage Vdc2_real).

[0182] As explained above, in the rotary electric motor control device 1a according to this embodiment, when the DC voltage of this system is higher than the DC voltage of other systems, the control unit 7a bases its control unit on the voltage deviation (ΔV). a ΔV b This is used to limit the voltage command of the system. Here, the voltage deviation (ΔV) a ΔV b ) refers to the current flowing from the DC portion of inverter 5-1, i.e., the DC current of the first system (current I). dc1 The current flowing into the DC section of inverter 5-2, i.e., the DC section current of the second system (current I), is the same as the current flowing into the DC section of inverter 5-2. dc2 The value of the DC current of other systems minus the DC current of this system is multiplied by the wiring resistance (R) representing the resistance of the wiring through which the DC current of this system flows. p The value obtained is (refer to equation (14) and equation (18)).

[0183] Therefore, the rotary electric motor control device 1a according to this embodiment, as described above, even with the wiring resistance R of the inverter 5... pWhen present, the voltages output from inverters 5-1 and 5-2 can be made consistent, reducing mismatch between systems. In the rotating electric machine control device 1a according to this embodiment, the currents energized to the three-phase windings (u1, v1, w1) of the first system and the three-phase windings (u2, v2, w2) of the second system are consistent, thus, for example, noise generated from the rotating electric machine 10 can be reduced.

[0184] Furthermore, in this embodiment, the control unit 7a calculates the DC current of other systems based on the DC voltage of other systems. Therefore, the rotary electric machine control device 1a according to this embodiment calculates the DC current of other systems, and thus it is not necessary to detect the DC current of other systems. Therefore, the rotary electric machine control device 1a according to this embodiment can, for example, reduce the number of detection units such as sensors, simplify the structure, and achieve cost reduction.

[0185] Furthermore, in this embodiment, the control unit 7a calculates the DC current of other systems based on the DC voltage of this system, the DC voltage of other systems, and the DC current of this system (refer to Equations (13) and (17)). Therefore, the rotary electric machine control device 1a according to this embodiment can easily calculate the DC current of other systems using a simple method.

[0186] Furthermore, the rotary electric machine control device 1a according to this embodiment includes a current detection unit 6 (6-1, 6-2) for detecting the current flowing through the three-phase windings of each system. The control unit 7a calculates the DC current of the system based on the current flowing through the three-phase windings of the system detected by the current detection unit 6 (refer to equations (12) and (16)). Therefore, the rotary electric motor control device 1a according to this embodiment can easily calculate the DC current of the system using a simple method.

[0187] In addition, in the above embodiment, for the battery current I of other systems... dc2 The voltage minimum value calculation unit 60-1 of the first system can receive and use the value calculated in other systems using the above formula (13) or formula (14). Furthermore, for the battery current I of other systems... dc1 The voltage minimum value calculation unit 60-2 of the second system can receive and use the value calculated by the above formula (12) or formula (17) in other systems.

[0188] [Implementation Method 3] Next, the rotary motor control device 1b according to Embodiment 3 will be described with reference to the accompanying drawings. In this embodiment, a modified example of correcting the voltage of each of the three phases of the system based on the zero-phase voltage of the system will be described.

[0189] The rotary electric motor control device 1b according to this embodiment includes a control signal generator 78a (78a-1, 78a-2) instead of a control signal generator 78 (78-1, 78-2), and the other structures are the same as those of the rotary electric motor control device 1 in Embodiment 1.

[0190] Figure 12 This is a block diagram illustrating an example of the control signal generator 78a-1 of the first system in this embodiment. like Figure 12 As shown, the control signal generator 78a-1 includes a duty cycle calculation unit 781a-1 and a carrier comparison unit 782-1. Additionally, Figure 12 In the middle, regarding the above Figure 5 The same structure is labeled with the same number, and its description is omitted. The control signal generator 78a-1 is based on the first DC voltage Vdc1s and the voltage V, which serves as the voltage command value on the three-phase axis. u1 Voltage V v1 and voltage V w1 To output control signals GS11 to GS16 of inverter 5-1.

[0191] In addition, the rotary electric motor control device 1b according to this embodiment includes a control unit 7b-1 of the first system, and the control unit 7b-1 includes a control signal generator 78a-1.

[0192] Duty cycle calculation unit 781a-1 based on voltage V u1 Voltage V v1 and voltage V w1 The output value, normalized using the first DC voltage Vdc1s, is the first duty cycle (du1, dv1, dw1). The duty cycle calculation unit 781a-1 includes a zero-phase voltage calculation unit 80-1, a multiplier 81-1, an adder 82-1, a multiplier 83-1, an adder 84-1, a multiplier 85-1, an adder 86-1, a subtractor 87-1, a subtractor 88-1, and a subtractor 89-1. Furthermore, the duty cycle calculation unit 781a-1 differs from the duty cycle calculation unit 781-1 of Embodiment 1 in that it adds a zero-phase voltage calculation unit 80-1, a subtractor 87-1, a subtractor 88-1, and a subtractor 89-1.

[0193] Zero-phase voltage calculation unit 80-1 is based on voltage command value, i.e., voltage V u1 Voltage V v1 and voltage V w1 The zero-phase voltage V is calculated using the system's detection voltage Vdc1s.0a The zero-phase voltage calculation unit 80-1 calculates the zero-phase voltage V, for example, using the following equation (28). 0a In addition, the zero-phase voltage calculation unit 80-1 calculates the zero-phase voltage V of this system. 0a So that the voltage command (voltage V) of this system can be executed. u1 Voltage V v1 and voltage V w1 The minimum value of ) is consistent with the specified lower limit (e.g., 0V) of the DC voltage Vdc1s based on this system.

[0194] [Mathematical Expression 28]

[0195] Here, the minimum voltage V min It is to calculate the zero-phase voltage V 0a Voltage V at time u1 Voltage V v1 and voltage V w1 The minimum value. Zero-phase voltage calculation unit 80-1 for minimum voltage V min The zero-phase voltage V is calculated by adding half of the DC voltage Vdc1s of this system (Vdc1s / 2). 0a So that the voltage command (voltage V) of this system can be executed. u1 Voltage V v1 and voltage V w1 The minimum value of (minimum voltage V) min It is consistent with the specified lower limit (e.g., 0V) of the DC voltage Vdc1s based on this system.

[0196] Subtractor 87-1 will subtract the voltage command value, i.e., voltage V. u1 Subtract zero-phase voltage V 0a The obtained value is then output to multiplier 81-1. Subtractor 88-1 will subtract the voltage command value, i.e., voltage V. v1 Subtract zero-phase voltage V 0a The obtained value is then output to multiplier 83-1. Subtractor 89-1 will subtract the voltage command value, i.e., voltage V. w1 Subtract zero-phase voltage V 0a The resulting value is then output to multiplier 85-1.

[0197] The structures following subtractors 87-1, 88-1, and 89-1 are the same as in embodiment 1, so their description is omitted here. The duty cycle calculation unit 781a-1 uses the following formula (29) to calculate the first duty cycle (du1, dv1, dw1).

[0198] [Mathematical Expression 29]

[0199] Next, refer to Figure 13 The structure of the control signal generator 78a-2 of the second system will be explained. Figure 13 This is a block diagram illustrating an example of the control signal generator 78a-1 of the second system in this embodiment. like Figure 13 As shown, the control signal generator 78a-2 includes a duty cycle calculation unit 781a-2 and a carrier comparison unit 782-2. The control signal generator 78a-2 is based on the second DC voltage Vdc2s and the voltage V, which serves as the voltage command value on the three-phase axis. u2 Voltage V v2 and voltage V w2 To output control signals GS21 to GS26 of inverter 5-2.

[0200] In addition, the rotary electric motor control device 1b according to this embodiment includes a control unit 7b-2 of the second system, and the control unit 7b-2 includes a control signal generator 78a-2.

[0201] Duty cycle calculation unit 781a-2 based on voltage V u2 Voltage V v2 and voltage V w2 The output value, normalized using the second DC voltage Vdc2s, is the second duty cycle (du2, dv2, dw2). The duty cycle calculation unit 781a-2 includes a zero-phase voltage calculation unit 80-2, multipliers 81-2, adders 82-2, multipliers 83-2, adders 84-2, multipliers 85-2, adders 86-2, subtractors 87-2, subtractors 88-2, and subtractors 89-2. Furthermore, the duty cycle calculation unit 781a-2 differs from the duty cycle calculation unit 781-2 in Embodiment 1 in that it adds a zero-phase voltage calculation unit 80-2, subtractors 87-2, subtractors 88-2, and subtractors 89-2.

[0202] Zero-phase voltage calculation unit 80-2 is based on voltage command value, i.e., voltage V u2 Voltage V v2 and voltage V w2 The zero-phase voltage V is calculated using the system's detection voltage Vdc2s. 0b The zero-phase voltage calculation unit 80-2 calculates the zero-phase voltage V, for example, using the following equation (30). 0a In addition, the zero-phase voltage calculation unit 80-1 calculates the zero-phase voltage V of this system. 0b So that the voltage command (voltage V) of this system can be executed.u2 Voltage V v2 and voltage V w2 The minimum value of ) is consistent with the specified lower limit (e.g., 0V) of the DC voltage Vdc2s based on this system.

[0203] [Mathematical Expression 30]

[0204] Here, the minimum voltage V min It is to calculate the zero-phase voltage V 0b Voltage V at time u2 Voltage V v2 and voltage V w2 The minimum value. Zero-phase voltage calculation unit 80-2 for minimum voltage V min The zero-phase voltage V is calculated by adding half of the DC voltage Vdc2s of this system (Vdc2s / 2). 0b So that the voltage command (voltage V) of this system can be executed. u2 Voltage V v2 and voltage V w2 The minimum value of (minimum voltage V) min This is consistent with the specified lower limit (e.g., 0V) of the DC voltage Vdc2s based on this system.

[0205] Subtractor 87-2 will subtract the voltage command value, i.e., voltage V. u2 Subtract zero-phase voltage V 0b The obtained value is then output to multiplier 81-2. Subtractor 88-2 will subtract the voltage command value, i.e., voltage V. v2 Subtract zero-phase voltage V 0b The obtained value is then output to multiplier 83-2. Subtractor 89-2 will subtract the voltage command value, i.e., voltage V. w2 Subtract zero-phase voltage V 0b The obtained value is then output to multiplier 85-2.

[0206] Therefore, the duty cycle calculation unit 781a-2 uses the following formula (31) to calculate the second duty cycle (du2, dv2, dw2).

[0207] [Mathematical Expression 31]

[0208] Next, the operation and effects of the rotary motor control device 1b according to this embodiment will be explained. In the rotating electric motor control device 1b according to this embodiment, the duty cycle calculation unit 781a-1 and the duty cycle calculation unit 781a-2 use the detection voltages (Vdc1s, Vdc2s) of this system to calculate the zero-phase voltage (Vdc1s, Vdc2s) using equations (28) and (30). 0a V 0b The zero-phase voltage is subtracted from the voltage command value, thereby shifting the duty cycle value downward within the range of voltage desaturation. Furthermore, in this description, the control unit 7b-1 of the first system and the control unit 7b-2 of the second system have the same structure; therefore, the system designations “-1” and “-2”, subscripts “1” and “2”, and “a” and “b” in the zero-phase voltage are omitted.

[0209] If the detection voltage when calculating the zero-phase voltage V0 is set as voltage Vdc', then the zero-phase voltage V0 is represented by the following formula (32).

[0210] [Mathematical Expression 32]

[0211] In addition, for voltage command value (V) u V v V w The new voltage command value (V) is obtained by subtracting the zero-phase voltage V0 shown in equation (32) from each of the following: u '、V v '、V w ') is represented by the following formula (33).

[0212] [Mathematical Expression 33]

[0213] Here, if set to the voltage command value (V) u V v V w The voltage command value V in ) u If it is the minimum value, then the minimum value Vmin Voltage command value V u Therefore, the new voltage command value V u It is represented by the following formula (34).

[0214] [Mathematical Expression 34]

[0215] Next, if a new voltage command value V is used u Then the duty cycle du' is expressed by the following formula (35).

[0216] [Mathematical Expression 35]

[0217] Here, when the detection voltage Vdc' uses the value from another system side and is not equal to the DC voltage Vdc (Vdc'≠Vdc), the duty cycle du' is expressed by the following equation (36). If the duty cycle of other phases is considered in the same way, then the duty cycle of each phase becomes Figure 14 The waveform shown is as shown.

[0218] [Mathematical Expression 36]

[0219] Figure 14 This is a diagram showing the waveforms of the duty cycle of each phase when the detection voltage of other systems in this embodiment is used. Figure 14 In the graph, the horizontal axis represents the voltage phase, and the vertical axis represents the duty cycle. Furthermore, waveforms W21, W22, and W23 represent the duty cycle waveforms of phase U, phase V, and phase W, respectively. Additionally, TR1 indicates the period during which all three phases are continuously switched.

[0220] like Figure 14 As shown, when the detection voltage Vdc' uses a value from another system side, the control unit 7b controls the three-phase switching to always be performed.

[0221] Next, when the detection voltage Vdc' uses the value from other system sides and is equal to the DC voltage Vdc (Vdc' = Vdc), the duty cycle du' is expressed by the following equation (37). If the duty cycles of other phases are considered in the same way, then the duty cycle of each phase becomes Figure 15 The waveform shown is as shown.

[0222] [Mathematical Expression 37]

[0223] As shown in equation (37), the smallest duty cycle of the three phases is always consistent with "0". Therefore, in this phase, the switching element on the upper arm side (high potential side) is always in the on state.

[0224] Figure 15 This is a diagram showing the waveforms of the duty cycle of each phase when the detection voltage of the system in this embodiment is used. Figure 15 In the graph, the horizontal axis represents the voltage phase, and the vertical axis represents the duty cycle. Furthermore, waveforms W24, W25, and W26 represent the duty cycle waveforms of phase U, phase V, and phase W, respectively. Additionally, TR2 indicates the period during which two phases are continuously switched.

[0225] like Figure 15As shown, when the detection voltage Vdc' uses the value from the system side, the control unit 7b controls it to always perform two-phase switching. That is, the rotating electric machine control device 1b according to this embodiment uses the detection voltage Vdc of this system when calculating the zero-phase voltage V0, thereby always performing two-phase switching. Therefore, compared with the case of using the detection voltage of other systems, the rotating electric machine control device 1b according to this embodiment can reduce switching losses and improve current detection accuracy.

[0226] As explained above, in the rotating electric motor control device 1b according to this embodiment, the control unit 7b calculates the zero-phase voltage (V) of the system based on the DC voltage of the system. 0a V 0b ), and based on the zero-phase voltage (V) of this system 0a V 0b This is used to correct the system voltage commands for each phase.

[0227] Therefore, in the rotating electric motor control device 1b according to this embodiment, two-phase modulation (two-phase switching is always performed) can be performed, which can reduce the influence of noise in current detection.

[0228] Furthermore, in this embodiment, the control unit 7b calculates the zero-phase voltage of the system so that the minimum value of the system voltage command is consistent with the specified lower limit value based on the DC voltage of the system. Therefore, the rotary electric motor control device 1b according to this embodiment can appropriately shift the duty cycle value downward within the range of voltage non-saturation.

[0229] [Implementation Method 4] Next, the rotary motor control device 1c according to Embodiment 4 will be described with reference to the accompanying drawings. In this embodiment, other variations of correcting the system voltage of each of the three phases based on the zero-phase voltage of the system will be described. In the above embodiment 3, the zero-phase voltage is calculated based on the minimum value of the system voltage of each phase, but in this embodiment, the zero-phase voltage is calculated based on the maximum value of the system voltage of each phase.

[0230] The rotary electric motor control device 1c according to this embodiment includes a control signal generator 78b (78b-1, 78b-2) instead of a control signal generator 78a (78a-1, 78a-2), and the other structures are the same as those of the rotary electric motor control device 1a in embodiment 2.

[0231] Figure 16 This is a block diagram illustrating an example of the control signal generator 78b-1 of the first system in this embodiment. like Figure 16As shown, the control signal generator 78b-1 includes a duty cycle calculation unit 781b-1 and a carrier comparison unit 782-1. Additionally, Figure 16 In the middle, regarding the above Figure 12 The same structure is labeled with the same number, and its description is omitted. The control signal generator 78b-1 is based on the first DC voltage Vdc1s and the voltage V, which serves as the voltage command value on the three-phase axis. u1 Voltage V v1 and voltage V w1 To output control signals GS11 to GS16 of inverter 5-1.

[0232] In addition, the rotary electric motor control device 1c according to this embodiment includes a control unit 7c-1 of the first system, and the control unit 7c-1 includes a control signal generator 78b-1.

[0233] Duty cycle calculation unit 781b-1 based on voltage V u1 Voltage V v1 and voltage V w1 The output value, normalized using the first DC voltage Vdc1s, is the first duty cycle (du1, dv1, dw1). The duty cycle calculation unit 781b-1 includes a zero-phase voltage calculation unit 80a-1, a multiplier 81-1, an adder 82-1, a multiplier 83-1, an adder 84-1, a multiplier 85-1, an adder 86-1, a subtractor 87-1, a subtractor 88-1, and a subtractor 89-1. Furthermore, the duty cycle calculation unit 781b-1 differs from the duty cycle calculation unit 781a-1 in Embodiment 3 in that it includes a zero-phase voltage calculation unit 80a-1 instead of the zero-phase voltage calculation unit 80-1.

[0234] Zero-phase voltage calculation unit 80a-1 is based on voltage command value, i.e., voltage V u1 Voltage V v1 and voltage V w1 The zero-phase voltage V is calculated using the system's detection voltage Vdc1s. 0a The zero-phase voltage calculation unit 80a-1 calculates the zero-phase voltage V using, for example, the following equation (38). 0a In addition, the zero-phase voltage calculation unit 80a-1 calculates the zero-phase voltage V of this system. 0a So that the voltage command (voltage V) of this system can be executed. u1 Voltage V v1 and voltage V w1 The maximum value of ) is consistent with the specified upper limit value (e.g., Vdc1s) of the DC voltage Vdc1s based on this system.

[0235] [Mathematical Expression 38]

[0236] Here, the maximum voltage V max It is to calculate the zero-phase voltage V 0a Voltage V at time u1 Voltage V v1 and voltage V w1 The maximum value. Zero-phase voltage calculation unit 80a-1 obtains the maximum voltage V max The zero-phase voltage V of this system is calculated by subtracting half of the DC voltage Vdc1s (Vdc1s / 2). 0a So that the voltage command (voltage V) of this system can be executed. u1 Voltage V v1 and voltage V w1 The maximum value of (maximum voltage V) max It is consistent with the specified upper limit value (e.g., Vdc1s) of the DC voltage Vdc1s based on this system.

[0237] The structures following subtractors 87-1, 88-1, and 89-1 are the same as in embodiment 3, so their description is omitted here.

[0238] Next, refer to Figure 17 The structure of the control signal generator 78b-2 of the second system will be explained. Figure 17 This is a block diagram illustrating an example of the control signal generator 78b-1 of the second system in this embodiment. like Figure 17 As shown, the control signal generator 78b-2 includes a duty cycle calculation unit 781b-2 and a carrier comparison unit 782-2. The control signal generator 78b-2 is based on the second DC voltage Vdc2s and the voltage V, which serves as the voltage command value on the three-phase axis. u2 Voltage V v2 and voltage V w2 To output control signals GS21 to GS26 of inverter 5-2.

[0239] In addition, the rotary electric motor control device 1c according to this embodiment includes a control unit 7c-2 of the second system, and the control unit 7c-2 includes a control signal generator 78b-2.

[0240] Duty cycle calculation unit 781b-2 based on voltage V u2 Voltage V v2 and voltage V w2The output value, normalized using the second DC voltage Vdc2s, is the second duty cycle (du2, dv2, dw2). The duty cycle calculation unit 781b-2 includes a zero-phase voltage calculation unit 80a-2, multipliers 81-2, adders 82-2, multipliers 83-2, adders 84-2, multipliers 85-2, adders 86-2, subtractors 87-2, subtractors 88-2, and subtractors 89-2. Furthermore, the duty cycle calculation unit 781b-2 differs from the duty cycle calculation unit 781a-2 in that it includes a zero-phase voltage calculation unit 80a-2 instead of the zero-phase voltage calculation unit 80-2.

[0241] Zero-phase voltage calculation unit 80a-2 is based on voltage command value, i.e., voltage V u2 Voltage V v2 and voltage V w2 The zero-phase voltage V is calculated using the system's detection voltage Vdc2s. 0b The zero-phase voltage calculation unit 80a-2 calculates the zero-phase voltage V, for example, using the following equation (39). 0b In addition, the zero-phase voltage calculation unit 80a-2 calculates the zero-phase voltage V of this system. 0b So that the voltage command (voltage V) of this system can be executed. u2 Voltage V v2 and voltage V w2 The maximum value of ) is consistent with the specified upper limit value (e.g., Vdc2s) based on the DC voltage Vdc2s of this system.

[0242] [Mathematical Expression 39]

[0243] Here, the maximum voltage V max It is to calculate the zero-phase voltage V 0b Voltage V at time u2 Voltage V v2 and voltage V w2 The maximum value. Zero-phase voltage calculation unit 80a-2 obtains the maximum voltage V max The zero-phase voltage V is calculated by subtracting half of the DC voltage Vdc2s (Vdc2s / 2) of the system. 0b So that the voltage command (voltage V) of this system can be executed. u2 Voltage V v2 and voltage V w2 The maximum value of (maximum voltage V) max It is consistent with the specified lower limit value (e.g., Vdc2s) of the DC voltage Vdc2s based on this system.

[0244] The structures following subtractors 87-2, 88-2, and 89-2 are the same as in embodiment 3, so their description is omitted here.

[0245] Next, the operation and effects of the rotary electric motor control device 1c according to this embodiment will be explained. In the rotating electric motor control device 1c according to this embodiment, the duty cycle calculation unit 781b-1 and the duty cycle calculation unit 781b-2 use the detection voltages (Vdc1s, Vdc2s) of this system to calculate the zero-phase voltage (Vdc1s, Vdc2s) using equations (38) and (39). 0a V 0b The zero-phase voltage is subtracted from the voltage command value, thereby shifting the duty cycle upward within the range of voltage desaturation. Furthermore, in this description, the control unit 7c-1 of the first system and the control unit 7c-2 of the second system have the same structure; therefore, the system designations “-1” and “-2”, subscripts “1” and “2”, and “a” and “b” in the zero-phase voltage are omitted.

[0246] If the detection voltage when calculating the zero-phase voltage V0 is set as voltage Vdc', then the zero-phase voltage V0 is represented by the following formula (40).

[0247] [Mathematical Expression 40]

[0248] In addition, for voltage command value (V) u V v V w The new voltage command value (V) is obtained by subtracting the zero-phase voltage V0 shown in equation (40) from each of them. u '、V v '、V w ') is represented by the following formula (41).

[0249] [Mathematical Expression 41]

[0250] Here, if set to the voltage command value (V) u V v V w The voltage command value V in ) w If the maximum value is V, then the maximum value is V. max Voltage command value V w Therefore, the new voltage command value V w It is represented by the following formula (42).

[0251] [Mathematical Expression 42]

[0252] Next, if a new voltage command value V is used w Then the duty cycle dw' is represented by the following formula (43).

[0253] [Mathematical Expression 43]

[0254] Here, when the detection voltage Vdc' uses the value from another system side and is not equal to the DC voltage Vdc (Vdc'≠Vdc), the duty cycle dw' is expressed by the following equation (44). If the duty cycle of other phases is considered in the same way, then the duty cycle of each phase becomes Figure 18 The waveform shown is as shown.

[0255] [Mathematical Expression 44]

[0256] Figure 18 This is a diagram showing the waveforms of the duty cycle of each phase when the detection voltage of other systems in this embodiment is used. Figure 18 In the graph, the horizontal axis represents the voltage phase, and the vertical axis represents the duty cycle. Furthermore, waveforms W31, W32, and W33 represent the duty cycle waveforms of phase U, phase V, and phase W, respectively. Additionally, TR3 indicates the period during which all three phases are continuously switched.

[0257] like Figure 18 As shown, when the detection voltage Vdc' uses a value from another system side, the control unit 7c controls the three-phase switching to always be performed.

[0258] Next, assuming the detection voltage Vdc' uses the value from this system side and is equal to the DC voltage Vdc (Vdc' = Vdc), the duty cycle dw' is expressed by the following equation (45). If the duty cycles of other phases are considered similarly, then the duty cycle of each phase becomes Figure 19 The waveform shown is as shown.

[0259] [Mathematical Expression 45]

[0260] As shown in equation (45), the largest duty cycle in the three phases is always consistent with "1". Therefore, in this phase, the switching element on the lower arm side (low potential side) is always in the on state.

[0261] Figure 19 This is a diagram showing the waveforms of the duty cycle of each phase when the detection voltage of the system in this embodiment is used. Figure 19In the graph, the horizontal axis represents the voltage phase, and the vertical axis represents the duty cycle. Furthermore, waveforms W34, W35, and W36 represent the duty cycle waveforms of phase U, phase V, and phase W, respectively. Additionally, TR4 indicates the period during which two phases are continuously switched.

[0262] like Figure 19 As shown, when the detection voltage Vdc' uses the value from the system side, the control unit 7c controls it to always perform two-phase switching. That is, the rotating electric machine control device 1c according to this embodiment uses the detection voltage Vdc of this system when calculating the zero-phase voltage V0, thereby always performing two-phase switching. Therefore, compared with the case of using the detection voltage of other systems, the rotating electric machine control device 1c according to this embodiment can reduce switching losses and improve current detection accuracy.

[0263] As explained above, in the rotary electric machine control device 1c according to this embodiment, the control unit 7c calculates the zero-phase voltage (V) of the system based on the DC voltage of the system. 0a V 0b ), and based on the zero-phase voltage (V) of this system 0a V 0b This is used to correct the system voltage commands for each phase.

[0264] Therefore, in the rotating electric motor control device 1c according to this embodiment, two-phase modulation (two-phase switching is always performed) can be performed, which can reduce the influence of noise in current detection.

[0265] Furthermore, in this embodiment, the control unit 7c calculates the zero-phase voltage of the system so that the maximum value of the system voltage command is consistent with the upper limit value specified based on the DC voltage of the system. Therefore, the rotary electric motor control device 1c according to this embodiment can appropriately shift the duty cycle value upward within the range of voltage non-saturation.

[0266] [Implementation Method 5] Next, the electric power steering device 100 according to Embodiment 5 will be described with reference to the accompanying drawings. Figure 20 This is a block diagram illustrating an example of the electric power steering device 100 according to Embodiment 5.

[0267] like Figure 20 As shown, the electric power steering system 100 includes a rotary motor 10, a steering wheel 101, a torque sensor 102, a steering shaft 103, wheels 104, a rack and pinion 105, and a control device 106. Furthermore, the control device 106 also includes the aforementioned rotary motor control devices 1 (1a, 1b, 1c).

[0268] Torque sensor 102 detects the steering torque of the driver (not shown). Wheel 104 is the wheel of a vehicle, such as a car, that is used for steering.

[0269] In the electric power steering system 100, the steering torque applied by the driver to the steering wheel 101 is transmitted through the torsion bar of the torque sensor 102 and the steering shaft 103, and then through the rack and pinion 105 to the rack. As a result, the electric power steering system 100 steers the wheels 104.

[0270] Furthermore, the rotary motor 10 is driven by the rotary motor control devices 1 (1a, 1b, 1c) of the control device 106, and generates an auxiliary force as an output. This auxiliary force is transmitted to the steering shaft 103, thereby reducing the steering torque applied by the driver when steering. The control device 106 calculates an auxiliary command for adjusting the auxiliary force based on the driver's steering torque detected by the torque sensor 102. For example, the control device 106 calculates the auxiliary command as a value proportional to the driver's steering torque. Furthermore, the control device 106 sets the auxiliary command as a torque command, which becomes the command value for the rotary motor 10.

[0271] As described above, the electric power steering device 100 according to this embodiment includes the aforementioned rotary motor control device 1 (1a, 1b, 1c), a rotary motor 10 that assists in steering, and a torque sensor 102 that detects the steering torque. The rotary motor control device 1 (1a, 1b, 1c) controls the rotary motor 10 by using a steering assist command corresponding to the steering torque detected by the torque sensor 102 as a command value for the rotary motor 10.

[0272] Therefore, the electric power steering device 100 according to this embodiment has the same effect as the rotary motor control device 1 (1a, 1b, 1c) described above, and can reduce mismatch between systems even when there are differences in the DC voltage output from the DC power supplies (3-1, 3-2) of the multiple systems controlling the rotary motor 10. Furthermore, the electric power steering device 100 according to this embodiment can obtain auxiliary torque from the rotary motor 10 corresponding to the driver's steering, and can stably control the rotary motor 10 by setting the current of two systems, thus realizing an electric power steering device that allows for comfortable steering.

[0273] Furthermore, this disclosure is not limited to the above-described embodiments, and modifications may be made without departing from the spirit of this disclosure. For example, in the embodiments described above, the command of the current energized to the rotary motor 10 is used as the control target value (command value), and this example has been described, but it is not limited thereto. For example, when the rotary motor 10 is subjected to V / F control, the control target value is the speed command value of the rotary motor 10, and when the rotational position of the rotary motor 10 is controlled, the control target value becomes the position command value of the rotary motor 10.

[0274] Furthermore, in the above embodiments, the current command arithmetic unit 70-1 generates current command values ​​(Id_target1, Iq_target1) based on the command signal Ts1 of the rotating motor 10, and the current command arithmetic unit 70-2 generates current command values ​​(Id_target2, Iq_target2) based on the command signal Ts2 of the rotating motor 10. This example has been described, but it is not limited thereto. For example, the same command signal Ts can be input to both the current command arithmetic unit 70-1 and the current command arithmetic unit 70-2.

[0275] Furthermore, one of the control units 7 (7a, 7b, 7c) of the two systems may be equipped with a current command arithmetic unit 70, and the current command values ​​(Id_target, Iq_target) generated by one current command arithmetic unit 70 can be used in the control units 7 (7a, 7b, 7c) of the two systems. Additionally, a third control unit equipped with a current command arithmetic unit 70 for generating current command values ​​(Id_target, Iq_target) may be provided, and the current command values ​​(Id_target, Iq_target) generated by the current command arithmetic unit 70 of the third control unit can be used in the control units 7 (7a, 7b, 7c) of the two systems.

[0276] Furthermore, in the above embodiments, the current command arithmetic unit 70-1 can generate the d-axis current command value Id_target1 and the q-axis current command value Iq_target1 based on the lower of the first DC voltage Vdc1 (=Vdc1s) and the second DC voltage Vdc2 (=Vdc2s), i.e., the minimum DC voltage Vdc_min, and the command value of the rotary motor 10. Furthermore, the current command arithmetic unit 70-2 can generate the d-axis current command value Id_target2 and the q-axis current command value Iq_target2 based on the minimum DC voltage Vdc_min and the command value of the rotary motor 10.

[0277] Furthermore, in the above embodiments, the control units 7-1 (7a-1, 7b-1, 7c-1) of the first system and the control units 7-2 (7a-2, 7b-2, 7c-2) of the second system each have a CPU, and this example has been described, but it is not limited thereto. Both the control units 7-1 (7a-1, 7b-1, 7c-1) and the control units 7-2 (7a-2, 7b-2, 7c-2) can be controlled by a single CPU. In this case, one CPU acquires the first DC voltage Vdc1s and the second DC voltage Vdc2s, and executes the calculations of the control units 7-1 (7a-1, 7b-1, 7c-1) and the control units 7-2 (7a-2, 7b-2, 7c-2).

[0278] Furthermore, the above embodiments have been described as individual embodiments, but are not limited thereto; some or all of the embodiments may be combined for implementation.

[0279] Furthermore, each structure of the aforementioned rotary electric motor control device 1 (1a, 1b, 1c) has an internal computer system. The program for implementing the functions of each structure of the rotary electric motor control device 1 (1a, 1b, 1c) can be recorded in a computer-readable recording medium, and the processing in each structure of the rotary electric motor control device 1 (1a, 1b, 1c) is performed by reading the program recorded in the recording medium into the computer system and executing the program. Here, "reading the program recorded in the recording medium into the computer system and executing it" is included in the installation program in the computer system. The "computer system" referred to here includes hardware such as the operating system and peripheral devices. Furthermore, "computer system" can include multiple computer devices connected via a network including communication lines such as the Internet, WAN, LAN, and dedicated lines. Additionally, "computer-readable recording medium" refers to portable media such as floppy disks, magneto-optical disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into a computer system. Therefore, the recording medium storing programs can also be a non-transitory recording medium such as a CD-ROM.

[0280] Furthermore, the recording medium also includes an internal or external recording medium that can be accessed by a distribution server for distributing the program. Additionally, the distribution server used to distribute the various components of the rotary motor control device 1 (1a, 1b, 1c) can be different, as the program can be divided into multiple parts and downloaded at different time intervals. Furthermore, the term "computer-readable recording medium" is defined as a medium that contains volatile memory (RAM) within a computer system, such as when the program is sent via a network as a server or client, to retain the program for a certain period of time. Furthermore, the program described above can also be a program used to implement the aforementioned functions. Moreover, it can also be a so-called differential file (differential program) capable of implementing the aforementioned functions through combination with a program already recorded in the computer system. Label Explanation

[0281] 1. Rotary motor control devices, 1a, 1b, and 1c 2 Position Detection Department 3-1, 3-2 DC power supply 4-1, 4-2 Capacitors 5-1, 5-2 Inverters 6-1, 6-2 Current Detection Section 7, 7-1, 7-2, 7a, 7a-1, 7a-2, 7b, 7b-1, 7b-2, 7c, 7c-1, 7c-2 Control Unit 10 Rotary Motors Switching elements 51-1, 51-2, 52-1, 52-2, 53-1, 53-2, 54-1, 54-2, 55-1, 56-2 Calculation section for minimum voltage values ​​of 60, 60-1, and 60-2 61, 61-1, 61-2 Battery Current Calculation Unit of this System 62, 62-1, 62-2 Other System Battery Current Calculation Unit Voltage Deviation Calculation Section (63, 63-1, 63-2) 70-1 and 70-2 Current Command Arithmetic Units Subtractors 71-1, 71-2, 73-1, and 73-2 72-1, 72-2, 74-1, 74-2 Current Controllers 75-1, 75-2, 77-1, 77-2 coordinate converters 76-1, 76-2MIN Selection Department 78, 78-1, 78-2, 78a, 78a-1, 78a-2, 78b, 78b-1, 78b-2 control signal generators Zero-phase voltage calculation unit of 80-1, 80-2, 80a-1, 80a-2 81-1, 83-1, 85-2 multipliers Adders 82-1, 84-1, 86-1, 722-1, and 742-1 100 Electric Power Steering 101 Steering Wheel 102 Torque Sensor 103 steering shaft 104 wheels 105 rack and pinion 106 control device 721-1, 723-1, 741-1, 743-1 amplifiers 724-1 and 744-1 integrators 725-1, 745-1 limiters Duty cycle calculation unit for 781-1, 781a-1, 781a-2, 781b-1, and 781b-2 782-1 and 782-2 carrier comparison units.

Claims

1. A rotating electric machine control device characterized by comprising: include: The first inverter applies an AC voltage to the three-phase windings of the first system of the rotating electric machine based on the first DC voltage output from the DC power supply of the first system. The second inverter applies an AC voltage to the three-phase windings of the second system of the rotating motor based on the second DC voltage output from the DC power supply of the second system. The first control unit generates a command value for the first inverter based on the command value of the rotating motor, the first DC voltage, and the second DC voltage; as well as The second control unit generates command values ​​for the second inverter based on the command values ​​of the rotating motor, the first DC voltage, and the second DC voltage. When the DC voltage of this system is higher than the DC voltage of other systems, the first control unit and the second control unit respectively use the DC voltage of other systems to limit the voltage command of this system related to the voltage of the three-phase windings of this system, and generate a value that is standardized by the DC voltage of this system to the voltage command of this system, so as to serve as the command value for the inverter of this system.

2. The rotary motor control device as described in claim 1, characterized in that, The first control unit and the second control unit respectively calculate the zero-phase voltage of the system based on the DC voltage of the system, and correct the system voltage command of each phase based on the zero-phase voltage of the system.

3. The rotary motor control device as described in claim 2, characterized in that, The first control unit and the second control unit respectively calculate the zero-phase voltage of the system so that the minimum value of the system voltage command is consistent with the specified lower limit value based on the DC voltage of the system.

4. The rotary motor control device as described in claim 2, characterized in that, The first control unit and the second control unit respectively calculate the zero-phase voltage of the system so that the maximum value of the system voltage command is consistent with the upper limit value specified based on the DC voltage of the system.

5. The rotary electric motor control device according to any one of claims 1 to 4, characterized in that, When the DC voltage of the system is higher than the DC voltage of the other systems, the first control unit and the second control unit respectively limit the voltage command of the system based on the voltage deviation. The voltage deviation is obtained by subtracting the DC current of the system from the DC current of the other systems in the DC current flowing into the first inverter (i.e., the DC current of the first system) and the DC current flowing into the second inverter (i.e., the DC current of the second system), and multiplying the resulting value by the wiring resistance, which represents the resistance of the wiring through which the DC current of the system flows.

6. The rotary motor control device as described in claim 5, characterized in that, The first control unit and the second control unit respectively calculate the DC current of the other system based on the DC voltage of the other system.

7. The rotary electric motor control device as described in claim 5 or 6, characterized in that, The first control unit and the second control unit calculate the DC current of the other system based on the DC voltage of the system, the DC voltage of the other system, and the DC current of the system.

8. The rotary electric motor control device according to any one of claims 5 to 7, characterized in that, It includes a current detection unit that detects the current flowing through the three-phase windings of each system. The first control unit and the second control unit respectively calculate the DC current of the system based on the current flowing through the three-phase windings of the system detected by the current detection unit.

9. The rotary electric motor control device according to any one of claims 1 to 8, characterized in that, The first control unit includes a first CPU (Central Processing Unit). The second control unit includes a second CPU. The first CPU sends the first DC voltage to the second CPU. The second CPU sends the second DC voltage to the first CPU.

10. The rotary electric motor control device according to any one of claims 1 to 9, characterized in that, When the DC voltage of the system is higher than the DC voltage of other systems, the first control unit and the second control unit respectively use the DC voltage of other systems to limit the voltage command on the dq axis in the voltage command of the system.

11. The rotary electric motor control device according to any one of claims 1 to 9, characterized in that, When the DC voltage of the system is higher than the DC voltage of the other systems, the first control unit and the second control unit respectively limit the magnitude of the voltage command vector on the stationary coordinate axis in the voltage command of the system to the value that can be output by the DC voltage of the other systems.

12. An electric power steering device, characterized in that, include: The rotary electric motor control device according to any one of claims 1 to 11; The rotary motor that assists in steering; as well as A torque sensor that detects the steering torque of the steering wheel. The rotary motor control device uses the steering auxiliary command corresponding to the steering torque detected by the torque sensor as the command value of the rotary motor to control the rotary motor.

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