Control device for rotating electric machine and control method for rotating electric machine

Abstract

A control device (100) for a rotating electrical machine (1) is provided with: a reference current command generation unit (110) that generates d-axis and q-axis reference current command values on the basis of a torque command value and a rotational speed; a current phase generation unit (120) that generates a current phase command on the basis of the d-axis and q-axis reference current command values, the torque command value, the rotational speed, and the power supply voltage; a current command generation unit (130) that generates d-axis and q-axis current command values on the basis of the d-axis and q-axis reference current command values and the current phase command; and a voltage command generation unit (140) that generates a three-phase voltage command value on the basis of the d-axis and q-axis current command values, the rotational speed, the rotational position, and the three-phase current, and outputs the three-phase voltage command value to the inverter (3).

Description

Technical Field

[0001] The present application relates to a control device for a rotating electric machine and a control method for a rotating electric machine. Background Art

[0002] As a power source for automobiles, railways, etc., a permanent magnet embedded rotating electric machine that can obtain high efficiency and high output is sometimes used. In this rotating electric machine, a magnet torque caused by the attraction and rebound force acting between the coil and the permanent magnet, and a reluctance torque caused by the change in the reluctance of the gap between the stator and the rotor are obtained.

[0003] As a conventional control device for a permanent magnet embedded rotating electric machine, there is known a control device for performing vector control using an efficiency best advance angle Id map and an Iq map and a torque pulsation minimum best advance angle Id map and an Iq map, wherein the efficiency best advance angle Id map and the Iq map store a control advance angle that prioritizes the efficiency of the rotating electric machine, and the torque pulsation minimum best advance angle Id map and the Iq map store a control advance angle that suppresses the torque pulsation generated when the rotating electric machine is driven in a specific rotation frequency region. In this control device, vector control is performed using the control advance angle of the efficiency best advance angle Id map and the Iq map based on the torque command value of the rotating electric machine, and vector control is performed by switching to the control advance angle of the torque pulsation minimum best advance angle Id map and the Iq map in a specific rotation frequency region. In the control device configured in this way, it is possible to maximize the output torque of the rotating electric machine while suppressing the generation of noise, vibration, etc. caused by torque pulsation (for example, refer to Patent Document 1). Prior art literature Patent Literature

[0004] Patent Document 1: Japanese Patent Application Publication No. 2021-150966 Summary of the invention Technical problem to be solved by the invention

[0005] In the existing control device, it is necessary to store the best efficiency advance angle Id map and Iq map and the best torque pulsation minimum advance angle Id map and Iq map in advance in a memory or the like. When controlling a rotating electric machine as a power source for a car, a railway, etc., the power supply voltage varies greatly. When the power supply voltage varies greatly, the d-axis current and the q-axis current, which are efficient based on the voltage, will change. Therefore, it is necessary to prepare a plurality of best efficiency advance angle Id maps and Iq maps and the best torque pulsation minimum advance angle Id map and Iq map in advance according to the power supply voltage. Therefore, in the existing control device, there is a problem that the storage capacity for storing these maps becomes huge.

[0006] The present application has been made to solve the above-mentioned problem, and an object of the present application is to provide a control device for a rotating electrical machine capable of reducing a storage capacity required for storing a map for performing vector control. Technical solutions to technical problems

[0007] The control device of a rotating electric machine of the present application is a control device of a rotating electric machine driven by a three-phase current from an inverter, and includes: a reference current command generating unit, which generates a d-axis reference current command value and a q-axis reference current command value based on a torque command value and a rotational speed of the rotating electric machine; a current phase generating unit, which generates a current phase command based on the d-axis reference current command value and the q-axis reference current command value generated by the reference current command generating unit, a torque command value, a rotational speed, and a power supply voltage of the rotating electric machine; a current command generating unit, which generates a d-axis current command value and a q-axis current command value based on the d-axis reference current command value and the q-axis reference current command value generated by the reference current command generating unit and the current phase command generated by the current phase generating unit; and a voltage command generating unit, which generates a three-phase voltage command value based on the d-axis current command value and the q-axis current command value generated by the current command generating unit, the rotational speed, the rotational position of the rotating electric machine, and the three-phase current, and outputs the three-phase voltage command value to the inverter. Moreover, the current command generating unit includes: a first flux calculation unit, which calculates the d-axis reference flux and the q-axis reference flux based on the d-axis reference current command value and the q-axis reference current command value; a reference torque command calculation unit, which calculates the reference torque command value based on the d-axis reference flux and the q-axis reference flux calculated by the first flux calculation unit, and the d-axis reference current command value and the q-axis reference current command value; a second flux calculation unit, which calculates the last d-axis flux and the last q-axis flux based on the last d-axis current command value and the last q-axis current command value generated by the current command generating unit; and a current command correction calculation unit, which calculates the d-axis current command value and the q-axis current command value based on the last d-axis current command value and the last q-axis current command value calculated by the second flux calculation unit, the reference torque command value calculated by the reference torque command calculation unit, and the current phase command. Effects of the Invention

[0008] In the control device of the rotating electric machine of the present application, in a reference current instruction generating unit, a reference current instruction map of Id and Iq is used to generate a d-axis reference current instruction value and a q-axis reference current instruction value, in a current phase generating unit, a current phase instruction is generated based on the d-axis reference current instruction value, the q-axis reference current instruction value, the rotational speed and the power supply voltage of the rotating electric machine, in a current instruction generating unit, a reference torque instruction value is generated based on the d-axis reference magnetic flux, the q-axis reference magnetic flux, the d-axis reference current instruction value and the q-axis reference current instruction value, and the d-axis current instruction value and the q-axis current instruction value are calculated based on the last d-axis magnetic flux, the last q-axis magnetic flux, the reference torque instruction value and the current phase instruction, thereby reducing the storage capacity required to store the mapping used for vector control. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a configuration diagram of a control device for a rotating electrical machine according to the first embodiment. Figure 2 It is a cross-sectional view of the rotating electrical machine according to the first embodiment. Figure 3 This is an explanatory diagram of the reference current command map of Id and Iq according to the first embodiment. Figure 4 This is a configuration diagram of a current command generating unit according to the first embodiment. Figure 5 This is a diagram showing a hardware configuration for realizing the control device for the rotating electrical machine according to the first embodiment. DETAILED DESCRIPTION

[0010] Hereinafter, a control device for a rotating electrical machine according to an embodiment of the present application will be described in detail with reference to the accompanying drawings. In addition, the same reference numerals in each figure indicate the same or corresponding parts.

[0011] Implementation method 1. Figure 1 This is a configuration diagram of a control device for a rotating electrical machine according to the first embodiment. Figure 1 The rotating electrical machine control system 10 includes a rotating electrical machine 1 , a power source 2 , an inverter 3 , a voltage detector 4 , a current detector 5 , a position detector 6 , and a control device 100 .

[0012] Figure 2 1 is a cross-sectional view of a rotating electrical machine 1 driven by a control device 100 of the present embodiment. The rotating electrical machine 1 is a 4-pole 12-slot magnet embedded type rotating electrical machine. Figure 2As shown, the rotating electric machine 1 has an annular stator 11 and a cylindrical rotor 12 rotatably supported on the stator 11. The stator 11 has an annular stator core 13 and a coil 14. The stator core 13 has an annular core back 15 and a plurality of teeth 16 protruding from the core back 15 toward the inner circumference. The plurality of teeth 16 form slots between them, and the coil 14 is wound around the teeth 16 in a concentrated winding manner using the slots. The coil 14 is composed of three-phase coils of U phase, V phase, and W phase.

[0013] The rotor 12 has a cylindrical rotor core 17, a permanent magnet 18, and a rotating shaft 19 fixed to the center of the rotor core 17. The rotor core 17 is provided with magnet insertion holes 20 arranged in a circumferential direction. The permanent magnet 18 is fixed inside the magnet insertion hole 20. In addition, the rotating electric machine 1 controlled by the control device 100 of this embodiment can be any rotating electric machine driven by three-phase current, and is not limited to Figure 2 The shown 4-pole 12-slot magnet embedded type rotating electrical machine.

[0014] exist Figure 2 In the rotating electric machine 1 shown, the direction of the magnetic flux generated by the permanent magnet 18 of the rotor 12 is the d-axis, and the direction electrically orthogonal to the d-axis is the q-axis. The rotating electric machine control device 100 of the present embodiment controls the rotating electric machine 1 by vector control. In the vector control, the excitation current (d-axis current) for controlling the excitation intensity and the torque current (q-axis current) for generating the torque are controlled on the two-dimensional orthogonal vector coordinate system of the d-axis and the q-axis. In the vector control, by introducing a coordinate conversion corresponding to the rotational position (rotation angle) of the rotor of the rotating electric machine 1, the currents Iu, Iv, and Iw of the three phases flowing to the rotating electric machine 1 are converted into the d-axis current (hereinafter, also referred to as Id) and the q-axis current (hereinafter, also referred to as Iq) orthogonal thereto, and each component is independently controlled on the DC motor.

[0015] The power source 2 is a DC power source that outputs a DC voltage. As the power source 2, for example, a lithium-ion battery or the like can be used. The inverter 3 is a three-phase inverter including a plurality of switching elements and diodes connected inversely to the switching elements. The inverter 3 converts the DC voltage input from the power source 2 into a three-phase AC voltage based on a three-phase voltage command value from the control device 100, and drives the rotating electrical machine 1 through a three-phase output of a U phase, a V phase, and a W phase.

[0016] The voltage detector 4 detects the output voltage of the power supply 2. The voltage detector 4 detects the voltage obtained by dividing the power supply voltage by resistors using a voltage detection circuit composed of an operational amplifier, etc. The power supply voltage information detected by the voltage detector 4 is input to the control device 100.

[0017] The current detector 5 detects the current flowing through the rotating electrical machine 1. Specifically, the current detector 5 is a U-phase current sensor, a V-phase current sensor, and a W-phase current sensor that detect the U-phase current Iu, the V-phase current Iv, and the W-phase current Iw, respectively. In addition, since the sum of the instantaneous values ​​of the currents Iu, Iv, and Iw of each phase is 0, the current detector 5 can also detect the currents of two phases (for example, the V-phase current Iv and the W-phase current Iw) and calculate the current of the remaining one phase (for example, the U-phase current Iu). The current information related to the currents Iu, Iv, and Iw of each phase detected by the current detector 5 is input to the control device 100.

[0018] The position detector 6 detects the rotation angle θ (rotation position information) of the rotating shaft of the rotating electric machine 1. The position detector 6 uses, for example, a rotary transformer, a magnetic encoder, an optical encoder, etc. that can detect the rotation angle θ with high resolution using magnetic coupling with the rotating shaft of the rotating electric machine 1. The detected rotation position information is input to the control device 100.

[0019] The control device 100 outputs, to the inverter 3, instructions for the amplitude and frequency of the current superimposed on the rotating electrical machine 1 based on the power supply voltage information, current information, and rotational position information inputted from the voltage detector 4, the current detector 5, and the position detector 6, respectively, and the torque command value inputted from the external device. The control device 100 is composed of a digital computing device such as a microcomputer and an FPGA (Field-Programmable Gate Array), and has a function of repeating data input, computing, and data output at arbitrary time intervals (fixed time intervals or variable time intervals).

[0020] like Figure 1 As shown, the control device 100 of the present embodiment includes a reference current command generating unit 110 , a current phase generating unit 120 , a current command generating unit 130 , a voltage command generating unit 140 , and a rotation speed calculating unit 150 .

[0021] The reference current command generating unit 110 inputs a torque command value from an upper external device. In addition, the reference current command generating unit 110 inputs the rotation speed of the rotating electrical machine 1 from the rotation speed calculation unit 150 described later. The upper external device refers to, for example, an ECU (Electronic Control Unit: electronic control unit) of a control system of the vehicle when the rotating electrical machine 1 is used as a power source of a vehicle. In addition, the reference current command generating unit 110 inputs a power supply voltage from the voltage detector 4. The reference current command generating unit 110 outputs reference current command values ​​of Id and Iq based on the input torque command value and rotation speed.

[0022] Figure 31 is an explanatory diagram of a reference current command map of Id and Iq used in the reference current command generating unit 110 . Figure 3 (a) is the reference current command map of Id, Figure 3 (b) is the reference current command mapping of Iq. Figure 3 As shown, each reference current command map is a two-dimensional map with the torque command value and the rotational speed as axes, and the reference current command value is determined according to the torque command value and the rotational speed. Moreover, these reference current command maps are composed of a plurality of maps set for each voltage value of the power supply voltage. For example, the reference current command map sets a map for each power supply voltage at 5V intervals. In the control device 100 of the present embodiment, the reference current command map is prepared by a combination of Id and Iq that minimizes the total of the power loss of the rotating electrical machine 1 and the power loss of the inverter 3. The reference current command map is stored in an internal or external storage unit of the reference current command generation unit 110. The reference current command generation unit 110 uses the reference current command map of Id and Iq to output the reference current command values ​​of Id and Iq according to the power supply voltage, the torque command value and the rotational speed. In addition, after this, the d-axis reference current command value and the q-axis reference current command value output by the reference current command generation unit 110 are recorded as Id*_base and Iq*_base, respectively.

[0023] The current phase generating unit 120 receives a torque command value from an upper external device and receives the rotation speed of the rotary electric machine 1 from the rotation speed calculating unit 150. In addition, the current phase generating unit 120 receives a power supply voltage from the voltage detector 4 and receives a reference current command value from the reference current command generating unit 110. The current phase generating unit 120 outputs a current phase command based on the input data. In addition, the current phase command output by the current phase generating unit 120 is hereinafter referred to as β.

[0024] Methods for determining β include methods using functions, methods using mappings, and the like. As a method using a function, there is a method of calculating β using a function that uses an input rotational speed as a parameter. As a method using a mapping, there is a method of determining β by a two-dimensional mapping with the input rotational speed and the power supply voltage as axes, respectively. In such a method using a function or a method using a mapping, a function or a mapping may be set in a specific region or multiple regions of the rotational frequency of the rotating electrical machine 1 to reduce at least one of power loss, torque pulsation, noise, and heat generation. In addition, these functions or mappings are stored in a storage unit inside or outside the current phase generating unit 120.

[0025] As a method of determining β using a function, the current phase β0 of the reference current command value may be calculated using the following equation (1) based on the input reference current command value, and a function for calculating the current phase command β may be set using the calculated current phase β0 and the rotation speed as parameters.

[0026] [Mathematical formula 1]

[0027] In addition, the current phase generating unit 120 may also include a plurality of functions or maps. Furthermore, the current phase generating unit 120 may also select an optimal function or map for calculating the current phase instruction β from a plurality of functions or maps based on a mode recognition signal such as a maximum efficiency mode, a torque ripple reduction mode, a noise reduction mode, a heat reduction mode, etc. input from a higher-level external device.

[0028] The current command generating unit 130 outputs a current command value for the voltage command generating unit 140 to perform current control (vector control). The current command generating unit 130 inputs reference current command values ​​Id*_base and Iq*_base from the reference current command generating unit 110, and inputs a current phase command β from the current phase generating unit 120. The current command generating unit 130 outputs a d-axis current command value and a q-axis current command value to the voltage command generating unit 140 based on the input reference current command value and current phase command. Hereinafter, the d-axis current command value is referred to as Id*, and the q-axis current command value is referred to as Iq*.

[0029] Figure 4 : is a structural diagram of the current command generating unit involved in the first embodiment. Figure 4 As shown, the current command generation unit 130 of the present embodiment includes a first magnetic flux calculation unit 131 , a reference torque command calculation unit 132 , a current command correction calculation unit 133 , a current command storage unit 134 , and a second magnetic flux calculation unit 135 .

[0030] The first magnetic flux calculation unit 131 inputs the d-axis reference current command value Id*_base and the q-axis reference current command value Iq*_base from the reference current command generation unit 110. The first magnetic flux calculation unit 131 calculates the d-axis reference magnetic flux Φd_base and the q-axis reference magnetic flux Φq_base based on the input reference current command value, and outputs the result to the reference torque command calculation unit 132. The first magnetic flux calculation unit 131 can, for example, apply the magnetic flux map used in the non-interference compensation operation of the current control operation (vector control operation) of the voltage command generation unit 140 to calculate the reference magnetic flux according to the reference current command value. In addition, if the current command value is multiplied by the inductance, the magnetic flux can be obtained, so the first magnetic flux calculation unit 131 can also use the inductance map instead of the magnetic flux map.

[0031] The second magnetic flux calculation unit 135 inputs the last current command value Id*_old and Iq*_old from the current command storage unit 134 described later. The second magnetic flux calculation unit 135 calculates the last d-axis magnetic flux Φd_old and the last q-axis magnetic flux Φq_old based on the last current command value input, and outputs the result to the current command correction calculation unit 133. The second magnetic flux calculation unit 135 can apply the magnetic flux map used in the non-interference compensation calculation of the current control calculation (vector control calculation) of the voltage command generation unit 140, and calculate the reference magnetic flux according to the reference current command value, similarly to the first magnetic flux calculation unit 131.

[0032] The first magnetic flux calculation unit 131 and the second magnetic flux calculation unit 135 can apply the magnetic flux map used in the non-interference compensation calculation of the current control calculation of the voltage command generation unit 140 when calculating the magnetic flux based on the input current command value, thereby suppressing the addition of storage capacity for the magnetic flux map.

[0033] The reference torque command calculation unit 132 inputs the d-axis reference current command value Id*_base and the q-axis reference current command value Iq*_base from the reference current command generation unit 110, and inputs the d-axis reference magnetic flux Φd_base and the q-axis reference magnetic flux Φq_base from the first magnetic flux calculation unit 131. The reference torque command calculation unit 132 uses the following formula (2) to calculate the reference torque command value T' based on the reference current command value and the reference magnetic flux. The reference torque command value calculated in formula (2) is the reference torque command value T' including the torque loss compensation amount caused by the iron loss and mechanical loss of the rotating electrical machine 1. The reference torque command calculation unit 132 outputs the calculated reference torque command value T' to the current command correction calculation unit 133.

[0034] [Mathematical formula 2]

[0035] Here, p is the number of pole pairs of the rotating electrical machine 1. Figure 2 In the rotating electrical machine 1 shown, p=4. The current command correction calculation unit 133 receives the current phase command β from the current phase generation unit 120, receives the reference torque command value T' from the reference torque command calculation unit 132, and receives the previous d-axis magnetic flux Φd_old and q-axis magnetic flux Φq_old from the second magnetic flux calculation unit 135. The current command correction calculation unit 133 calculates Id* and Iq* using the following equations (3), (4), and (5).

[0036] [Mathematical formula 3]

[0037] [Number 4]

[0038] [Formula 5]

[0039] Here, Ia is the current amplitude. The current command storage unit 134 stores Id* and Iq* output from the current command correction operation unit 133. Then, the current command storage unit 134 outputs the stored Id* and Iq* to the second magnetic flux operation unit 135 as the previous current command values ​​Id*_old and Iq*_old.

[0040] As shown in formula (3), the current amplitude can be calculated based on the information of torque, current phase and magnetic flux. However, since the magnetic flux of the rotating motor has magnetic saturation characteristics of the rotor core and the stator core, there is a problem that the magnetic flux cannot be calculated if the d-axis current and the q-axis current are uncertain. As a result, there is a problem that Id* and Iq* cannot be calculated. In the control device of this embodiment, the second magnetic flux calculation unit 135 calculates the last d-axis magnetic flux Φd_old and q-axis magnetic flux Φq_old based on the last d-axis current and q-axis current. And, as shown in formula (3), since the current amplitude is calculated using the last d-axis magnetic flux Φd_old and q-axis magnetic flux Φq_old, Id* and Iq* can be calculated.

[0041] In addition, equations (2) to (5) are equations obtained based on the relationship between torque, magnetic flux, current, and current phase. The equations representing the relationship between torque, magnetic flux, current, and current phase can be expressed by deformation. Therefore, the equation used in the current command correction calculation unit 133 may be another expression as long as the same result can be obtained.

[0042] The voltage command generating unit 140 receives the d-axis current command value Id* and the q-axis current command value Iq* from the current command generating unit 130 . The voltage command generating unit 140 performs vector control calculation based on Id* and Iq*, and outputs three-phase voltage instruction values ​​Vu*, Vv*, and Vw* to the inverter 3 .

[0043] The voltage command generating unit 140 includes, for example, a calculation unit composed of PID (Proportional-Integral-Defferential Controller) elements, a current coordinate conversion unit, and a voltage coordinate conversion unit. The current coordinate conversion unit uses information about the rotation angle θ of the rotor of the rotary electric machine 1 detected by the position detector 6 to convert the coordinates of the three-phase current (Iu, Iv, Iw) detected by the current detector 5 into a two-dimensional orthogonal vector coordinate system of the d-axis and q-axis, and calculates the actual d-axis current Id and the actual q-axis current Iq. The calculation unit uses the actual d-axis current Id and the actual q-axis current Iq calculated by the current coordinate conversion unit to calculate the d-axis voltage command value Vd and the q-axis voltage command value Vq. The voltage coordinate conversion unit uses information about the rotation angle θ of the rotor of the rotary electric machine 1 detected by the position detector 6 and Id* and Iq* to convert the d-axis voltage command value Vd and the q-axis voltage command value Vq calculated by the calculation unit into three-phase voltage command values ​​(Vu, Vv, Vw).

[0044] The rotation speed calculation unit 150 calculates the rotation speed of the rotor of the rotary electric machine 1 based on the rotation position information from the position detector 6. The rotation speed calculation unit 150 calculates the rotation speed by, for example, calculating the difference in rotation position information detected at different times T1 and T2 by the position detector 6 and dividing the difference by the time difference between T2 and T1. The rotation speed calculation unit 150 outputs the calculated rotation speed to the reference current command generation unit 110, the current phase generation unit 120, and the voltage command generation unit 140.

[0045] like Figure 1 As shown, the control device of the rotating electric machine of the present embodiment includes: a reference current command generating unit, which generates a d-axis reference current command value and a q-axis reference current command value based on a torque command value and a rotational speed of the rotating electric machine; a current phase generating unit, which generates a current phase command based on the d-axis reference current command value and the q-axis reference current command value, the torque command value, the rotational speed and the power supply voltage of the rotating electric machine; a current command generating unit, which generates a d-axis current command value and a q-axis current command value based on the d-axis reference current command value and the q-axis reference current command value and the current phase command generated by the current phase generating unit; and a voltage command generating unit, which generates a three-phase voltage command value based on the d-axis current command value and the q-axis current command value, the rotational speed, the rotational position of the rotating electric machine and the three-phase current, and outputs the three-phase voltage command value to the inverter.

[0046] Moreover, if Figure 4As shown, the current command generating unit includes: a first flux calculation unit, which calculates the d-axis reference flux and the q-axis reference flux according to the d-axis reference current command value and the q-axis reference current command value; a reference torque command calculation unit, which calculates the reference torque command value based on the d-axis reference flux and the q-axis reference flux, and the d-axis reference current command value and the q-axis reference current command value; a second flux calculation unit, which calculates the last d-axis flux and the last q-axis flux according to the last d-axis current command value and the last q-axis current command value generated by the current command generating unit; and a current command correction calculation unit, which calculates the d-axis current command value and the q-axis current command value based on the last d-axis flux and the last q-axis flux, the reference torque command value and the current phase command.

[0047] The control device for a rotating electric machine of the present embodiment generates a d-axis reference current command value and a q-axis reference current command value using a reference current command map of Id and Iq in a reference current command generating unit. In addition, a current phase generating unit generates a current phase command based on the d-axis reference current command value, the q-axis reference current command value, the torque command value, the rotation speed, and the power supply voltage of the rotating electric machine. Then, in the current command generating unit, a reference torque command value is generated based on the d-axis reference magnetic flux, the q-axis reference magnetic flux, the d-axis reference current command value, and the q-axis reference current command value, and the d-axis current command value and the q-axis current command value are calculated based on the last d-axis magnetic flux, the last q-axis magnetic flux, the reference torque command value, and the current phase command.

[0048] In the control device for a rotating electric machine thus constructed, the last magnetic flux is calculated using the last current command value, and the amplitude of the current command value is calculated using the last magnetic flux, the current phase command, and the reference torque command. Therefore, it is not necessary to prepare different maps for efficiency priority and torque ripple minimum priority. Therefore, it is sufficient to prepare one reference current command map for Id and one reference current command map for Iq respectively according to the power supply voltage, thereby reducing the storage capacity required for storing maps for vector control. For example, in a conventional control device for a rotating electric machine, it is necessary to prepare two types of maps, namely, an efficiency priority map and a torque ripple minimum priority map, for Id and Iq, respectively, and further, multiple maps corresponding to the power supply voltage are required. In contrast, in the control device for a rotating electric machine of the present embodiment, by using equations (2) to (5) instead of the above four maps, it is sufficient to prepare two types of maps for Id and Iq respectively, and multiple maps corresponding to the power supply voltage are required. As a result, the control device for a rotating electric machine of the present embodiment can reduce the number of maps to half of the conventional number.

[0049] In addition, in the calculations of equations (2) to (5), it is assumed that the current command changes continuously, and the current command value of the previous time is used to calculate the current command value of this time. Therefore, if the reference torque command value T' or the current phase command β changes discontinuously, Id* and Iq* may change discontinuously. In order to prevent this, it is sufficient to set a mapping or function in a smooth manner in advance so that the torque command value, the reference current command value, and the current phase command change discontinuously. Alternatively, the current command correction calculation unit 133 performs filtering processing, rate of change limiting processing, etc. on Id* and Iq* calculated from equation (3) using equation (5) to suppress the discontinuous changes of Id* and Iq*.

[0050] In addition, in the control device for the rotating electrical machine of the present embodiment, the current phase generating unit 120 may include a plurality of functions or maps. Therefore, it is also possible to select an optimal function or map from a plurality of functions or maps based on a mode recognition signal such as an efficiency maximum mode, a torque ripple reduction mode, a noise reduction mode, a heat reduction mode, etc. input from an upper external device. Therefore, there is also an effect that it is not necessary to design and change the hardware of the control device that was previously required to cope with these modes.

[0051] In addition, the control device 100 is as follows Figure 5 As an example of hardware shown in FIG. 1 , the processor 101 and the storage device 102 are configured. Although the storage device 102 is not shown in the figure, it includes a volatile storage device such as a random access memory and a non-volatile auxiliary storage device such as a flash memory. In addition, an auxiliary storage device such as a hard disk may be provided instead of the flash memory. The processor 101 executes a program input from the storage device 102. In this case, the program is input from the auxiliary storage device to the processor 101 via the volatile storage device. In addition, the processor 101 can output data such as calculation results to the volatile storage device of the storage device 102, and can also save the data to the auxiliary storage device via the volatile storage device.

[0052] Although exemplary embodiments are described in the present application, various features, modes, and functions described in the embodiments are not limited to application to specific embodiments, and can be applied to the embodiments alone or in various combinations. Therefore, it is considered that numerous modifications not shown in the examples are also included in the technical scope disclosed in the present specification, including, for example, modifications, additions, or omissions of at least one structural element. Description of symbols

[0053] 1 rotating electrical machine, 2 power supply, 3 inverter, 4 voltage detector, 5 current detector, 6 position detector, 10 rotating electrical machine control system, 11 stator, 12 rotor, 13 stator core, 14 coil, 15 core back, 16 tooth, 17 rotor core, 18 permanent magnet, 19 rotating shaft, 20 magnet insertion hole, 100 control device, 101 processor, 102 storage device, 110 reference current command generation unit, 120 current phase generation unit, 130 current command generation unit, 131 first magnetic flux calculation unit, 132 reference torque command calculation unit, 133 current command correction calculation unit, 134 current command storage unit, 135 second magnetic flux calculation unit, 140 voltage command generation unit, 150 rotation speed calculation unit.

Claims

1. A control device for a rotating electrical machine, the control device being a rotating electrical machine driven by a three-phase current from an inverter, characterized in that: include: a reference current command generating unit that generates a d-axis reference current command value and a q-axis reference current command value based on a torque command value and a rotation speed of the rotating electrical machine; a current phase generating unit that generates a current phase command based on the d-axis reference current command value and the q-axis reference current command value generated by the reference current command generating unit, the torque command value, the rotation speed, and a power supply voltage of the rotating electric machine; a current command generating unit that generates a d-axis current command value and a q-axis current command value based on the d-axis reference current command value and the q-axis reference current command value generated by the reference current command generating unit and the current phase command generated by the current phase generating unit; as well as a voltage command generating unit that generates three-phase voltage command values ​​based on the d-axis current command value and the q-axis current command value generated by the current command generating unit, the rotation speed, the rotation position of the rotating electrical machine, and the three-phase current, and outputs the three-phase voltage command values ​​to the inverter, The current command generating unit comprises: a first magnetic flux calculation unit that calculates a d-axis reference magnetic flux and a q-axis reference magnetic flux based on the d-axis reference current command value and the q-axis reference current command value; a reference torque command calculation unit that calculates a reference torque command value based on the d-axis reference magnetic flux and the q-axis reference magnetic flux calculated by the first magnetic flux calculation unit, and the d-axis reference current command value and the q-axis reference current command value; a second magnetic flux calculation unit that calculates a previous d-axis magnetic flux and a previous q-axis magnetic flux based on a previous d-axis current command value and a previous q-axis current command value generated by the current command generation unit; and A current command correction calculation unit calculates the d-axis current command value and the q-axis current command value based on the previous d-axis magnetic flux and the previous q-axis magnetic flux calculated by the second magnetic flux calculation unit, the reference torque command value calculated by the reference torque command calculation unit, and the current phase command.

2. The control device for a rotating electrical machine according to claim 1, wherein: The current phase generating unit calculates the current phase command using a function having the d-axis reference current command value, the q-axis reference current command value, the rotation speed, and a power supply voltage of the rotating electric machine as parameters.

3. The control device for a rotating electrical machine according to claim 2, characterized in that: The current phase generating unit includes a plurality of the functions, and selects one function from the plurality of functions according to the input pattern recognition signal.

4. The control device for a rotating electrical machine according to any one of claims 1 to 3, characterized in that: The current command correction calculation unit performs filtering processing or change rate limiting processing on the calculated d-axis current command value and the q-axis current command value.

5. A method for controlling a rotating electrical machine, which is a method for controlling a rotating electrical machine driven by a three-phase current from an inverter, characterized in that: include: a reference current command generating step of generating a d-axis reference current command value and a q-axis reference current command value based on a torque command value and a rotation speed of the rotating electrical machine; a current phase generating step for generating a current phase command based on the d-axis reference current command value and the q-axis reference current command value generated by the reference current command generating step, the torque command value, the rotation speed, and the power supply voltage of the rotating electric machine; a current command generating step for generating a d-axis current command value and a q-axis current command value based on the d-axis reference current command value and the q-axis reference current command value generated by the reference current command generating step and the current phase command generated by the current phase generating step; as well as a voltage command generating step for generating three-phase voltage command values ​​based on the d-axis current command value and the q-axis current command value generated by the current command generating step, the rotation speed, the rotation position of the rotating electrical machine, and the three-phase current, and outputting the three-phase voltage command values ​​to the inverter; The current instruction generating step comprises: a first magnetic flux calculation step of calculating a d-axis reference magnetic flux and a q-axis reference magnetic flux based on the d-axis reference current command value and the q-axis reference current command value; a reference torque command calculation step for calculating a reference torque command value based on the d-axis reference magnetic flux and the q-axis reference magnetic flux calculated in the first magnetic flux calculation step, and the d-axis reference current command value and the q-axis reference current command value; a second magnetic flux calculation step, the second magnetic flux calculation step calculating the last d-axis magnetic flux and the last q-axis magnetic flux based on the last d-axis current command value and the last q-axis current command value generated by the current command generation step; and A current command correction calculation step, wherein the current command correction calculation step calculates the d-axis current command value and the q-axis current command value based on the previous d-axis magnetic flux and the previous q-axis magnetic flux calculated by the second magnetic flux calculation step, the reference torque command value calculated by the reference torque command calculation step, and the current phase command.

6. The method for controlling a rotating electrical machine according to claim 5, wherein: The current phase generating step calculates the current phase command using a function having the d-axis reference current command value, the q-axis reference current command value, the rotation speed, and the power supply voltage of the rotating electric machine as parameters.

7. The method for controlling a rotating electrical machine according to claim 6, wherein: The current phase generating step includes a plurality of the functions, and selects one function from the plurality of functions according to the input pattern recognition signal.

8. The method for controlling a rotating electrical machine according to any one of claims 5 to 7, characterized in that: The current command correction calculation step performs filtering processing or change rate limiting processing on the calculated d-axis current command value and the q-axis current command value.

Images