Rotary electric machine control device

Abstract

A rotating electrical machine control device includes a rotating electrical machine, a power converter, a current detection unit, a rotation sensor, a rotation calculation unit, a d-axis current command value generation unit, a q-axis current command value generation unit, a voltage command value calculation unit, and a switch control unit. The d-axis inductance Ld of the rotating electrical machine has a value greater than the q-axis inductance Lq. The rotation calculation unit reduces an angle error caused by a detection error of the rotation sensor on the basis of at least one of an output signal of the rotation sensor, a current command value, and a voltage command value.

Description

Technical Field

[0001] The present disclosure relates to a rotating electric machine control device. Background Art

[0002] Conventionally, a rotating electric machine called a permanent magnet synchronous motor or a brushless motor is known. In this rotating electric machine, a permanent magnet is used for a rotor, and a winding is wound around a stator. By passing an alternating current through the winding, a torque is generated in the rotor, causing the rotor to rotate. In such a rotating electric machine, an induced voltage, which is a voltage induced in the winding, increases as the rotation speed of the rotor increases. As disclosed in Patent Document 1, in order to reduce the induced voltage, control is generally performed to pass current in a direction to reduce the magnetic flux of the rotor, that is, flux weakening control.

[0003] In order to obtain high output in this flux weakening control, it is important to increase the inductance Ld in the d-axis direction corresponding to the magnetic flux direction of the rotor among the inductance of the rotating electric machine. If the rotating electric machine has a large inductance Ld, flux weakening control can be performed more effectively, and a rotating electric machine capable of high output can be realized. Prior art literature Patent Literature

[0004] Patent Document 1: Japanese Patent No. 6987318 Summary of the invention Technical problem to be solved by the invention

[0005] However, in order to control the rotating electric machine disclosed in Patent Document 1, a rotation angle detector is required. The rotation angle detector detects the angle of the magnetic pole of the rotor relative to the reference angle, that is, the rotation angle of the rotor. The rotation angle output by the rotation angle detector includes an angle error corresponding to the error of the rotation angle of the rotating electric machine with respect to the true value. The AC component included in the angle error causes an error in the AC component of the torque called a torque ripple error, which causes vibration or noise generated from the rotating electric machine.

[0006] Therefore, in the rotating electrical machine disclosed in Patent Document 1, even if a rotating electrical machine capable of high output can be realized by effective flux weakening control, there is a problem that vibration or noise generated by the rotating electrical machine increases due to the AC component of the angle error. In other words, in such a rotating electrical machine, it is necessary to select whether to give priority to high output and allow the deterioration of vibration or noise, or to give priority to suppressing the deterioration of vibration or noise even if high output cannot be obtained.

[0007] The present disclosure has been made to solve the above-mentioned problems, and an object of the present disclosure is to provide a rotating electrical machine control device capable of achieving high output while suppressing the generation of vibration or noise. Technical means for solving technical problems

[0008] The rotary electric machine control device involved in the present disclosure includes: a rotary electric machine including a stator having a multi-phase winding and a rotor arranged radially inside the stator and having a magnet; a power converter, which converts the voltage of a DC power supply into an AC voltage; a current detection unit, which detects the current flowing through the multi-phase winding based on an output signal output from a current sensor; a rotation sensor, which outputs an output signal corresponding to the rotation angle of the rotor; a rotation calculation unit, which calculates the control rotation angle of the rotor; a d-axis current command value generation unit, which generates a command value of a d-axis current flowing through the rotary electric machine when the magnetic flux direction of the magnet is set to the d-axis and the direction that is 90 degrees ahead of the d-axis in electrical angle is set to the q-axis; and a q-axis current command value generation unit, which generates a command value of a d-axis current flowing through the rotary electric machine when the magnetic flux direction of the magnet is set to the d-axis and the direction that is 90 degrees ahead of the d-axis in electrical angle is set to the q-axis. When the magnetic flux direction of the magnet is set as the d-axis and the direction that is 90 degrees ahead of the d-axis in the electrical angle is set as the q-axis, the q-axis current command value generating unit generates a command value of the q-axis current flowing through the rotating electric machine; a voltage command value calculating unit, which calculates a voltage command value applied to the multi-phase winding based on the control rotation angle, the current, the command value of the q-axis current, and the command value of the d-axis current; and a switch control unit, which drives the plurality of switching elements of the power converter to turn on and off based on the voltage command value, the d-axis inductance Ld of the rotating electric machine has a value greater than the q-axis inductance Lq, and the rotation calculation unit reduces the angle error caused by the detection error of the rotation sensor based on any one or more of the output signal of the rotation sensor, the current, and the voltage command value. Effects of the Invention

[0009] According to the rotating electrical machine control device according to the present disclosure, a high-output rotating electrical machine can be realized while suppressing the generation of vibration or noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 1 is a schematic configuration diagram showing the overall configuration of an electric power steering device including the rotating electrical machine control device according to the first embodiment. Figure 2 This is a block diagram showing the rotating electrical machine control device according to the first embodiment. Figure 3 This is a block diagram showing the rotating electrical machine control device according to the first embodiment. Figure 4 This is a diagram showing execution regions of each control when Id=0 control and flux weakening control are performed when the rotating electrical machine control device according to the first embodiment is applied to a surface magnet type rotating electrical machine. Figure 5 This is a diagram showing execution regions of each control when maximum torque current control and flux weakening control are performed when the rotating electrical machine control device according to the first embodiment is applied to an embedded magnet type rotating electrical machine. Figure 6 This is a block diagram showing a control angle calculation unit according to the first embodiment. Figure 7 This is a diagram for explaining the setting of the internal resolution ratio in the first embodiment. Figure 8 This is a Bode diagram showing the transfer function of the first embodiment. Fig. 9 This is a block diagram showing a control angle calculation unit according to the second embodiment. Fig.10 This is a block diagram showing a rotation sensor and a rotation detection unit according to a third embodiment. Fig.11A This is a diagram for explaining the calculation of the rotation detection unit according to the third embodiment. Fig. 11B This is a diagram for explaining the calculation of the rotation detection unit according to the third embodiment. Fig. 12A This is a diagram for explaining the calculation of the rotation detection unit according to the third embodiment. Fig. 12B This is a diagram for explaining the calculation of the rotation detection unit according to the third embodiment. Fig.13A This is a diagram for explaining the calculation of the rotation detection unit according to the third embodiment. Fig. 13B This is a diagram for explaining the calculation of the rotation detection unit according to the third embodiment. Fig.14A This is a diagram for explaining the calculation of the rotation detection unit according to the third embodiment. Fig. 14B This is a diagram for explaining the calculation of the rotation detection unit according to the third embodiment. Fig.15A This is a diagram for explaining the calculation of the rotation detection unit according to the third embodiment. Fig. 15B This is a diagram for explaining the calculation of the rotation detection unit according to the third embodiment. Fig.16 This is a block diagram showing a rotation sensor and a rotation detection unit according to a fourth embodiment. Fig.17A This is a diagram for explaining the calculation of the rotation detection unit according to the fourth embodiment. Fig. 17B This is a diagram for explaining the calculation of the rotation detection unit according to the fourth embodiment. Fig.18A This is a diagram for explaining the calculation of the rotation detection unit according to the fourth embodiment. Fig.18BThis is a diagram for explaining the calculation of the rotation detection unit according to the fourth embodiment. Fig.19 It is a cross-sectional view showing a rotating electrical machine controlled by the rotating electrical machine control device according to the fifth embodiment, and is a view viewed along the axial direction. Fig. 20 1 is a schematic structural diagram showing the overall structure of an electric power steering device including a rotating electrical machine control device according to a sixth embodiment. Fig.21 This is a diagram for explaining the circuit configuration of a DC-DC converter according to a sixth embodiment. Fig. 22 This is a diagram for explaining switch driving in the DC-DC converter according to the sixth embodiment. Fig.23 This is a circuit diagram showing a portion of a DC-DC converter according to a modified example of the sixth embodiment. DETAILED DESCRIPTION

[0011] Implementation method 1. A rotating electrical machine control device 10 according to Embodiment 1 will be described with reference to the drawings. In the following description, the rotating electrical machine control device 10 may be simply referred to as a control device 10 .

[0012] Figure 1 1 is a schematic structural diagram showing the overall structure of an electric power steering device 100 including a rotating electric machine control device 10 of Embodiment 1. In this embodiment, the rotating electric machine 1 is a driving force source of the electric power steering device 100. The rotating electric machine 1, the power converter 4, and the control device 10 constitute the electric power steering device 100. The electric power steering device 100 is provided on a vehicle.

[0013] <Rotary electrical machine 1> The rotating electrical machine 1 includes a stator and a rotor arranged radially inside the stator. The stator is arranged so as to surround the outer circumference of the rotor via a gap serving as a magnetic gap.

[0014] <Stator> The stator includes a stator core and a winding. The winding is a coil corresponding to each of the multiple phases. The rotating electric machine 1 of this embodiment is controlled and driven by a three-phase alternating current of the U phase, the V phase, and the W phase. The winding is composed of windings Cu, Cv, and Cw corresponding to the U phase, the V phase, and the W phase, respectively. Figure 1 In the embodiment, the current flowing through each of the windings Cu, Cv, and Cw is represented by the reference numerals Iu, Iv, and Iw. In the following, only one of the three phases, namely, the U phase, the V phase, and the W phase, will be described, and the description of the other two common phases may be omitted.

[0015] <Rotor> The rotor includes a rotor core, a rotating shaft, and a plurality of magnets. The rotor core is composed of, for example, a plurality of electromagnetic steel sheets stacked in a direction in which the rotating shaft extends. The rotating shaft is fixed to the central portion of the rotor core. A plurality of magnets are fixed to the outer peripheral surface of the rotor core. The rotor rotates by the change of the magnetic field generated between the plurality of magnets and the stator, thereby rotating the rotating shaft.

[0016] The rotor includes a rotation sensor 2 for detecting the rotation angle of the rotor. The rotation sensor 2 is configured to output an output signal corresponding to the rotation angle of the rotor. A resolver, an encoder, an MR sensor, etc. are used for the rotation sensor 2. The output signal output from the rotation sensor 2 is input to the control device 10. The magnet is, for example, a permanent magnet. Thus, the rotating electrical machine 1 constitutes a permanent magnet synchronous motor. In the rotating electrical machine 1, the d-axis inductance Ld and the q-axis inductance Lq have a relationship of Ld>Lq. That is, the d-axis inductance Ld has a value greater than the q-axis inductance Lq. In other words, the rotating electrical machine 1 is a sequential salient pole motor.

[0017] The structure of the rotating electrical machine 1 is not limited to a permanent magnet synchronous motor. The magnet may be an electromagnet having a field winding. The three-phase windings Cu, Cv, and Cw may be star-connected or delta-connected.

[0018] <Power converter 4> The power converter 4 is, for example, an inverter. In other words, the power converter 4 is configured to convert the voltage of the DC power supply 3 into an AC voltage. The power converter 4 includes three series circuits corresponding to the three-phase AC of the U phase, the V phase, and the W phase, a filter capacitor 5, and a current sensor 6. In other words, the series circuit is a branch.

[0019] <Switching elements> In each series circuit, a switching element SP and a switching element SN are connected in series. The switching element SP is a positive switching element connected to the positive side of the DC power supply 3 . The switching element SN is a negative switching element connected to the negative side of the DC power supply 3 .

[0020] As the switching element, an IGBT (Insulated Gate Bipolar Transistor) with a diode connected in reverse parallel, a MOSFET (Metal Oxide Semiconductor or Field Effect Transistor), a bipolar transistor with a diode connected in reverse parallel, etc. are used. The gate terminal of each switching element is connected to the control device 10 via a gate drive circuit, etc. Each switching element is driven to be turned on or off according to the switching signals GPU to GNw output from the control device 10.

[0021] In addition, Figure 1 , the symbols SPu, SPv, SPw representing the switching elements SP, and the symbols SNu, SNv, SNw representing the switching elements SN are shown, and the lowercase letters u, v, w represent each of the three-phase alternating currents corresponding to the U phase, the V phase, and the W phase. When each of the three phases is not distinguished, it is sometimes simply referred to as the switching element SP, or simply referred to as the switching element SN.

[0022] The connection point between the two switching elements SP, SN in the series circuit of each of the three phases of the U phase, the V phase, and the W phase is connected one-to-one to the corresponding windings Cu, Cv, Cw. Specifically, in the U-phase series circuit, a U-phase positive-side switching element SPu and a U-phase negative-side switching element SNu are connected in series. A connection point between the two switching elements SPu and SNu is connected to the U-phase winding Cu. In the V-phase series circuit, a V-phase positive-side switching element SPv and a V-phase negative-side switching element SNv are connected in series. A connection point between the two switching elements SPv and SNv is connected to the V-phase winding Cv. In the W-phase series circuit, a W-phase positive-side switching element SPw and a W-phase negative-side switching element SNw are connected in series. A connection point between the two switching elements SPw and SNw is connected to the W-phase winding Cw.

[0023] <Filter capacitor 5, DC power supply 3> The filter capacitor 5 is connected between the positive electrode side and the negative electrode side of the DC power source 3 . The DC power supply 3 outputs a DC voltage V to the power converter 4. dc . In the present embodiment, the DC voltage Vdc is, for example, 12V. The DC power supply 3 is, for example, a battery, a DC-DC converter, a diode rectifier, a PWM rectifier, etc. The type of device constituting the DC power supply 3 is not limited, as long as it is a device that outputs the DC voltage Vdc. A voltage sensor for detecting the DC voltage Vdc may be provided in the DC power supply 3. The output signal output from the voltage sensor may be input to the control device 10. The control device 10 may use the detected DC voltage Vdc for control.

[0024] <Current sensor 6> The current sensor 6 is configured to detect current flowing through the windings of each of the three phases U, V, and W. The current sensor 6 is, for example, a shunt resistor or a Hall element. An output signal output from the current sensor 6 is input to the control device 10 . In the present embodiment, the current sensor 6 is connected in series to the switching elements SPw and SNw in the series circuit of each of the three phases, namely, the U phase, the V phase, and the W phase.

[0025] The current sensor 6 has a U-phase resistor Ru, a V-phase resistor Rv, and a W-phase resistor Rw. Each of the three-phase resistors Ru, Rv, and Rw is connected in series to the negative electrode side of the switching elements SNu, SNv, and SNw. The three-phase resistors Ru, Rv, and Rw are connected one-to-one to the amplifiers 21, 22, and 23. The amplifiers 21, 22, and 23 detect the potential difference between both ends of each of the three-phase resistors Ru, Rv, and Rw. The detected potential difference is input to the control device 10.

[0026] In each of the three phases of the U phase, the V phase, and the W phase, the current sensor 6 may be provided on an electric wire connecting the series circuit of the two switching elements SP and SN and the winding. In addition, the current sensor 6 may be provided on the wire connecting the power converter 4 and the DC power source 3. In this case, the current of the winding in each of the three phases of U phase, V phase and W phase may be detected by the known "bus 1 shunt method".

[0027] The structure of the power converter 4 is not limited to the inverter. A power converter other than the inverter, such as a matrix converter, may be used for the power converter 4.

[0028] <Electric Power Steering Device 100> The electric power steering device 100 includes the rotating electrical machine control device 10 , the power converter 4 , the rotating electrical machine 1 , a driving force transmission mechanism 101 , a steering device 102 , wheels 103 , a steering wheel 104 , a shaft 105 , and a torque sensor 106 . The driving force transmission mechanism 101 is a mechanism for transmitting the driving force generated by the rotating electric machine 1 to a steering device 102 of the vehicle. The driving force transmission mechanism 101 is composed of a worm gear mechanism that connects the rotating shaft of the rotating electric machine 1 to a shaft 105, and the like. The steering wheel 104 is operated by a driver driving the vehicle and can be rotated left or right. The rotating shaft of the rotor constituting the rotary electric machine 1 is connected to a steering device 102 of wheels 103 through a driving force transmission mechanism 101 . The shaft 105 is connected to the steering wheel 104. The shaft 105 transmits the steering torque of the steering wheel 104 to the steering device 102 connected to the wheels 103. The torque sensor 106 is attached to the shaft 105. The torque sensor 106 detects the steering torque Ts of the steering wheel 104. The output signal output from the torque sensor 106 is input to the control device 10. The output signal output from the torque sensor 106 is input to, for example, an input circuit 92 described later.

[0029] <Control device 10> Figure 2and Figure 3 : is a block diagram showing the control device 10 according to the present embodiment. The control device 10 is configured to control the rotating electrical machine 1 via the power converter 4 . like Figure 2 As shown, the control device 10 includes a rotation detection unit 31, a control angle calculation unit 32, a current detection unit 33, a voltage command value calculation unit 34, a switch control unit 35, and the like. Each function of the control device 10 is realized by a processing circuit included in the control device 10 . In the following description, the rotation detector 31, the control angle calculator 32, the current detector 33, the voltage command value calculator 34, and the switch controller 35 may be referred to as controllers 31 to 35. The controllers 31 to 35 may also be referred to as functional units.

[0030] The control device 10 includes a plurality of processing circuits. Specifically, Figure 3 As shown, the control device 10 includes a CPU (Central Processing Unit) 90, a storage device 91, an input circuit 92, an output circuit 93, and the like.

[0031] <cpu90> The CPU 90 is an example of a calculation processing device and is a computer such as a CPU (Central Processing Unit). For example, the CPU 90 may include, for example, an ASIC (Application Specific Integrated Circuit), an IC (Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), various logic circuits, and various signal processing circuits. The CPU 90 is configured to execute software stored in the storage device 91. Here, the software is, for example, a computer program. The CPU 90 may include a plurality of circuits such as the same type of circuit or different types of circuits. The processing of the CPU 90 may be performed so that each of the plurality of circuits shares a portion of the processing performed in the CPU 90.

[0032] <Storage device 91> The storage device 91 stores computer programs or various data, etc. In other words, the storage device 91 can store software. The storage device 91 includes a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. When the storage device 91 includes a RAM, the storage device 91 can read and write data from the CPU 90. When the storage device 91 includes a ROM, the storage device 91 can read data from the CPU 90. The storage device 91 exchanges data between the CPU 90 and the storage device 91 .

[0033] <Input Circuit 92> The input circuit 92 is a circuit for inputting an external signal from outside the control device 10 to the CPU 90. The input circuit 92 is connected to various sensors or switches such as the rotation sensor 2, the current sensor 6, and the torque sensor 106. The input circuit 92 includes an A / D converter, etc. Thus, the input circuit 92 inputs the output signal output from the above-mentioned sensor or switch to the CPU 90.

[0034] <Output Circuit 93> The output circuit 93 is a circuit that outputs a signal from the CPU 90 to the outside of the control device 10. An electric load is connected to the output circuit 93. The electric load is, for example, a gate drive circuit. The gate drive circuit drives the switching element so that the state of the switching element is switched to the on state or the off state. The output circuit 93 includes, for example, a drive circuit. The drive circuit outputs a control signal from the CPU 90 to the electric load. In the following description, driving a switching element so as to switch the state of the switching element to an on state or an off state may be referred to as “on / off driving of the switching element”.

[0035] In the control device 10 thus configured, when the CPU 90 executes software, the storage device 91, the input circuit 92, the output circuit 93, etc. are driven in cooperation with other hardware and sensors connected to the control device 10. Thus, the functions of each of the control units 31 to 35 are realized. In addition, setting data such as internal resolution and control gain used by each of the control units 31 to 35 are stored in a storage device 91 such as a ROM as a part of software.

[0036] Next, we will refer to Figure 2 to Figure 8 Each function of the control device 10 will be described in detail.

[0037] <Basic Control in Control Device 10> <Rotation Detection Unit 31> The rotation detection unit 31 detects the rotation angle θd of the rotor based on the output signal output from the rotation sensor 2. Specifically, the rotation detection unit 31 detects the rotation angle (magnetic pole position) of the magnetic pole (N pole) of the magnet at the electrical angle relative to the position of the U-phase winding Cv. The detected rotation angle is the detection value θd as the rotation angle of the rotor.

[0038] <Current Detection Unit 33> The current detection unit 33 detects the currents Iud, Ivd, and Iwd flowing through the three-phase windings based on the output signal output from the current sensor 6. Specifically, the current detection unit 33 detects the current Iud flowing through the U-phase winding Cu, detects the current Ivd flowing through the V-phase winding Cv, and detects the current Iwd flowing through the W-phase winding Cw based on the output signal output from the current sensor 6.

[0039] In addition, regarding the current detection in the current detection unit 33, the current sensor 6 can be configured to detect the two-phase winding current, and calculate the remaining one-phase winding current based on the detected values ​​of the two-phase winding current. For example, the current sensor 6 can detect the winding currents Ivd and Iwd of the V phase and the W phase, and the winding current Iud of the U phase can be calculated by Iud=-Ivd-Iwd.

[0040] <Voltage Command Value Calculation Unit 34> The voltage command value calculation unit 34 calculates three-phase voltage command values ​​Vuo, Vvo, and Vwo to be applied to the three-phase windings Cu, Cv, and Cw based on the control rotation angle θc calculated by the control angle calculation unit 32 described later and the current detection value. Specifically, the voltage command value calculation unit 34 calculates a voltage command value to be applied to the multi-phase winding based on the control rotation angle, the current, the command value of the q-axis current, and the command value of the d-axis current. In the present embodiment, the voltage command value calculation unit 34 includes a current coordinate conversion unit 342 , a dq-axis voltage command value calculation unit 343 , and a voltage coordinate conversion unit 344 .

[0041] The current coordinate conversion unit 342 converts the current detection values ​​Iud, Ivd, and Iwd of each of the three-phase windings Cu, Cv, and Cw into a d-axis current detection value Idd and a q-axis current detection value Iqd based on the control rotation angle θc.

[0042] In this embodiment, as shown in the following equation, the current coordinate conversion unit 342 performs three-phase to two-phase conversion and rotation coordinate conversion on the current detection values ​​Iud, Ivd, and Iwd of each of the three-phase windings Cu, Cv, and Cw based on the control rotation angle θc. Thus, the current detection values ​​Iud, Ivd, and Iwd are converted into the current detection value Idd of the d-axis and the current detection value Iqd of the q-axis.

[0043] [Mathematical formula 1]

[0044] The d-axis is defined in the direction of the magnetic pole (N pole) of the magnet, and the q-axis is defined in the direction 90 degrees ahead of the d-axis in terms of electrical angle. In the present embodiment, coordinate conversion is performed based on the control rotation angle θc. Therefore, the direction of the control rotation angle θc is the d-axis.

[0045] <Current Command Value Calculation Unit 36> The current command value calculation unit 36 ​​includes a d-axis current command value generation unit 361 and a q-axis current command value generation unit 362. The d-axis current command value generation unit 361 calculates the current command value Ido of the d-axis. In other words, the d-axis current command value generation unit 361 generates a command value of the d-axis current flowing through the rotating electric machine. The q-axis current command value generation unit 362 calculates the current command value Iqo of the q-axis. In other words, the q-axis current command value generation unit 362 generates a command value of the q-axis current flowing through the rotating electric machine. The current command value calculation unit 36 ​​detects the steering torque Ts generated in the steering wheel 104 operated by the driver based on the output signal output from the torque sensor 106.

[0046] Then, as shown in the following equation, the current command value calculation unit 36 ​​sets the current command value Iqo of the q-axis based on the steering torque Ts, and sets the current command value Ido of the d-axis to 0. That is, Id=0 control is performed. Id=0 control is an example of d-axis current zero control. In Id=0 control, the current command value Ido of the d-axis is set to 0. In the case where the rotating electrical machine 1 is a surface magnet type rotating electrical machine, Id=0 control is preferred.

[0047] Iqo=Ka×Ts Ido=0···(1-2)

[0048] Here, Ka is a constant. In addition, Ka may vary according to the steering torque Ts, the running speed of the vehicle, etc. In addition, the q-axis current command value Iqo may be set based on a known compensation control corresponding to the steering state.

[0049] In addition, when the rotating electrical machine 1 is an embedded magnet type rotating electrical machine, the current command values ​​Ido and Iqo of the d-axis and q-axis can be set by maximum torque current control instead of Id=0 control. In the maximum torque current control, the current command values ​​Ido and Iqo of the d-axis and q-axis that maximize the torque generated with respect to the same current are calculated.

[0050] In a region where the rotational angular velocity is high, flux weakening control is executed to increase the d-axis current command value Ido in a negative direction compared to the d-axis current command value calculated by Id=0 control or maximum torque current control.

[0051] For example, the execution region of the flux weakening control is set to a region where the rotation angular velocity ω is equal to or higher than the base velocity at which the amplitude of the line voltage output by the inverter reaches the DC voltage Vdc.

[0052] Figure 4 1 is a diagram showing execution regions of each control when the Id=0 control and the flux weakening control are executed when the control device 10 is applied to a surface magnet type rotating electrical machine. Figure 5 The diagram shows execution regions of each control when the maximum torque current control and the flux weakening control are executed when the control device 10 is applied to an embedded magnet type rotating electrical machine. exist Figure 4 and Figure 5 In the figure, the horizontal axis represents the rotational angular velocity, and the vertical axis represents the torque.

[0053] The dq-axis voltage command value calculation unit 343 performs current feedback control represented by the following equation. Specifically, in the current feedback control, the dq-axis voltage command value calculation unit 343 changes the d-axis voltage command value Vd o and the q-axis voltage command value Vqo so that the d-axis current detection value Idd approaches the d-axis current command value Ido, and the q-axis current detection value Iqd approaches the q-axis current command value Iqo. In the current feedback control, for example, PI control or the like is used.

[0054] [Mathematical formula 2]

[0055] Here, Kd and Kq represent proportional gains. Td and Tq represent integral time constants. s represents a Laplace operator. In addition, feedforward control may be performed so that the d-axis current and the q-axis current do not interfere with each other. That is, "-ωc×Lq×Iqc" may be added to the d-axis voltage command value Vdo. Also, "ωc×(Ld×Idc+φ)" may be added to the q-axis voltage command value Vqo. Here, ωc is a control angular velocity for rotation described later. A detected value ωd of the angular velocity for rotation described later may be used instead of ωc.

[0056] Lq represents the q-axis inductance. Ld represents the d-axis inductance. φ represents the interlinked magnetic flux of the magnetomotive force of the magnet and the winding.

[0057] The voltage coordinate conversion unit 344 converts the d-axis voltage command value Vdo and the q-axis voltage command value Vqo into three-phase voltage command values ​​Vuo, Vvo, and Vwo based on the control rotation angle θc.

[0058] In this embodiment, as shown in the following equation, the voltage coordinate conversion unit 344 performs fixed coordinate conversion and two-phase to three-phase conversion on the d-axis voltage command value Vdo and the q-axis voltage command value Vqo based on the control rotation angle θc. Thus, the voltage coordinate conversion unit 344 converts the d-axis voltage command value Vdo and the q-axis voltage command value Vqo into three-phase voltage command values ​​Vuo, Vvo, and Vwo.

[0059] [Mathematical formula 3]

[0060] In addition, the voltage coordinate conversion unit 344 may apply known modulation such as two-phase modulation or third harmonic superposition to the three-phase voltage command values ​​Vuo, Vvo, and Vwo.

[0061] <Switch Control Unit 35> Switch control unit 35 drives on and off a plurality of switching elements included in power converter 4 based on three-phase voltage command values ​​Vuo, Vvo, and Vwo. Switch control unit 35 uses known carrier comparison PWM or space vector PWM. The switch control unit 35 drives the plurality of switching elements SP and SN included in the power converter 4 to turn on and off based on the voltage command value calculated by the voltage command value calculation unit 34 .

[0062] When the carrier comparison PWM is used, the switch control unit 35 compares the carrier with each of the three-phase voltage command values ​​Vuo, Vvo, and Vwo. Based on the comparison result, the switch control unit 35 performs on-off driving of the plurality of switching elements. The carrier wave is, for example, a triangular wave. Here, the triangular wave has a waveform that oscillates with an amplitude of half the value Vdc / 2 of the DC voltage around 0 at the PWM period Tc.

[0063] The switch control unit 35 controls the operation of the positive-side switching element SP of each of the three phases, namely, the U phase, the V phase, and the W phase, as follows. When the carrier wave is lower than the voltage command value, the switch control unit 35 turns on the switch signal GP of the positive electrode side switch element SP, thereby turning on the positive electrode side switch element SP. When the carrier exceeds the voltage command value, the switch control unit 35 turns off the switch signal GP of the positive-side switching element SP, thereby turning off the positive-side switching element SP.

[0064] The switching control unit 35 controls the operation of the negative-side switching element SN of each of the three phases, namely, the U phase, the V phase, and the W phase, as follows. When the carrier wave is lower than the voltage command value, the switch control unit 35 turns off the switch signal GN of the negative-side switching element SN, thereby turning off the negative-side switching element SN. When the carrier exceeds the voltage command value, the switch control unit 35 turns on the switching signal GN of the negative-side switching element SN, thereby turning on the negative-side switching element SN.

[0065] In addition, a short circuit prevention period may be provided between the conduction period of the positive side switching element SP and the conduction period of the negative side switching element SN in each of the three phases of the U phase, the V phase, and the W phase. The short circuit prevention period is a so-called dead time. During the short circuit prevention period, both the positive side switching element SP and the negative side switching element SN are in the off state.

[0066] When using space vector PWM, the switch control unit 35 generates a voltage command vector according to the three-phase voltage command values ​​Vuo, Vvo, and Vwo. Based on the voltage command vector, the switch control unit 35 determines the output time distribution of the seven basic voltage vectors in the PWM cycle. Based on the output time distribution of the seven basic voltage vectors, the switch control unit 35 generates a switching signal for turning on and off each switching element in the PWM cycle.

[0067] <Control Angle Calculation Unit 32> The control angle calculation unit 32 is configured to reduce an angle error caused by a detection error of the rotation sensor 2 based on one or more of the rotation angle, current, and voltage command value as output signals of the rotation sensor 2. The specific function of the control angle calculation unit 32 is as follows. The control angle calculation unit 32 calculates the control rotation angle θc of the rotor. That is, the control angle calculation unit 32 is an example of a rotation calculation unit that calculates the control rotation angle of the rotor. The control angle calculation unit 32 estimates the estimated actual angle deviation Δθe as the deviation of the control rotation angle θc from the true value of the rotation angle of the rotor based on the information of the current detection value and the information of the voltage command value. The control angle calculation unit 32 calculates the detected angle deviation Δθd as the deviation of the control rotation angle θc from the detected value θd of the rotation angle.

[0068] The control angle calculation unit 32 calculates the detection angle deviation Δθd as a control angle deviation. For example, the control angle calculation unit 32 calculates a value obtained by internally dividing the estimated actual angle deviation Δθe and the detected angle deviation Δθd as the control angle deviation Δθc. Then, the control angle calculation unit 32 calculates the control rotation angle based on the control angle deviation. Specifically, the control angle calculation unit 32 performs feedback control so that the control angle deviation Δθc approaches 0, thereby calculating the control rotation angle θc. More specifically, the control angle calculation unit 32 changes the control rotation angular velocity of the rotor by performing the feedback control, and integrates the control rotation angular velocity to calculate the control rotation angle.

[0069] When the speed ratio physical quantity, which is a physical quantity proportional to the rotational angular velocity of the rotor, is higher than a preset speed threshold Th, the control angle calculation unit 32 sets the ratio Ke of the estimated actual angle deviation Δθe in the control angle deviation Δθc to be higher than the ratio Kd of the detected angle deviation. When the speed ratio physical quantity is lower than the speed threshold value Th, the control angle calculation unit 32 sets the ratio Ke of the estimated actual angle deviation Δθe in the control angle deviation Δθc to be lower than the ratio Kd of the detected angle deviation.

[0070] According to this structure, feedback control is performed so that the control angle deviation Δθc obtained by internally dividing the estimated actual angle deviation Δθe and the detected angle deviation Δθd is close to 0. Thus, the control rotation angle θc is calculated. In other words, the control device 10 of the present embodiment is not configured to correct the sensor detection value of the rotation angular velocity using the feedback control value as in the weak flux control disclosed in Patent Document 1. In the control device 10 of the present embodiment, when the rotor rotates at a high speed, it is not necessary to increase the response frequency of the feedback control to reduce the error of the AC component contained in the sensor detection value of the rotation angle.

[0071] Therefore, the response frequency of the feedback control can be set to respond to the vibration frequency of the mechanical rotation angle of a relatively low frequency. In addition, the response frequency of the feedback control can be set to a frequency that does not respond to the noise component contained in the current detection value of a relatively high frequency.

[0072] Furthermore, when the rotor rotates at a high speed, the control rotation angle θc is calculated by feedback control in which the ratio Ke of the estimated actual angle deviation Δθe is made higher than the ratio Kd of the detected angle deviation Δθd and the control angle deviation Δθc is made close to 0. Therefore, it is possible to suppress the error of the AC component included in the detected value θd of the rotation angle from being reflected in the control rotation angle θc. Furthermore, the control rotation angle θc can be made close to the true value of the rotation angle.

[0073] Therefore, when the rotor rotates at a high speed, the error of the AC component included in the detection value θd of the rotation angle can be reduced, and the increase of the error of the rotation angle caused by the high-frequency noise component included in the current detection value can be suppressed.

[0074] Furthermore, when the rotor is rotating at a low speed, even when the ratio Kd of the detected angle deviation Δθd is higher than the ratio Ke of the estimated actual angle deviation Δθe, the control rotation angle θc is calculated by feedback control that makes the control angle deviation Δθc close to 0. Therefore, it is possible to suppress the error of the AC component included in the detected value θd of the rotation angle from being reflected in the control rotation angle θc.

[0075] <Calculation of detection angle deviation Δθd> Figure 6 2 is a block diagram showing the control angle calculation unit 32 according to the present embodiment. As shown in the following equation, the control angle calculation unit 32 calculates the detection angle deviation Δθd by subtracting the control rotation angle θc from the detection value θd of the rotation angle.

[0076] Δθd=θd-θc···(1-5)

[0077] <Calculation of estimated actual angle deviation Δθe> As described above, the control angle calculation unit 32 estimates the estimated actual angle deviation Δθe, which is the deviation of the control rotation angle θc from the true value of the rotation angle of the rotor, based on the information of the current detection value and the information of the voltage command value.

[0078] In this embodiment, the control angle calculation unit 32 estimates the estimated actual angle deviation Δθe, which is the deviation of the control rotation angle θc from the true value of the rotor rotation angle, based on the d-axis current detection value Idd, the q-axis current detection value Iqd, the d-axis voltage command value Vdo, the q-axis voltage command value Vqo and the control rotation angular velocity ωc.

[0079] The control angle calculation unit 32 calculates the estimated actual angle deviation Δθe using the following equation.

[0080] ΔVd=-Vdo+R×Idd-ωc×Lq×Iqd ΔVq=Vqo-R×Iqd-ωc×Ld×Idd Δθe=arctan(ΔVd / ΔVq)···(1-6)

[0081] Here, R represents a preset resistance value of the winding, Lq represents a preset q-axis inductance, and Ld represents a preset d-axis inductance.

[0082] Taking the magnetic saturation of the permanent magnet into consideration, Ld and Lq can be set using mapping data of the d-axis current and the q-axis current.

[0083] Formula (1-6) is derived from the voltage equation. ΔVd represents the error in the d-axis voltage caused by the deviation of the control rotation angle θc from the actual rotation angle. Here, "actual rotation angle" is the rotation angle at which the voltage equation is satisfied. ΔVq represents the error in the q-axis voltage caused by the deviation of the control rotation angle θc from the actual rotation angle. Then, by calculating the value of the arc tangent function of ΔVd / ΔVq, an estimated actual angle deviation Δθe, which is a deviation of the control rotation angle θc from the true value of the rotation angle, is calculated.

[0084] In addition, a detection value ωd of a rotational angular velocity calculated by differentiating a detection value θd of a rotational angle may be used instead of the control rotational angular velocity ωc.

[0085] In addition, the U-phase applied voltage Vu_PWM, the V-phase applied voltage Vv_PWM, and the W-phase applied voltage Vw_PWM applied to the three-phase winding can be detected instead of the d-axis voltage command value Vdo and the q-axis voltage command value Vqo. In this case, for the three-phase voltage detection values ​​Vu_PWM, Vv_PWM, and Vw_PWM, the d-axis voltage detection value Vdd and the q-axis voltage detection value Vqd obtained by performing three-phase two-phase conversion and rotation coordinate conversion based on the control rotation angle θc can be used.

[0086] When the absolute value of the detected value ωd of the rotational angular velocity is less than the threshold value, the control angle calculation unit 32 may stop the estimated actual angle deviation Δθe obtained using the formula (1-6) and set it to Δθe = 0. This is to prevent the error ΔVq of the q-axis voltage from approaching 0 when the rotational angular velocity is low, ΔVd / ΔVq from becoming too large, and the calculation error of Δθe from becoming too large.

[0087] <Calculation of Detected Value ωd of Rotational Angular Velocity> The control angle calculation unit 32 calculates the detection value ωd of the rotation angular velocity using the following equation.

[0088] ωd(n)={θd(n)-θd(n-1)} / ΔT···(1-7)

[0089] Here, θd(n-1) represents the rotation angle detected at the previous calculation timing. θd(n) represents the rotation angle detected at the previous calculation timing. ΔT represents the calculation cycle. As the detected value ωd of the rotational angular velocity, a value obtained by performing low-pass filtering on the calculated value of the equation (1-7) can be used.

[0090] <Calculation of Control Angle Deviation Δθc by Internal Division> As shown in the following equation, the control angle calculation unit 32 calculates the total value of the value obtained by multiplying the estimated actual angle deviation Δθe by the internal ratio Ke of the estimated actual angle deviation and the value obtained by multiplying the detected angle deviation Δθd by the internal ratio Kd of the detected angle deviation. This total value is the control angle deviation Δθc. Here, the internal ratio Ke of the estimated actual angle deviation is an example of the ratio of the estimated actual angle deviation, and the internal ratio Kd of the detected angle deviation is an example of the ratio of the detected angle deviation.

[0091] Δθc=Ke×Δθe+Kd×Δθd Ke+Kd=1, 0≤Ke≤1, 0≤Kd≤1···(1-8)

[0092] Here, the internal ratio Ke of the estimated actual angle deviation is the ratio Ke of the estimated actual angle deviation Δθe in the control angle deviation Δθc. The internal ratio Kd of the detected angle deviation is the ratio Kd of the detected angle deviation Δθd in the control angle deviation Δθc.

[0093] The internal rate Ke of the estimated actual angle deviation and the internal rate Kd of the detected angle deviation are set within the range of 0 to 1 respectively so that the total value of the internal rate Ke of the estimated actual angle deviation and the internal rate Kd of the detected angle deviation is 1. That is, Kd=1-Ke.

[0094] Therefore, the relationship (Δθc-Δθe):(Δθd-Δθc)=Ke:(1-Ke) holds. That is, the control angle deviation Δθc is a value obtained by internally dividing the estimated actual angle deviation Δθe and the detected angle deviation Δθd in the ratio of Ke:(1-Ke).

[0095] <Changes in the internal ratio corresponding to the speed proportional physical quantity> Figure 7 An example of setting the internal ratios Ke and Kd in this embodiment is shown. like Figure 7 As shown on the horizontal axis of , in the present embodiment, the detected value ωd of the rotational angular velocity is used as a speed proportional physical quantity.

[0096] When the detected value ωd of the rotational angular velocity is higher than the preset velocity threshold Th, the control angle calculation unit 32 makes the internal resolution Ke of the estimated actual angle deviation higher than the internal resolution Kd of the detected angle deviation. When the detected value ωd of the rotational angular velocity is lower than the velocity threshold value Th, the control angle calculation unit 32 sets the internal resolution Ke of the estimated actual angle deviation to be lower than the internal resolution Kd of the detected angle deviation.

[0097] That is, when the detected value ωd of the rotational angular velocity is higher than the velocity threshold Th, the control angle calculation unit 32 sets the internal resolution Ke of the estimated actual angle deviation to be higher than 0.5 and sets the internal resolution Kd of the detected angle deviation to be lower than 0.5. When the detected value ωd of the rotational angular velocity is lower than the velocity threshold Th, the control angle calculation unit 32 sets the internal resolution Ke of the estimated actual angle deviation to less than 0.5 and sets the internal resolution Kd of the detected angle deviation to more than 0.5. In addition, the control rotational angular velocity ωc may be used instead of the detected value ωd of the rotational angular velocity.

[0098] As the detected value ωd of the rotational angular velocity increases within the preset range of the speed proportional physical quantity including the speed threshold Th, the control angle calculation unit 32 continuously increases the internal ratio Ke of the estimated actual angle deviation and continuously decreases the internal ratio Kd of the detected angle deviation. In the present embodiment, "a range of a pre-set speed proportional physical quantity including the speed threshold value Th" corresponds to a range of rotational angular velocity. In the following description, this range is referred to as a switching angular velocity range.

[0099] The value obtained by subtracting the prescribed value from the speed threshold Th is the lower limit angular velocity ThL of the switching angular velocity range. The value obtained by adding the prescribed value to the speed threshold Th is the upper limit angular velocity ThH of the switching angular velocity range. The switching angular velocity range is a range from the lower limit angular velocity ThL to the upper limit angular velocity ThH. exist Figure 7 In the example shown, the switching angular velocity range is set so that the velocity threshold Th is located at the center of the switching angular velocity range.

[0100] According to this structure, the internal ratios Ke and Kd are continuously changed within the switching speed range. Thus, when there is a difference between the estimated actual angle deviation Δθe and the detected angle deviation Δθd, the rapid change of the control angle deviation Δθc can be suppressed, and the rapid change of the control rotation angle θc and the rapid change of the torque can be suppressed. Therefore, the deterioration of the steering feel of the driver can be suppressed. In addition, the internal ratios Ke and Kd may be changed in a step-like manner before and after the speed threshold Th, that is, at a speed lower than the speed threshold Th or at a speed higher than the speed threshold Th.

[0101] In the switching angular velocity range including the speed threshold value Th, as the detected value ωd of the rotational angular velocity increases, the control angle calculation unit 32 continuously increases the internal ratio Ke of the estimated actual angle deviation from 0 to 1, and continuously decreases the internal ratio Kd of the detected angle deviation from 1 to 0. In other words, when the speed proportional physical quantity is lower than the preset speed proportional physical quantity range including the speed threshold value, the control angle calculation unit 32 sets the ratio of the estimated actual angle deviation to 0, and sets the ratio of the detected angle deviation to 1.

[0102] In addition, when the detected value ωd of the rotational angular velocity is lower than the switching angular velocity range, the control angle calculation unit 32 sets the internal division ratio Ke for estimating the actual angle deviation to 0 and sets the internal division ratio Kd for detecting the angle deviation to 1. When the detected value ωd of the rotational angular velocity is higher than the switching angular velocity range, the control angle calculation unit 32 sets the internal division ratio Ke for estimating the actual angle deviation to 1 and sets the internal division ratio Kd for detecting the angle deviation to 0. In other words, when the speed ratio physical quantity is higher than the preset range of the speed ratio physical quantity including the speed threshold, the control angle calculation unit 32 sets the ratio for estimating the actual angle deviation to 1 and sets the ratio for detecting the angle deviation to 0.

[0103] <The speed threshold Th is set corresponding to the execution region of the weak magnetic flux control> The speed threshold Th is set corresponding to the rotational angular velocity ωbd at the boundary between the execution regions of the Id = 0 control or the maximum torque current control and the execution region of the weak magnetic flux control. The rotational angular velocity ωbd is an example of the speed ratio physical quantity. The effect of this setting will be described below. When there is an angle error Δθerr, the torque error ΔTerr can be approximated as follows.

[0104] ΔTerr≒Iq×cos(Δθerr)+Id×sin(Δθerr) ···(1-9)

[0105] Even if there is an error, the angle error Δθerr is close to 0. That is, cos(Δθerr) << sin(Δθerr), and the first term on the right side of Equation (1-9) can be ignored. Thus, when the absolute value of the d-axis current Id becomes larger, the torque error ΔTerr becomes larger. As described above, in the weak magnetic flux control, compared with the current command value of the d-axis calculated by the Id = 0 control or the maximum torque current control, the current command value Ido of the d-axis increases in the negative direction. Therefore, in the execution region of the weak magnetic flux control, the absolute value of the d-axis current Id becomes larger, and when there is an angle error Δθerr, the torque error ΔTerr becomes larger.

[0106] As described above, by setting the speed threshold Th, the control rotational angle θc is calculated such that in the execution region of the weak magnetic flux control, the internal division ratio Ke for estimating the actual angle deviation becomes higher and the estimated actual angle deviation Δθe decreases. Therefore, the deviation of the control rotational angle θc from the true value of the rotational angle (the estimated actual angle deviation Δθe) decreases, and the angle error Δθerr decreases.

[0107] As explained using equation (1-6), the true value of the rotation angle is the rotation angle that satisfies the voltage equation. The torque error ΔTerr shown in equation (1-9) is also derived based on the voltage equation. Therefore, the torque error ΔTerr can be reduced by calculating the control rotation angle θc so that the estimated actual angle deviation Δθe is reduced.

[0108] As the induced voltage increases, the calculation accuracy of the estimated actual angle deviation Δθe in equation (1-6) increases. Therefore, in the region where the induced voltage increases during the flux weakening control, the accuracy of reducing the angle error Δθerr can be improved by increasing the internal ratio Ke of the estimated actual angle deviation.

[0109] In the present embodiment, when the detected value ωd of the rotational angular velocity is greater than the lower limit angular velocity ThL of the switching angular velocity range, the estimated actual angle deviation Δθe is reflected in the calculation of the control rotational angle θc.

[0110] Therefore, the speed threshold Th and the switching angular velocity range can be set so that the rotation angular velocity ωbd at the boundary between the execution area of ​​Id=0 control or maximum torque current control and the execution area of ​​weak flux control is greater than the lower limit angular velocity ThL of the switching angular velocity range. For example, the speed threshold Th can be set to be consistent with the rotation angular velocity ωbd at the boundary. Alternatively, the speed threshold Th and the switching angular velocity range can be set so that the rotation angular velocity ωbd at the boundary is included in the switching angular velocity range.

[0111] like Figure 5 As shown, when the control device 10 is applied to an embedded magnet type rotating electrical machine, the rotational angular velocity ωbd of the boundary varies according to the torque. Therefore, the speed threshold Th and the switching angular velocity range can be changed according to the torque. Furthermore, when the control device 10 is applied to an embedded magnet type rotating electrical machine, even in the maximum torque current control, the value of the d-axis current becomes smaller than 0. Therefore, the speed threshold Th and the switching angular velocity range can be set as the execution region of the maximum torque current control.

[0112] In addition, the control rotational angular velocity ωc may be used as the speed proportional physical quantity. In addition, a physical quantity other than the rotational angular velocity may be used as the speed proportional physical quantity. For example, the induced voltage generated in the winding is proportional to the rotational angular velocity, and the applied voltage of the winding is proportional to the induced voltage. As the speed-proportional physical quantity, the magnitude of the voltage vector of the d-axis voltage command value Vdo and the q-axis voltage command value Vqo, or the sum of the square of the voltage command value Vdo and the square of the voltage command value Vqo can be used.

[0113] In addition, when the DC voltage Vdc is lower than the voltage threshold, the control angle calculation unit 32 may fix the internal ratio Ke of the estimated actual angle deviation to 0 and the internal ratio Kd of the detected angle deviation to 1. That is, the control angle calculation unit 32 may make the estimated actual angle deviation Δθe not reflected in the control angle deviation Δθc. This is because as the DC voltage Vdc decreases, the base speed decreases, and weak flux control is performed starting from a lower speed. However, since the induced voltage is low when the rotor rotates at a low speed, the estimated accuracy of the estimated actual angle deviation Δθe obtained according to formula (1-6) decreases.

[0114] <Calculation of Control Rotation Angle θc Based on Control Angle Deviation Δθc> As described above, the control angle calculation unit 32 performs feedback control so that the control angle deviation Δθc approaches 0, thereby calculating the control rotation angle θc. In the present embodiment, the control angle calculation unit 32 performs feedback control so that the control angle deviation Δθc approaches 0, thereby changing the control rotation angular velocity ωc, and integrates the control rotation angular velocity ωc to calculate the control rotation angle θc.

[0115] According to this configuration, since the control rotational angular velocity ωc is changed by feedback control, there is no need to directly change the control rotational angle θc by feedback control, and there is no need to increase the response frequency of the feedback control to the rotational frequency.

[0116] Therefore, the response frequency of the feedback control can be made lower than the rotation frequency. In addition, the response frequency of the feedback control can be set according to the vibration frequency of the mechanical rotation angle speed.

[0117] For example, as shown in the following equation, the control angle calculation unit 32 performs feedback control to change the control rotational angular velocity ωc by PI control so that the control angle deviation Δθc approaches zero.

[0118] ωc=Kc×(1+1 / (Tc×s))×Δθc···(1-10)

[0119] Here, Kc represents proportional gain, Tc represents integration time constant, and s represents Laplace operator. In addition, various feedback controls such as PID control may be used instead of PI control.

[0120] <Response frequency from Δθc to θc> The transfer function G from the control angle deviation Δθc to the control rotation angle θc is obtained from the following equation.

[0121] G(s)=θc / Δθc=Kc×(1+1 / (Tc×s)) / s···(1-11)

[0122] From the non-patent document 1 (Kurishige et al., "Steering torque reduction control method for electric power steering", Proceedings of the Japan Society of Mechanical Engineers (Edition C), Vol. 68, No. 675) Fig. 9 It can be clearly seen that the steering speed of the steering oscillates at about 35Hz. This is because Fig. 9 In the figure, 0.1s means about 3.5 cycles.

[0123] Therefore, the speed change during steering can occur at such a frequency. Therefore, the response from the control angle deviation Δθc to the control rotation angle θc needs to be 35 Hz or more, preferably about 3 times 90 to 100 Hz, and more preferably 5 times 175 Hz or more. The vibration frequency of this rotational angular velocity corresponds to the resonance frequency of a mechanical power transmission mechanism connected to the rotating shaft of the rotor.

[0124] Fig. 11 is a Bode diagram showing the transfer function G of the equation (1-11). In Fig. 11, the horizontal axis represents the rotational angular velocity, and the vertical axis represents the gain. Fig. 11 shows a case where the condition Tc=5 / Kc is set in the equation (1-11). It is clear from Figure 11 that when ω = Kc [rad / s], the transfer function G is 0 dB. The cutoff frequency has the characteristics of a first-order low-pass filter with a proportional gain of Kc [rad / s]. Here, it is used as a first-order low-pass filter because it is -20 dB / dec near 0 dB.

[0125] Therefore, when the input angular frequency ω is less than the proportional gain Kc, the response from the control angle deviation Δθc to the control rotation angle θc is: θc responds so that Δθc = 0. On the other hand, when the input angular frequency ω exceeds the proportional gain Kc, θc cannot follow the change of Δθc. Therefore, the response from the control angle deviation Δθc to the control rotation angle θc needs to be above 35Hz, which means that the proportional gain Kc needs to be above 2π×35[rad / s].

[0126] In order to triple the response to 90 to 100 Hz with a margin, the proportional gain Kc needs to be set to 2π×90 to 2π×100 [rad / s]. In order to quintuple the response to 175 Hz or higher, the proportional gain Kc needs to be set to 2π×175 [rad / s] or higher.

[0127] As described above, the proportional gain Kc needs to be at least 2π×35 [rad / s]. Taking a margin into consideration, it needs to be approximately three times as high as 2π×90 to 2π×100 [rad / s], and more preferably 2π×175 [rad / s] or more.

[0128] By setting the proportional gain Kc in this way, the response frequency (cutoff frequency) from the control angle deviation Δθc to the control rotation angle θc can be made higher than the speed variation frequency 35 Hz. Thus, the control rotation angle θc can follow the speed variation and the torque variation caused by the angle error can be suppressed.

[0129] On the other hand, the high-frequency vibration component of the control angle deviation Δθc caused by the noise component included in the current detection value or the noise component included in the angle detection value is cut off, thereby preventing the high-frequency vibration component from being reflected in the control rotation angle θc.

[0130] Therefore, the response frequency from the control angle deviation Δθc to the control rotation angle θc is set between 3 times and 5 times the speed variation frequency (for example, above 90 Hz), so that the control rotation angle θc can follow the speed variation and is not easily affected by the noise component contained in the current detection value. As a result, the torque fluctuation can be reduced, and the rotating electrical machine 1 can be made quieter. In other words, the generation of vibration or noise of the rotating electrical machine 1 can be suppressed.

[0131] Furthermore, the response frequency from the control angle deviation Δθc to the control rotation angle θc is set to be lower than the rotation frequency corresponding to the speed threshold value Th. According to this configuration, in a region where the rotation speed is higher than the speed threshold Th and the internal fraction Ke of the estimated actual angle deviation Δθe is higher than the internal fraction Kd of the detected angle deviation Δθd, the noise component of the rotation frequency included in the current detection value etc. can be suppressed from being reflected in the control rotation angle θc.

[0132] In addition, the response frequency from the control angle deviation Δθc to the control rotation angle θc is set to be higher than the mechanical resonance frequency generated at the rotation speed of the rotor. In the present embodiment, the mechanical resonance frequency is 35 Hz. In particular, the response frequency from the control angle deviation Δθc to the control rotation angle θc can be set between 3 times and 5 times the mechanical resonance frequency generated by the rotation speed of the rotor. According to this configuration, the control rotation angle θc can follow the change in the mechanical rotation angular velocity and can be less susceptible to the influence of high-frequency noise components.

[0133] On the other hand, in the flux weakening control disclosed in Patent Document 1, as described above, the feedback controller for calculating Δω1c needs to have frequency following performance up to the maximum rotation speed. To implement such a feedback controller, an advanced microcomputer is required. In addition, it is difficult to separate the noise component from the current detection value included in Δθdc.

[0134] On the other hand, in this embodiment, the response frequency can be set according to the speed variation frequency lower than the maximum rotation frequency. Therefore, the frequency following performance like that of Patent Document 1 is not required. Therefore, according to the present embodiment, the noise component can be easily separated from the current detection value, and a low-level microcomputer can be used as the CPU 90 .

[0135] In the above description, when the speed proportional physical quantity, which is a physical quantity proportional to the rotational angular velocity of the rotor, is higher than a preset speed threshold value Th, the control angle calculation unit 32 sets the ratio Ke of the estimated actual angle deviation Δθe in the control angle deviation Δθc to be higher than the ratio Kd of the detected angle deviation. When the speed proportional physical quantity is lower than the speed threshold value Th, the control angle calculation unit 32 sets the ratio Ke of the estimated actual angle deviation Δθe in the control angle deviation Δθc to be lower than the ratio Kd of the detected angle deviation. This embodiment is not limited to the above control. It can always be set to Kd=1 and Ke=0, regardless of the speed proportional physical quantity, which is a physical quantity proportional to the rotational angular velocity of the rotor.

[0136] When Kd=1 and Ke=0, the estimated actual angle deviation Δθe is invalid. Therefore, the estimated angle error calculation unit may not be included in the control angle calculation unit. In the above embodiment, the voltage (Vdo, Vqo) and the current (Idd, Iqd) are input to the control angle calculation unit, but the voltage (Vdo, Vqo) and the current (Idd, Iqd) may not be input to the control angle calculation unit.

[0137] In this case, the rotor control rotation angle θc is always calculated using the detection angle deviation Δθd. The response frequency from the detection angle deviation Δθd to the control rotation angle θc is set between 3 times and 5 times the speed variation frequency (for example, 175 Hz or more), so that the control rotation angle θc can follow the speed variation and is not easily affected by the noise component included in the current detection value.

[0138] As a result, even when only the detected angle deviation Δθd is used to calculate the control rotation angle θc of the rotor, the torque variation can be reduced and the rotating electric machine 1 can be made quieter. That is, the generation of vibration or noise of the rotating electric machine 1 can be suppressed. In addition, the output of the sequential salient pole motor can be maximized on the basis of appropriately reducing the pulsation error in the rotation sensor 2.

[0139] In addition, Kd=0 and Ke=1 can always be set regardless of the speed proportional physical quantity which is a physical quantity proportional to the rotational angular velocity of the rotor. When Kd=0 and Ke=1, the detection angle deviation Δθd is invalid. Therefore, the rotor rotation angle calculation unit may not be included in the control angle calculation unit. In the above embodiment, the rotor rotation angle θd is input to the control angle calculation unit, but the rotation angle θd may not be input to the control angle calculation unit.

[0140] In this case, the estimated actual angle deviation Δθe is always used to calculate the control rotation angle θc of the rotor. As in the case where Kd=1 and Ke=0, the response frequency from the estimated actual angle deviation Δθe to the control rotation angle θc is set between 3 times and 5 times the speed change frequency (for example, 175 Hz or more), so that the control rotation angle θc can follow the speed change and is not easily affected by the noise component included in the current detection value.

[0141] As a result, even when only the estimated actual angle deviation Δθe is used to calculate the control rotation angle θc of the rotor, the torque variation can be reduced, and the rotating electric machine 1 can be made quieter. In other words, the generation of vibration or noise of the rotating electric machine 1 can be suppressed. In addition, the output of the sequential salient pole motor can be maximized on the basis of appropriately reducing the pulsation error in the rotation sensor 2.

[0142] Implementation method 2. A rotating electrical machine control device 10 according to Embodiment 2 will be described with reference to the drawings. In the second embodiment, the same reference numerals are given to the same components as those in the first embodiment, and the description thereof will be omitted or simplified. The basic structure of the electric power steering device of Embodiment 2 is the same as the basic structure of the electric power steering device 100 of Embodiment 1. Embodiment 2 is different from Embodiment 1 in that the control rotation angle θc in the control device 10 has an upper limit value and a lower limit value.

[0143] Fig. 9 2 is a block diagram showing the control angle calculation unit 32 . In the present embodiment, the control angle calculation unit 32 calculates the upper limit value θcmax and the lower limit value θcmin of the control rotation angle based on the detection value θd of the rotation angle. When the control rotation angle θc deviates from the range from the upper limit value θcmax to the lower limit value θcmin, the control angle calculation unit 32 corrects the control rotation angle θc based on the detection value θd of the rotation angle.

[0144] For example, as shown in the following equation, the control angle calculation unit 32 adds or subtracts a preset limit angle width Δθlmt from the detected value θd of the rotation angle, thereby calculating an upper limit value θcmax and a lower limit value θcmin.

[0145] For example, the limited angle width Δθlmt is set within 90 degrees in electrical angle.

[0146] θcmax=θd+Δθlmt θcmin=θd-Δθlmt···(2-1)

[0147] Furthermore, as shown in the following equation, the control angle calculation unit 32 limits the upper limit value and the lower limit value of the control rotation angle θc by the upper limit value θcmax and the lower limit value θcmin.

[0148] (Case 1) When θc>θcmax, θc=θcmax···(2-2). (Case 2) When θc<θcmin, θc=θcmin···(2-3). (Case 3) When θcmin≤θc≤θcmax, θc=θc···(2-4).

[0149] As described above, the control rotation angle θc is limited by using the upper limit value θcmax and the lower limit value θcmin set based on the detected value θd of the rotation angle. Thus, even when an abnormality occurs in the calculated value of the control rotation angle θc, the control rotation angle θc can be maintained within an appropriate range, thereby preventing the performance of the rotating electrical machine from being significantly deteriorated. In addition, this embodiment can also be used when the rotation sensors are multiplexed.

[0150] For example, in the case of using a dual-system rotation sensor such as a dual-system resolver or a dual-system MR sensor, the rotation angle detected by one normal-system rotation sensor may be used as the detection value θd of the rotation angle.

[0151] Implementation method 3. A rotating electrical machine control device 10 according to a third embodiment will be described with reference to the drawings. In Embodiment 3, the same components as those in the above-mentioned embodiments are denoted by the same reference numerals, and the description thereof will be omitted or simplified. The basic structure of the electric power steering device of Embodiment 3 is the same as the basic structure of the electric power steering device 100 of Embodiment 1. Embodiment 3 is different from Embodiment 1 in that the rotation detection unit includes a rotation sensor output signal correction unit and an arctangent function calculation unit.

[0152] Fig.10 This is a block diagram showing a rotation sensor 2A and a rotation detection unit 31A according to the third embodiment. The rotation sensor 2A is a rotation sensor that outputs a SIN signal and a COS signal to the rotation detection unit 31A. The above-mentioned rotation sensor is, for example, a resolver, an MR sensor, or the like.

[0153] The rotation detection unit 31A includes a rotation sensor output signal correction unit 40 and an inverse tangent function calculation unit 41. The rotation sensor output signal correction unit 40 corrects the SIN signal and the COS signal which are output signals output from the rotation sensor 2A. The rotation sensor output signal correction unit 40 outputs the corrected SIN signal and the corrected COS signal to the inverse tangent function calculation unit 41. The inverse tangent function calculation unit 41 calculates the rotation angle by calculating the corrected SIN signal and the corrected COS signal. Thus, the rotation detection unit 31A calculates the rotation angle while suppressing the AC error component of the rotation angle.

[0154] The error of the AC component included in the rotation angle is the torque ripple error. The torque ripple error is the main cause of vibration and noise generated from the rotating motor. In particular, when there is an error in the rotation angle when d-axis current is supplied by flux weakening control or the like, a q-axis current error occurs because the d-axis of the control rotation angle has a q-axis component of the rotary electric machine.

[0155] Therefore, the error of the AC component included in the rotation angle is the error of the AC component of the q-axis current, thereby generating vibration or noise of the rotating electric machine. Therefore, in order to suppress the vibration or noise of the rotating electric machine, it is important to suppress the error of the AC component included in the rotation angle.

[0156] Next, refer to Figures 11A to 15B , the operation of the rotation detection unit 31A will be described. Figures 11A to 15B The horizontal axis of each represents the passage of time. Fig.11A The vertical axis represents the SIN signal and the COS signal output from the rotation sensor 2A. Fig. 11B The vertical axis represents the rotation angle of the SIN signal and COS signal calculated under ideal conditions. Fig. 12A The vertical axis shows the shift of the COS signal relative to the SIN signal output from the rotation sensor 2A. Fig. 12B The vertical axis represents the operation Fig. 12A The rotation angle obtained after the SIN signal and COS signal are shown in FIG. Fig.13A The vertical axis shows the state where the harmonic components of the SIN signal output from the rotation sensor 2A are superimposed on the harmonic components of the COS signal. Fig. 13B The vertical axis represents the operation Fig.13A The rotation angle obtained after the SIN signal and COS signal are shown in FIG. Fig.14A The vertical axis of shows a case where there is a difference between the amplitudes of the harmonic components of the SIN signal output from the rotation sensor 2A and the fundamental wave component in the COS signal. Fig. 14B The vertical axis represents the operation Fig.14A The rotation angle obtained after the SIN signal and COS signal are shown in FIG. Fig.15A The vertical axis shows a case where the phase difference between the harmonic component of the SIN signal output from the rotation sensor 2A and the fundamental wave component in the COS signal deviates from 90 degrees. Fig. 15B The vertical axis represents the operation Fig.15A The rotation angle obtained after the SIN signal and COS signal are shown in FIG.

[0157] In addition to Fig.11A and Fig. 11B In all cases except the ideal case where the SIN and COS signals are shown, i.e. Fig. 12B , Fig. 13B , Fig. 14B and Fig. 15B In the case shown, the rotation angle contains periodically generated errors. This error can be the cause of torque ripple errors.

[0158] Hereinafter, the processing of the rotation sensor output signal correction unit 40 for suppressing the above-mentioned error will be described. In this embodiment, the case where the rotation sensor output signal correction unit 40 performs all of the following four operations will be described.

[0159] <First Operation> The rotation sensor output signal correction unit 40 calculates the offset value of the SIN signal and the COS signal and subtracts the offset value from the SIN signal and the COS signal. The offset value may be calculated using a low-pass filter having a cutoff frequency sufficiently lower than the fundamental wave component of the SIN signal and the fundamental wave component of the COS signal, by Fourier series expansion, or by other known methods.

[0160] <Second Operation> Next, the harmonic components of the SIN signal and the COS signal are calculated. The harmonic components of the SIN signal are subtracted from the SIN signal. The harmonic components of the COS signal are subtracted from the COS signal. Thus, the harmonic components are eliminated. Regarding the calculation of the harmonic components, it can be calculated by Fourier series expansion or by other known methods. In addition, a low-pass filter can be used to eliminate the harmonic components. In this case, the low-pass filter has a cutoff frequency that is sufficiently higher than the frequency of the fundamental component of the SIN signal and the frequency of the fundamental component of the COS signal and lower than the harmonic component.

[0161] <Third Operation> Next, the amplitudes of the fundamental components of the SIN signal and the COS signal are calculated. Correction is performed so that the fundamental components of the SIN signal and the COS signal have the same amplitude. The calculation of the amplitude of the fundamental component can be performed by Fourier series expansion or by other known methods. Regarding the correction, the correction can be performed by calculating the amplitude ratio of the fundamental components of the SIN signal and the COS signal and multiplying the gain corresponding to the amplitude ratio by one of the SIN signal and the COS signal.

[0162] <Fourth Operation> Then, correction is performed by calculating the phase difference of the fundamental wave component of the SIN signal and the COS signal so that the phase difference is 90 degrees. The phase difference calculation can be calculated by Fourier series expansion or by other known methods. The correction can be made by delaying one of the SIN signal and the COS signal according to the frequency of the fundamental wave component so that the phase difference becomes 90 degrees or by other known methods. Through the above operations, the corrected SIN signal and the corrected COS signal are calculated.

[0163] The rotation sensor output signal correction unit 40 may perform the above four operations, but the rotation sensor output signal correction unit 40 may not perform all four operations. It is sufficient to perform at least one of the four operations. In addition, when two or three operations selected from four operations are performed, the order in which the operations are performed is not limited. For example, in the case where only the first operation and the second operation are performed, the first operation may be performed after the second operation. In addition, in the case where only the first operation, the second operation, and the fourth operation are performed, the first operation may be performed after the fourth operation, and the second operation may be performed after the first operation.

[0164] Next, the corrected SIN signal and the corrected COS signal output from the rotation sensor output signal corrector 40 are input to the inverse tangent function operator 41. The inverse tangent function operator 41 uses the inverse tangent function to operate the corrected SIN signal and the corrected COS signal. Fig. 11B That is, the arc tangent function operation unit 41 detects the rotation angle based on the corrected SIN signal and the corrected COS signal.

[0165] The rotation angle obtained by calculation by the rotation detection unit 31A of this embodiment is used to calculate the control rotation angle by the control method described in Embodiments 1 and 2. This can suppress the AC error of the rotation angle and the torque ripple error.

[0166] <Variation 1> Furthermore, even if the rotation angle calculated by the present embodiment is directly used as the control rotation angle, the effect of sufficiently suppressing the torque ripple error can be obtained.

[0167] <Variation 2> The rotation detection unit 31A can calculate the inverse tangent function of the SIN signal and the COS signal as the output signal output from the rotation sensor 2A, perform correction based on the harmonic component of the inverse tangent function, and detect the rotation angle. In this case, the effect of fully suppressing the torque ripple error can also be obtained.

[0168] As described above, the SIN signal and the COS signal as the output signal output from the rotation sensor 2A are corrected by the rotation sensor output signal correction unit 40 of this embodiment, and the rotation angle is calculated by the inverse tangent function operation unit 41, so that the output of the sequential salient pole motor can be maximized on the basis of appropriately reducing the pulsation error in the rotation sensor.

[0169] Implementation method 4. A rotating electrical machine control device 10 according to a fourth embodiment will be described with reference to the drawings. In the fourth embodiment, the same reference numerals are given to the same components as those in the above-mentioned embodiments, and the description thereof will be omitted or simplified. The basic structure of the electric power steering device of Embodiment 4 is the same as the basic structure of the electric power steering device 100 of Embodiment 1. Embodiment 4 is different from Embodiment 1 in that the rotation detection unit includes an angle calculation unit and a rotation angle signal correction unit.

[0170] Fig.16 This is a block diagram showing a rotation sensor 2B and a rotation detection unit 31B according to the fourth embodiment. Similar to the first embodiment, the rotation sensor 2B is, for example, a resolver, an encoder, an MR sensor, or the like.

[0171] The rotation detection unit 31B includes an angle calculation unit 50 and a rotation angle signal correction unit 51. The angle calculation unit 50 outputs the output signal output from the rotation sensor 2B to the angle calculation unit 50. The angle calculation unit 50 outputs the uncorrected rotation angle θmd of the rotor to the rotation angle signal correction unit 51. The rotation angle signal correction unit 51 calculates the rotation angle θd of the rotor by correcting the rotation angle θmd. Thus, the rotation angle signal correction unit 51 calculates the rotation angle θd of the rotor in which the AC error component is suppressed.

[0172] The error of the AC component included in the rotation angle is the error of the AC component of the torque, that is, the torque ripple error. The torque ripple error is the main cause of vibration or noise generated from the rotating electric machine. In particular, when there is an error in the rotation angle when d-axis current is supplied by flux weakening control or the like, a q-axis current error occurs because the d-axis of the control rotation angle has a q-axis component of the rotary electric machine.

[0173] Therefore, the error of the AC component included in the rotation angle is an error of the AC component of the q-axis current, thereby generating vibration or noise of the rotating electric machine. Therefore, in order to suppress the vibration or noise of the rotating electric machine, it is important to suppress the error of the AC component included in the rotation angle. Therefore, in order to suppress the vibration or noise of the rotating electric machine, it is important to suppress the error of the AC component included in the rotation angle.

[0174] Next, refer to Figures 17A to 18B , the operation of the rotation detection unit 31B is described. Figures 17A to 18B The horizontal axis of each represents the passage of time. Fig.17A The vertical axis represents the rotation angle of the output signal. Fig.17A The solid line represents the rotation angle of the rotor under ideal conditions. Fig.17A The dotted line represents the uncorrected rotor rotation angle θmd. Fig. 17B The vertical axis of represents the angle error obtained by subtracting the uncorrected rotation angle θmd from the rotation angle in the ideal state. Fig.18A The vertical axis of θ represents the rotation angle θd after the processing by the rotation angle signal correction unit 51 is performed. Fig.18B The vertical axis of shows a state in which the angle error becomes zero by performing the processing of the rotation angle signal correction unit 51 .

[0175] like Fig. 17B As shown in the figure, the angle error is generated with periodic changes. This periodic angle error may be the cause of the torque ripple error.

[0176] The following describes the processing of the rotation angle signal correction unit 51 for suppressing the above-mentioned error. As the processing of the rotation angle signal correction unit 51, for example, the following two processing methods can be mentioned.

[0177] <Processing method 1> The rotation angle signal correction unit 51 stores the angle error between the ideal angle and the uncorrected rotation angle θmd of the rotor in advance by mapping, etc. Such an ideal angle and the uncorrected rotation angle θmd are stored in the storage device 91. In addition, such an ideal angle and the uncorrected rotation angle θmd can be stored by other known methods.

[0178] Then, referring to a map holding an angle error corresponding to the uncorrected rotation angle θmd of the rotor that is actually input, the angle error is added to the uncorrected rotation angle θmd of the rotor and correction is performed. The operation may be performed by other known methods.

[0179] <Processing method 2> The rotation angle signal correction unit 51 pre-calculates the angle error between the ideal angle and the uncorrected rotation angle θmd of the rotor by Fourier series expansion. Alternatively, the rotation angle signal correction unit 51 may perform the calculation by other known methods. Thus, the rotation angle signal correction unit 51 extracts the angle error in each order component. In addition, the rotation angle signal correction unit 51 corrects the uncorrected rotation angle θmd of the rotor so that each order component of the rotation angle θmd becomes 0.

[0180] By executing the above processing method by the rotation angle signal correction unit 51, the following can be obtained: Fig.18A and Fig.18B The rotation angle θd of the rotor is shown.

[0181] The control rotation angle is calculated by the control angle calculation unit 32 described in Embodiment 1 using the rotation angle obtained by the calculation of the rotation detection unit 31B in this embodiment. This can suppress the AC error of the rotation angle and the torque ripple error. Furthermore, even if the rotation angle calculated by the present embodiment is directly used as the control rotation angle, the effect of sufficiently suppressing the torque ripple error can be obtained.

[0182] As described above, the rotation angle signal correction unit 51 of this embodiment corrects the rotation angle of the output signal output from the rotation sensor 2B and calculates the corrected rotation angle, thereby maximizing the output of the sequential salient pole motor while appropriately reducing the pulsation error in the rotation sensor.

[0183] Implementation method 5. A rotating electrical machine control device 10 according to a fifth embodiment will be described with reference to the drawings. In the fifth embodiment, the same reference numerals are given to the same components as those in the above-mentioned embodiments, and the description thereof will be omitted or simplified. The basic structure of the electric power steering device of the fifth embodiment is the same as the basic structure of the electric power steering device 100 of the first embodiment. The fifth embodiment is different from the first embodiment in the rotating electric machine 1 .

[0184] Fig.19 1 is a cross-sectional view showing a rotating electrical machine controlled by the rotating electrical machine control device according to Embodiment 5, and is a view viewed along the axial direction. Fig.19 A cross section parallel to a direction perpendicular to the axial direction is shown. In the description of Embodiment 5, directions are defined as follows. The term "axial direction" is a direction along the axis of the rotor constituting the rotating electrical machine 1. In other words, the axial direction is a direction in which the shaft constituting the rotor extends. The terms “circumferential direction” and “radial direction” respectively correspond to “circumferential direction” and “radial direction” in a stator or a rotor constituting a permanent magnet synchronous motor. The term "circumferential direction" corresponds to the rotation direction of the rotor. In other words, in a cross-sectional view viewed along the axial direction, the circumferential direction centered on the rotation axis of the rotor is the circumferential direction. The term "radial" refers to the radial direction of the rotor. For example, the term "radially outer" refers to the direction from the center of the rotor toward the outer periphery in the radial direction. The term "radially inner" refers to the direction from the outer periphery of the rotor toward the center in the radial direction.

[0185] like Fig.19 As shown, the rotating electric machine 1 is a permanent magnet synchronous motor and includes a stator 510 and a rotor 520 rotatably disposed relative to the stator 510 .

[0186] <Stator 510> The stator 510 is configured to surround the outer circumference of the rotor 520 via a gap called a magnetic gap. The stator 510 includes a stator core 511 and a coil 514. The stator core 511 includes a core back 512 formed in a circular ring shape in the circumferential direction and a plurality of teeth 513 protruding radially inward from the core back 512. The coil 514 is formed by winding a winding around each of the plurality of teeth 513. The winding constituting the coil 514 is equivalent to the above-mentioned windings Cu, Cv, and Cw. Fig.19 In the example shown, a coil 514 is provided on one tooth 513 .

[0187] exist Fig.19 In the illustrated structure, the number of teeth 513 is 12. The number of teeth 513 is not limited to 12, but is appropriately determined according to the design of the permanent magnet synchronous motor. In the fifth embodiment, the core back 512 is formed by connecting a plurality of core blocks each formed in an arc shape into a ring shape. The structure of the core back 512 is not limited to Fig.19 The structure shown. The core back 512 can be formed by integrally forming a plurality of core blocks. In addition, the core back 512 and the teeth 513 can be separated.

[0188] <Rotor 520> The rotor 520 includes a rotor core 521 , a shaft 523 , and a plurality of permanent magnets 522 . The rotor core 521 is made of a magnetic body. The rotor core 521 is formed, for example, by stacking a plurality of electromagnetic steel plates in the axial direction. For example, the electromagnetic steel plates may also be referred to as core plates. The shaft 523 is fixed to the rotor core 521 so as to penetrate the rotor core 521 in the axial direction. Such a rotor 520 is arranged inside the rotating electrical machine 1 so as to be freely rotatable relative to the stator 510.

[0189] The rotor core 521 has a protrusion 524 protruding in the radial direction. The protrusion 524 is formed to protrude to the radial outer side toward the stator 510. The protrusion 524 is provided on the outer peripheral surface of the rotor core 521 provided with the permanent magnet 522. The number of the protrusion 524 corresponds to the number of the plurality of permanent magnets 522, which is eight. The number of the protrusion 524 may be one or more.

[0190] <Permanent magnet 522> A plurality of permanent magnets 522 are arranged on the outer peripheral surface of the rotor core 521 along the circumferential direction. The rotating electric machine 1 including such a plurality of permanent magnets 522 is an example of a surface magnet type motor (SPM). Each of the plurality of permanent magnets 522 has a stator opposing surface 527 and a recess 525. The stator opposing surface 527 is formed in an arc shape. The stator opposing surface 527 is a surface opposing the tooth 513 across the gap 515. In other words, the stator opposing surface 527 is opposite to the inner side surface of the stator 510. The recess 525 is engaged with the protrusion 524 of the rotor core 521.

[0191] The plurality of permanent magnets 522 are arranged along the circumferential direction of the rotor 520. In the circumferential direction, the polarities of the stator facing surfaces 527 of two permanent magnets 522 adjacent to each other among the plurality of permanent magnets 522 are different from each other. For example, when the polarity of the stator facing surface 527 of one of the two permanent magnets 522 adjacent to each other in the circumferential direction is an N pole, the plurality of permanent magnets 522 are arranged in a state where the magnetization directions are different so that the other stator facing surface 527 is an S pole.

[0192] exist Fig.19 In the rotating electrical machine 1 shown, the number of teeth 513 is 12, the number of coils 514 is 12, and the number of permanent magnets is 8. Fig.19 The so-called 8-pole 12-slot permanent magnet synchronous motor is shown. The combination of the number of permanent magnets 522, teeth 513, and coils 514 is not limited to this. Fig.19 In the example shown, the number of teeth 513 and the number of coils 514 are the same, but the number of teeth 513 and the number of coils 514 may be different.

[0193] The above constitutes Fig.19 The rotating electrical machine 1 of the permanent magnet synchronous motor shown can increase Fig.19 The inductance Ld in the d-axis direction shown can effectively implement flux weakening control.

[0194] By controlling the driving of the rotating electrical machine 1 according to the fifth embodiment by the rotating electrical machine control device 10 according to the first to fourth embodiments, it is possible to achieve an effect of achieving high output while reducing vibration and noise generated by the rotating electrical machine 1 .

[0195] Implementation method 6. A rotating electrical machine control device 10 according to a sixth embodiment will be described with reference to the drawings. In the sixth embodiment, the same reference numerals are given to the same components as those in the above embodiments, and the description thereof will be omitted or simplified. The basic structure of the electric power steering device of Embodiment 6 is the same as the basic structure of the electric power steering device 100 of Embodiment 1. Embodiment 6 is different from Embodiment 1 in that the electric power steering device includes a DC-DC converter.

[0196] Fig. 20 1 is a schematic structural diagram showing the overall structure of an electric power steering device including a rotating electrical machine control device according to a sixth embodiment. Fig.21 This is a diagram for explaining the circuit configuration of a DC-DC converter according to a sixth embodiment.

[0197] like Fig. 20 and Fig.21 As shown, the electric power steering device includes a DC-DC converter 601. The DC-DC converter 601 is configured to boost the voltage of the DC power source 3. The DC-DC converter 601 is an example of a booster. The control device 10 applies an AC voltage to the rotary electric machine 1 based on the output DC voltage stepped up by the DC-DC converter 601. The switch control unit 35 drives the plurality of switching elements to turn on and off based on the voltage command value and the output DC voltage.

[0198] In addition, the DC-DC converter 601 includes a bridge inverter 604. The bridge inverter 604 is an example of a booster. The bridge inverter 604 includes bridge switching elements Sa, Sb, Sc, and Sd. The switching elements Sa and Sc constitute an upper bridge arm. The switching elements Sb and Sd constitute a lower bridge arm. The switching elements Sa and Sb are connected in series. The switching elements Sc and Sd are connected in series. The bridge inverter 604 includes a plurality of branches, and the plurality of branches have a series connection structure formed by connecting the switching elements in series. The plurality of branches are connected in parallel to each other. Specifically, the switching elements Sa and Sb constitute one branch. The switching elements Sc and Sd constitute one branch. In Fig.21 In the example shown, the DC-DC converter 601 includes two branches. In other words, the bridge inverter 604 includes a plurality of branches having a structure in which a plurality of switching elements constituting an upper bridge arm and a lower bridge arm are connected in series.

[0199] The positive terminal of the DC power supply 3 is connected to one end of the input capacitor 602 and one end of the integrated magnetic component 603. The other end of the integrated magnetic component 603 is connected to the AC end of the bridge inverter 604 composed of switching elements Sa to Sd. The load 606 and one end of the link capacitor 605 are connected to the DC end of the bridge inverter 604. The negative terminal of the DC power supply 3 is connected to the input capacitor 602, the other end of the link capacitor 605, the negative electrode of the DC end of the bridge inverter 604, and the negative electrode of the load 606.

[0200] The control circuit 609 is connected to the voltage sensors 607 and 608. The output voltage information 609a output from the voltage sensor 607 is input to the control circuit 609. The output voltage information 609b output from the voltage sensor 608 is input to the control circuit 609. The control circuit 609 generates a drive signal 609c based on the output voltage information 609a and 609b. The control circuit 609 drives the switching elements Sa to Sd constituting the bridge inverter 604 by the drive signal 609c. The control circuit 609 controls the driving of the switching elements Sa to Sd based on the target output voltage set in the control circuit 609 and the output voltage information 609a and 609b so that the output voltage information 609a and 609b are equal to the target output voltage.

[0201] exist Fig. 20 and Fig.21 In the example shown, the control device 10 and the control circuit 609 are separated. The control circuit 609 may be configured as a part of the control device 10. In this configuration, the above-mentioned operation performed in the control circuit 609 is performed in the control device 10. The control circuit 609 generates a drive signal 609c and controls the driving of the switching elements Sa to Sd. In addition, the dead time is set so that the upper bridge arm and the lower bridge arm of the switching elements Sa to Sd are not short-circuited, and the switching elements are driven on and off in a complementary manner.

[0202] Here, the relationship of equation (6-1) holds true for the voltage and current of the integrated magnetic component 603. In addition, in equation (6-1), the winding resistance is neglected.

[0203] [Formula 4]

[0204] Vdc, V1, and V2 shown in formula (6-1) correspond to Fig.21 Vdc, V1, and V2 are shown. Specifically, Vdc represents the voltage of the DC power supply 3. V1 represents the voltage at the terminal between the switching elements Sa and Sb. V2 represents the voltage at the terminal between the switching elements Sc and Sd. M shown in formula (6-1) is the mutual inductance between one coil A and another coil B constituting the integrated magnetic component 603. L shown in formula (6-1) represents the self-inductance L of the integrated magnetic component 603. If equation (6-1) is changed to the differential form of currents i1 and i2, the following equation can be obtained.

[0205] [Formula 5]

[0206] According to formula (6-2), the differentials of currents i1 and i2 are as follows.

[0207] di1 / dt=(L·(Vdc-V1)+M·(Vdc-V2)) / (L·LM·M)···Formula (6-3) di2 / dt=(L·(Vdc-V2)+M·(Vdc-V1)) / (L·LM·M)···Formula (6-4)

[0208] Here, when the switching element Sa is turned on, V1 is equal to Vdc2, and when the switching element Sb is turned on, V1 is equal to 0. When the switch element Sc is turned on, V2 is equal to Vdc2, and when the switch element Sd is turned on, V2 is equal to 0.

[0209] There are four on-off drive modes of the switching elements Sa to Sd, which is the square of 2. Therefore, four types are considered based on equations (6-3) and (6-4). In the following description, “ON” and “OFF” of reference numerals Sa, Sb, Sc, and Sd correspond to “ON” and “OFF” in the on-off driving of the switching elements Sa to Sd, respectively.

[0210] <Mode (1): Sa = conducting and Sc = conducting> We get V1 = Vdc2 and V2 = Vdc2. Therefore, from the above equations (6-3) and (6-4), we obtain the following equations (6-5) and (6-6).

[0211] di1 / dt = (L·(Vdc - Vdc2) + M·(Vdc - Vdc2)) / (L·L - M·M) di1 / dt = (L + M)·(Vdc - Vdc2) / (L·L - M·M) ··· Equation (6-5)

[0212] di2 / dt = (L·(Vdc - Vdc2) + M·(Vdc - Vdc2)) / (L·L - M·M) di2 / dt = (L + M)·(Vdc - Vdc2) / (L·L - M·M) ··· Equation (6-6)

[0213] In this mode, di1 / dt = di2 / dt. Additionally, if we consider Vdc < Vdc2, the sign becomes negative. That is, both currents i1 and i2 decrease.

[0214] <Mode (2): Sa = conducting and Sd = conducting> We get V1 = Vdc2 and V2 = 0. Therefore, from the above equations (6-3) and (6-4), we obtain the following equations (6-7) and (6-8).

[0215] di1 / dt = (L·(Vdc - Vdc2) + M·Vdc) / (L·L - M·M) di1 / dt = ((L + M)·Vdc - L·Vdc2) / (L·L - M·M) ··· Equation (6-7)

[0216] di2 / dt = (L·Vdc + M·(Vdc - Vdc2)) / (L·L - M·M) di2 / dt = ((L + M)·Vdc - M·Vdc2) / (L·L - M·M) ··· Equation (6-8)

[0217] If we add the above equations, we get the following equation.

[0218] di1 / dt + di2 / dt = (2(L + M)·Vdc - (L + M)·Vdc2) / (L·L - M·M) ··· Equation (6-9)

[0219] Here, when Vdc=0.5Vdc2, equation (6-9) is 0, L>M, so di1 / dt<0 and di2 / dt>0.

[0220] <Mode (3): Sb = On, and Sc = On> V1 = 0, V2 = Vdc. Therefore, the following equations (6-10) and (6-11) are obtained from the above equations (6-3) and (6-4).

[0221] di1 / dt=(L·Vdc+M·(Vdc-Vdc2)) / (L·LM·M) di1 / dt=((L+M)·Vdc-M·Vdc2) / (L·LM·M) ···Formula (6-10)

[0222] di2 / dt=(L·(Vdc-Vdc2)+M·Vdc) / (L·LM·M) di2 / dt=((L+M)·Vdc-L·Vdc2) / (L·LM·M) ···Formula (6-11) If the above equations are added together, the following equation is obtained.

[0223] di1 / dt+di2 / dt=(2(L+M)·Vdc-(L+M)·Vdc2) / (L·LM·M) ···Formula (6-12)

[0224] Here, as in mode (2), when Vdc=0.5Vdc2, equation (6-12) is 0, L>M, and therefore di1 / dt>0 and di2 / dt<0.

[0225] <Mode (4): Sb = On, and Sd = On> We obtain V1 = 0, V2 = 0. Therefore, the following equations (6-13) and (6-14) are obtained from the above equations (6-3) and (6-4).

[0226] di1 / dt=(L·Vdc+M·Vdc) / (L·LM·M) di1 / dt=(L+M)·Vdc / (L·LM·M) ···Formula (6-13)

[0227] di2 / dt=(L·Vdc+M·Vdc) / (L·LM·M) di2 / dt=(L+M)·Vdc / (L·LM·M) ···Formula (6-14)

[0228] In this mode, di1 / dt = di2 / dt. In addition, if Vdc < Vdc2 is considered, the sign becomes positive. That is, both the currents i1 and i2 increase.

[0229] It is only necessary to combine the above-mentioned modes (1) to (4) to generate a desired Vdc2. Here, however, modes (2) and (3) are each used at 50%, thereby reducing the absolute values of di1 / dt and di2 / dt and reducing the current flowing into the input capacitor Cin due to current fluctuations.

[0230] Fig. 22 FIG. is a diagram for explaining the switching drive of the DC-DC converter according to Embodiment 6. In Fig. 22 the example shown, the case where mode (2) is used at 50% and mode (3) is used at 50% will be described. In Fig. 22 Ca denotes a carrier wave.

[0231] In Fig. 22 if d (= 0.5) > ca, then Sa = ON and Sc = OFF. On the contrary, if d (0.5) < ca, then Sa = OFF and Sc = ON. In addition, since the switching elements Sb and Sd perform switching complementary to each of the switching elements Sa and Sc, the description thereof is omitted.

[0232] Thus, by driving the switching elements of each branch, that is, the switching elements of the DC circuit, with a 180-degree stagger, modes (2) and (3) are each generated at 50% within the period Tc. As a result, current fluctuations and the input capacitor current can be minimized. This is called interleaved drive.

[0233] As described above, in the structure in which the output from the DC power supply 3 is supplied to the DC-DC converter 601 as in Embodiment 6, higher output of the rotating electric machine 1 can be achieved as compared with Embodiments 1 to 5.

[0234] In addition, by performing interleaved drive, current fluctuations and the input capacitor current can be minimized. This can suppress an increase in the volume of passive components due to the inclusion of the DC-DC converter 601.

[0235] <Modification Example> Fig.23 FIG. is a circuit diagram showing a part of the DC-DC converter according to the modification example of Embodiment 6. In Fig.23 the overall structure of the DC-DC converter 601 is omitted, and the switching elements Sc and Sd are shown. Hereinafter, only the differences from Fig. 20 will be described.

[0236] A structure in which the switching elements constituting the upper bridge arm and the lower bridge arm are connected in series may be referred to as a branch. As Fig.23 As shown, a resistor and a capacitor may be provided in parallel for each of the plurality of branches. In other words, a buffer circuit 650 formed by connecting a resistor R and a capacitor C in series may be connected in parallel with the branches.

[0237] In addition, the buffer circuit 650 may adopt a connection structure using two diodes D1 and D2. The diode D1 constituting the buffer circuit 650 is an example of a first diode. The diode D2 constituting the buffer circuit 650 is an example of a second diode. The diode D1 has an anode D1A connected to a drain-side terminal of a switching element constituting an upper arm, and a cathode D1C connected to an intermediate point M2 between the resistor R and the capacitor C. The diode D2 has an anode D2A connected to a midpoint M1 between the upper bridge arm and the lower bridge arm, and a cathode D2C connected to a midpoint M2 between the resistor R and the capacitor C. In other words, the anode D2A of the diode D2 is connected to the drain side terminal of the switching element constituting the lower bridge arm, and is connected to the source side terminal of the switching element constituting the upper bridge arm. The above circuit structure is also applicable to the case where the switching element is a MOSFET (Metal-Oxide-Semiconductor or Field-Effect Transistor). The above circuit structure is also applicable to the case where the switching element is a bipolar power transistor. In this case, the drain is the collector, the source is the emitter, and the gate is the base. In addition, the above circuit structure is also applicable to the case where the switching element is an IGBT (Insulated Gate Bipolar Transistor). In this case, the drain is renamed as the collector and the source is renamed as the emitter. Thus, the cathode D1C of the diode D1 and the cathode D2C of the diode D2 are connected to the middle point M2 between the resistor R and the capacitor C. According to this structure, surge can be suppressed more effectively.

[0238] As described above, the DC-DC converter 601 includes the buffer circuit 650, so that the surge caused by the wiring inductance between the DC-DC converter 601 and the power converter 4 can be suppressed. In addition, the EMI countermeasure noise can be reduced, and the cost of the entire device can be reduced. In addition, the buffer circuit 650 is also effective when applied to the power converter 4.

[0239] In the above embodiment, the driving force source of various devices other than the electric power steering device 100 can be used as the driving force source of the rotating electric machine 1. For example, the driving force source of the wheels can be used as the rotating electric machine 1. In addition, a multi-phase (for example, two-phase, four-phase) winding other than three-phase can be provided on the stator.

[0240] Furthermore, a plurality of groups (for example, two groups) of three-phase windings may be provided on the stator, and respective parts of the inverter and the control device may be provided corresponding to each group of three-phase windings.

[0241] In the above description, although various exemplary embodiments and implementations are described, the various features, methods and functions described in one or more embodiments are not limited to the application of specific embodiments. The above multiple embodiments can be applied to the implementation alone or in various combinations. Therefore, it can be considered that embodiments not shown in the examples are also included in the technical scope disclosed in the specification. For example, the present invention may include a case where at least one constituent element is modified, added, or omitted, and a case where at least one constituent element is extracted and combined with constituent elements of other embodiments. Description of symbols

[0242] 1…rotating motor, 2, 2A, 2B…rotation sensor, 3…DC power supply, 4…power converter, 5…filter capacitor, 6…current sensor, 10…control device (rotating motor control device), 21, 22, 23…amplifier, 31, 31A, 31B…rotation detection unit (control unit), 32…control angle calculation unit (control unit), 33…current detection unit (control unit), 34…voltage command value calculation unit (control unit), 35…switch control unit (control unit), 36…current command value Calculation unit, 40… Rotation sensor output signal correction unit, 41… Inverse tangent function calculation unit, 50… Angle calculation unit, 51… Rotation angle signal correction unit, 91… Storage device, 92… Input circuit, 93… Output circuit, 100… Electric power steering device, 101… Driving force transmission mechanism, 102… Steering device, 103… Wheel, 104… Steering wheel, 105… Shaft, 106… Torque sensor, 342… Current coordinate conversion unit, 343… dq axis voltage command value calculation unit, 344… Voltage Coordinate conversion unit, 361 ... d-axis current command value generation unit, 362 ... q-axis current command value generation unit, 510 ... stator, 511 ... stator core, 512 ... core back, 513 ... teeth, 514 ... coil, 515 ... gap, 520 ... rotor, 521 ... rotor core, 522 ... permanent magnet, 523 ... shaft, 524 ... protrusion, 525 ... recess, 527 ... stator opposite surface, 601 ... DC-DC converter (boost), 602 ... input capacitor, 603 ... integrated magnetic component, 60 4…bridge inverter, 605…link capacitor, 606…load, 607, 608…voltage sensor, 609…control circuit, 609a…output voltage information, 609b…output voltage information, 609c…drive signal, 650…buffer circuit, C…capacitor, D1, D2…diode, D1A, D2A…anode, D1C, D2C…cathode, M1, M2…midpoint, R, Ru, Rv, Rw…resistance, Sa, Sb, Sc, Sd, SN, SP…switching element.

Claims

1. A rotating electrical machine control device, It is characterized in that include: A rotating electric machine including a stator having a multi-phase winding and a rotor arranged radially inside the stator and having a magnet; a power converter that converts the voltage of a DC power source into an AC voltage; a current detection unit that detects a current flowing through the multi-phase winding based on an output signal output from a current sensor; a rotation sensor that outputs an output signal corresponding to a rotation angle of the rotor; a rotation calculation unit that calculates a control rotation angle of the rotor; a d-axis current command value generating unit that generates a command value of a d-axis current flowing through the rotating electric machine when the magnetic flux direction of the magnet is set as the d-axis and the direction advanced by 90 degrees from the d-axis in electrical angle is set as the q-axis; a q-axis current command value generating unit that generates a command value of a q-axis current flowing through the rotating electric machine when the magnetic flux direction of the magnet is set to the d-axis and the direction advanced by 90 degrees from the d-axis in electrical angle is set to the q-axis; a voltage command value calculation unit that calculates a voltage command value applied to the multi-phase winding based on the control rotation angle, the current, the command value of the q-axis current, and the command value of the d-axis current; as well as a switch control unit that drives on and off a plurality of switch elements included in the power converter based on the voltage command value, The d-axis inductance Ld of the rotating electrical machine has a value greater than the q-axis inductance Lq, The rotation calculation unit reduces an angle error caused by a detection error of the rotation sensor based on at least one of the output signal of the rotation sensor, the current, and the voltage command value.

2. The rotating electrical machine control device according to claim 1, It is characterized in that The rotation operation unit comprises: a rotation detecting unit that detects a rotation angle of the rotor based on an output signal output from the rotation sensor; and A control angle calculation unit calculates the control rotation angle based on at least one of the rotation angle, the current, and the voltage command value.

3. The rotating electrical machine control device according to claim 2, It is characterized in that The control angle calculation unit calculates a detection angle deviation as a deviation of the control rotation angle from the rotation angle. The control angle calculation unit calculates the detection angle deviation as a control angle deviation, The control angle calculation unit calculates the control rotation angle based on the control angle deviation.

4. The rotating electrical machine control device according to claim 2, It is characterized in that The control angle calculation unit estimates an estimated actual angle deviation as a deviation of the control rotation angle from a true value of the rotation angle of the rotor based on information of the current detection value and information of the voltage command value, and calculates the estimated actual angle deviation as a control angle deviation. The control angle calculation unit calculates the control rotation angle based on the control angle deviation.

5. The rotating electrical machine control device according to claim 2, It is characterized in that The control angle calculation unit calculates a detection angle deviation as a deviation of the control rotation angle from the rotation angle. The control angle calculation unit estimates an estimated actual angle deviation as a deviation of the control rotation angle from a true value of the rotation angle of the rotor based on information on the current detection value and information on the voltage command value, and calculates a value obtained by internally dividing the estimated actual angle deviation and the detection angle deviation as a control angle deviation. When a speed ratio physical quantity, which is a physical quantity proportional to the rotational angular velocity of the rotor, is higher than a preset speed threshold, the control angle calculation unit makes the ratio of the estimated actual angle deviation in the control angle deviation higher than the ratio of the detected angle deviation. When the speed ratio physical quantity is lower than the speed threshold value, the control angle calculation unit makes the ratio of the estimated actual angle deviation in the control angle deviation lower than the ratio of the detected angle deviation.

6. The rotating electrical machine control device according to claim 5, It is characterized in that The control angle calculation unit continuously increases the ratio of the estimated actual angle deviation and continuously decreases the ratio of the detected angle deviation as the speed proportional physical quantity increases within a preset range of the speed proportional physical quantity including the speed threshold value.

7. The rotating electrical machine control device according to claim 5, It is characterized in that The control angle calculation unit continuously increases the ratio of the estimated actual angle deviation from 0 to 1 and continuously decreases the ratio of the detected angle deviation from 1 to 0 as the speed proportional physical quantity increases within the preset range of the speed proportional physical quantity including the speed threshold value, When the speed proportional physical quantity is lower than the speed proportional physical quantity range, the control angle calculation unit sets the ratio of the estimated actual angle deviation to 0 and sets the ratio of the detected angle deviation to 1, The control angle calculation unit sets the ratio of the estimated actual angle deviation to 1 and sets the ratio of the detected angle deviation to 0 when the speed proportional physical quantity is higher than the range of the speed proportional physical quantity.

8. The rotating electrical machine control device according to any one of claims 5 to 7, It is characterized in that The speed threshold is set corresponding to the speed proportional physical quantity of the boundary between the execution region of the d-axis current zero control or the maximum torque current control and the execution region of the flux weakening control.

9. The rotating electrical machine control device according to any one of claims 5 to 8, It is characterized in that The control angle calculation unit performs feedback control so that the control angle deviation approaches zero, thereby changing a control rotational angular velocity of the rotor, and integrates the control rotational angular velocity to calculate the control rotational angle.

10. The rotating electrical machine control device according to claim 9, It is characterized in that The voltage command value calculation unit converts the current detection value of the multi-phase winding into a d-axis current and a q-axis current based on the control rotation angle. The voltage command value calculation unit changes the d-axis voltage command value and the q-axis voltage command value so that the d-axis current approaches the d-axis current command value and the q-axis current approaches the q-axis current command value. The voltage command value calculation unit converts the voltage command value of the d-axis and the voltage command value of the q-axis into multi-phase voltage command values ​​based on the control rotation angle. The control angle calculation unit estimates the estimated actual angle deviation as a deviation of the control rotation angle relative to the true value of the rotation angle of the rotor based on the current detection values ​​of the d-axis and the q-axis, the voltage command value of the d-axis and the voltage command value of the q-axis, and the control rotation angular velocity.

11. The rotating electrical machine control device according to any one of claims 5 to 10, It is characterized in that The control angle calculation unit calculates an upper limit value and a lower limit value of the control rotation angle based on the detected value of the rotation angle, When the control rotation angle deviates from the range from the upper limit value to the lower limit value, the control angle calculation unit corrects the control rotation angle based on the detected value of the rotation angle.

12. The rotating electrical machine control device according to any one of claims 5 to 11, It is characterized in that A response frequency from the control angle deviation to the control rotation angle is set lower than a rotation frequency corresponding to the speed threshold.

13. The rotating electrical machine control device according to any one of claims 5 to 12, It is characterized in that A response frequency from the control angle deviation to the control rotation angle is set higher than a mechanical resonance frequency generated in a rotational angular velocity of the rotor.

14. The rotating electrical machine control device according to any one of claims 5 to 13, It is characterized in that A response frequency from the control angle deviation to the control rotation angle is set between a value three times and a value five times the mechanical resonance frequency generated at the rotational angular velocity of the rotor.

15. The rotating electrical machine control device according to any one of claims 2 to 14, It is characterized in that The rotation detection unit calculates the corrected SIN signal and the corrected COS signal by at least one of the following operations: a first operation of operating an offset value of a SIN signal and a COS signal which are output signals output from the rotation sensor; a second operation of operating the harmonic components of the SIN signal and the COS signal; a third operation of calculating an amplitude ratio between the fundamental wave components of the SIN signal and the COS signal; and a fourth operation of operating the phase difference information between the SIN signal and the COS signal, The rotation detection unit detects the rotation angle based on the corrected SIN signal and the corrected COS signal.

16. The rotating electrical machine control device according to any one of claims 2 to 14, It is characterized in that The rotation detection unit calculates an arctangent function of a SIN signal and a COS signal which are output signals output from the rotation sensor, and detects the rotation angle after performing correction of a harmonic component based on the arctangent function.

17. The rotating electrical machine control device according to any one of claims 1 to 16, It is characterized in that The rotor comprises: a rotor core composed of a magnetic body; and A plurality of permanent magnets are arranged on the outer peripheral surface of the rotor core along the circumferential direction, On the outer peripheral surface of the rotor core body on which the permanent magnet is arranged, a protrusion is provided which protrudes in the radial direction of the rotor core body. The permanent magnet has an arc-shaped stator-facing surface facing the inner side surface of the stator, and a recessed portion that fits with the protrusion.

18. The rotating electrical machine control device according to any one of claims 1 to 17, It is characterized in that The power converter includes a booster for boosting the voltage of a DC power source. The rotating electrical machine control device applies an AC voltage to the rotating electrical machine based on the output DC voltage boosted by the booster. The switch control unit drives the plurality of switch elements to be turned on and off based on the voltage command value and the output DC voltage.

19. The rotating electrical machine control device according to claim 18, It is characterized in that The booster comprises: An upper bridge arm and a lower bridge arm having the switch element; and A plurality of branches having a structure in which the switching elements are connected in series, The booster is a bridge switch element formed by connecting the plurality of branches in parallel. In the circuit operation of the switching elements, interleaved driving is performed in which the switching elements constituting each of the plurality of branches are driven with their phases shifted by 180 degrees from each other.

20. The rotating electrical machine control device according to claim 18 or 19, It is characterized in that The booster comprises: An upper bridge arm and a lower bridge arm having the switch element; A plurality of branches having a structure in which the switching elements are connected in series; and A snubber circuit consisting of a resistor and a capacitor connected in series. The multiple branches are connected in parallel with each other, The buffer circuit is connected in parallel with the plurality of branches.

21. The rotating electrical machine control device according to claim 20, It is characterized in that The buffer circuit includes a first diode and a second diode, The first diode includes an anode connected to the collector or drain terminal of the switching element constituting the upper bridge arm, and a cathode connected to an intermediate point between the resistor and the capacitor. The second diode includes an anode connected to a middle point between the upper bridge arm and the lower bridge arm, and a cathode connected to a middle point between the resistor and the capacitor.

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