Rotary electric machine control device

Abstract

The purpose of the present invention is to provide a rotating electrical machine control device capable of adjusting the switching timing of the ON / OFF of a rectangular wave voltage while preventing an increase in the amount of computation. An inverter control unit (10) of a rotating electrical machine control device (100) is provided with: a three-phase voltage command correction determination unit (12) that determines a correction method for a three-phase voltage command (P3); and a three-phase voltage command correction unit (14) that corrects the three-phase voltage command (P3) on the basis of the correction determination result (P4). A three-phase voltage command correction determination unit (12) determines a correction method on the basis of a voltage phase (P2), and a three-phase voltage command correction unit (14) performs a correction for adding or subtracting a three-phase voltage command (P3) and a three-phase voltage command correction amount (P5) when the voltage phase (P2) is determined to be a "zero voltage phase", and performs a correction for adding or subtracting the three-phase voltage command (P3) and the three-phase voltage command correction amount (P5) when the voltage phase (P2) is determined to be a "positive voltage phase" or a "negative voltage phase". The three-phase voltage command (P3) is corrected to a value such that the duty ratio (P7) of each of the three-phase voltage command (P3) is 100% or more or 0% or less.

Description

Technical Field

[0001] The present application relates to a rotating electrical machine control device. Background Art

[0002] As a method of controlling a rotating electric machine, a PWM (Pulse Width Modulation) control method is generally known. As a method of improving voltage utilization by a PWM control method, rectangular wave control that makes the output voltage rectangular is well known. In rectangular wave control, a desired three-phase voltage is applied to each phase by switching the on / off of the rectangular wave voltage. Therefore, the three-phase voltage is adjusted by adjusting the timing for switching the on / off of the rectangular wave voltage. As a method for adjusting the three-phase voltage, a method for adjusting the voltage phase of the three-phase voltage command is used. For example, Patent Document 1 discloses a method for adjusting the voltage phase of the voltage command of each phase of the three-phase voltage command in rectangular wave control by equally increasing or decreasing the amount of change in the voltage phase each time switching. Prior art literature Patent Literature

[0003] Patent Document 1: Japanese Patent Application Publication No. 2009-95144 Summary of the invention Technical problem to be solved by the invention

[0004] However, in the case of adjusting the output voltage by adjusting the voltage phase of each phase as described above, it is necessary to increase the amount of calculation per cycle to a degree corresponding to the resolution of the voltage phase adjustment amount. For example, in order to operate the voltage phase by 10°, 36 (360 / 10=36) calculations need to be performed within one electrical angle cycle (360°). If the amount of calculation per cycle increases, the processing load increases, and the performance of a computing device such as a microcomputer needs to be improved accordingly. In addition, improving the performance of the computing device may lead to the problem of increased costs.

[0005] The present application discloses a technology for solving the above-mentioned problem, and its object is to obtain a rotating electric machine control device capable of adjusting the on / off switching timing of a rectangular wave voltage while preventing an increase in the amount of calculation. Technical means for solving technical problems

[0006] The rotating motor control device disclosed in the present application controls the rotating motor by applying a rectangular wave voltage to the rotating motor, including: an inverter, which converts direct current and outputs a rectangular wave voltage; an inverter control unit, which generates a switching pattern for controlling the rectangular wave shape of the inverter; and a rotation position detection unit, which detects the rotation position of the rotating motor, and the inverter control unit includes: a two-phase to three-phase conversion unit, which converts a dq axis voltage instruction into a three-phase voltage instruction based on the rotation position, and calculates the voltage phase of the three-phase voltage instruction; a three-phase voltage instruction normalization unit, which normalizes the three-phase voltage instruction and calculates the duty cycle; a three-phase voltage instruction correction amount calculation unit, which calculates the three-phase voltage instruction correction amount; a carrier generation unit, which A generating unit generates a carrier wave having a frequency that is an odd multiple of the electrical angular frequency of the rotating electrical machine; and a switching pattern generating unit, which generates a switching pattern by comparing the duty cycle with the carrier wave, wherein in the inverter control unit, a correction method for determining the duty cycle is performed based on whether the voltage phase is a voltage phase when the three-phase voltage command is determined to be zero, i.e., a zero voltage phase; a voltage phase when the three-phase voltage command is determined to be positive, i.e., a positive voltage phase; or a voltage phase when the three-phase voltage command is determined to be negative, i.e., a negative voltage phase; when the voltage phase is determined to be a zero voltage phase, a correction is performed to shift the duty cycle in the amplitude direction based on the three-phase voltage command correction amount; when the voltage phase is determined to be a positive voltage phase, a correction is performed to set the duty cycle to be greater than 100%; and when the voltage phase is determined to be a negative voltage phase, a correction is performed to set the duty cycle to be less than 0%.

[0007] In addition, the rotating motor control device disclosed in the present application controls the rotating motor by applying a rectangular wave voltage to the rotating motor, including: an inverter that converts direct current and outputs a rectangular wave voltage; an inverter control unit that generates a switching pattern for controlling the rectangular wave shape of the inverter; and a rotation position detection unit that detects the rotation position of the rotating motor, the inverter control unit including: a two-phase to three-phase conversion unit that converts a dq axis voltage command into a three-phase voltage command based on the rotation position, and calculates the voltage phase of the three-phase voltage command; a three-phase voltage command normalization unit that normalizes the three-phase voltage command and calculates the duty cycle; a three-phase voltage command correction amount calculation unit that calculates the three-phase voltage command correction amount; a first three-phase voltage command correction unit that performs a three-phase voltage command correction based on the three-phase voltage command correction amount. A correction method for correcting the phase voltage command offset in the amplitude direction and calculating the first corrected three-phase voltage command; a carrier generating unit, which generates a carrier with a frequency that is an odd multiple of the electrical angular frequency of the rotating motor; and a switching pattern generating unit, which generates a switching pattern by comparing the duty cycle with the carrier. In the inverter control unit, a correction method for determining the duty cycle is performed according to whether the voltage phase is the voltage phase when the first corrected three-phase voltage command is determined to be zero, that is, the zero voltage phase, the voltage phase when the first corrected three-phase voltage command is determined to be positive, that is, the positive voltage phase, or the voltage phase when the first corrected three-phase voltage command is determined to be negative, that is, the negative voltage phase. When the voltage phase is determined to be the zero voltage phase, the duty cycle is not corrected. When the voltage phase is determined to be the positive voltage phase, the duty cycle is corrected to be greater than 100%. When the voltage phase is determined to be the negative voltage phase, the duty cycle is corrected to be less than 0%. Effects of the Invention

[0008] According to the rotating electrical machine control device disclosed in the present application, it is possible to adjust the switching timing of on / off of the rectangular wave voltage while preventing an increase in the amount of calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 1 is a diagram showing a configuration of a rotating electrical machine control device in the first embodiment. Figure 2 This is a diagram for explaining the dq axis voltage phase according to the first embodiment. Figure 3 This is a diagram for explaining the correction determination of the three-phase voltage command according to the first embodiment. Figure 4 : This is a diagram showing the relationship between the three-phase voltage commands and the duty ratio according to the first embodiment. Figure 51 is a diagram showing an example of correction of the three-phase voltage command according to the first embodiment, and is a diagram for explaining correction to set the duty ratio to 100% or more or 0% or less. Figure 6 1 is a diagram showing an example of correction of the three-phase voltage command according to the first embodiment, and is a diagram for explaining correction to set the duty ratio to 100% or more or 0% or less. Figure 7 1 is a diagram showing an example of correction of the three-phase voltage command according to the first embodiment, and is a diagram for explaining correction to set the duty ratio to 100% or more or 0% or less. Figure 8 1 is a diagram showing an example of the relationship between the duty ratio, the carrier wave, and the switching pattern in the first embodiment, and is a diagram when the duty ratio is calculated without correcting the three-phase voltage command. Fig. 9 1 is a diagram showing an example of the relationship among the duty ratio, the carrier wave, and the switching pattern in the first embodiment, and is a diagram in the case where the duty ratio is calculated by correcting the three-phase voltage command. Fig.10 This is a diagram showing an example of the relationship between the duty ratio, carrier wave, and switching pattern of the first embodiment, and is a diagram in which the switching timing of adjusting the on / off of the rectangular wave voltage is corrected while calculating the duty ratio by correcting the three-phase voltage command. Fig.11 1 is a diagram showing the relationship between the duty ratio, the carrier wave, and the switching pattern when the frequency of the carrier wave is set to an even multiple of the electrical angular frequency and rectangular wave control is performed. Fig.12 This is a diagram showing an example of the hardware configuration of the inverter control unit according to the first embodiment. Fig.13 This is a flowchart showing the operation of the rotating electrical machine control device in the first embodiment. Fig.14 This is a diagram for explaining an example of the case where the pre-correction duty ratio is calculated by normalizing the three-phase voltage commands before correction in the first embodiment, and then the pre-correction duty ratio is corrected. Fig.15 1 is a diagram showing an example of the relationship among the duty ratio, the carrier wave, and the switching pattern in Modification 1 of Embodiment 1. Fig.16 1 is a diagram showing a configuration of a rotating electrical machine control device in the second embodiment. Fig.17 This is a diagram for explaining the correction determination of the first corrected three-phase voltage command according to the second embodiment. Fig.181 is a diagram showing an example of the relationship between the duty ratio, the carrier wave, and the switching pattern in the second embodiment, and is a diagram when the duty ratio is calculated without correcting the first corrected three-phase voltage command. Fig.19 1 is a diagram showing an example of the relationship between the duty ratio, the carrier wave, and the switching pattern in the second embodiment, and is a diagram in the case where the duty ratio is calculated by correcting the first corrected three-phase voltage command. Fig. 20 This is a diagram for explaining an example of the case where the pre-correction duty ratio is calculated by normalizing the pre-correction three-phase voltage commands in the second embodiment, and then the pre-correction duty ratio is corrected. Fig.21 This is a diagram for explaining an example of a case where, in the second embodiment, the first corrected three-phase voltage command is normalized to calculate the first corrected duty ratio, and then the first corrected duty ratio is further corrected. DETAILED DESCRIPTION

[0010] Implementation method 1. based on Figures 1 to 14 Implementation method 1 will be described. Figure 1 1 is a block diagram showing a rotating electrical machine control device in Embodiment 1. The rotating electrical machine control device 100 controls the rotating electrical machine 900 according to the dq axis voltage command P1, and includes an inverter control unit 10; an inverter 81 which is controlled by the inverter control unit 10 and applies a three-phase AC voltage to the rotating electrical machine 900; and a power supply unit 82 which supplies a direct current DC to the inverter 81. In the circuit connecting the inverter 81 and the rotating electrical machine 900, an output current detection unit 83 for detecting a three-phase current flowing between the inverter 81 and the rotating electrical machine 900 is provided.

[0011] The inverter 81 is a power conversion unit that converts the direct current DC supplied from the power supply unit 82 into alternating current. The inverter 81 includes a plurality of switching elements (not shown) that form a series circuit in which a switching element on the positive side connected to the positive side of the power supply unit 82 as a direct current power source and a switching element on the negative side connected to the negative side of the power supply unit 82 are connected in series, corresponding to the windings of the respective phases of the rotating electrical machine 900. That is, the switching elements for the positive u-phase, v-phase, and w-phase are connected in series with the switching elements for the negative u-phase, v-phase, and w-phase, respectively, to form arms corresponding to the respective phases, and the midpoints (connection points) of the two switching elements constituting the arms of the respective phases are connected to the windings of the respective phases of the rotating electrical machine 900. Each switching element of the inverter 81 switches on / off according to the switching pattern P9, converts the direct current DC supplied from the power supply unit 82 into alternating current, and outputs three-phase alternating voltages, i.e., three-phase voltages.

[0012] As the switching element constituting the inverter 81, for example, an IGBT (insulated gate bipolar transistor) connected in reverse parallel with a diode, a bipolar transistor connected in reverse parallel with a diode, or a MOSFET (metal oxide semiconductor field effect transistor) can be used. The gate terminal of each switching element is connected to the PWM control unit 17, i.e., the switching pattern generation unit, provided in the inverter control unit 10 through a gate drive circuit or the like not shown in the figure. With this structure, each switching element is switched on / off by the PWM control unit 17 of the inverter control unit 10.

[0013] The power supply unit 82 supplies direct current DC to the inverter 81 , and sends a direct current voltage signal SD indicating a direct current voltage value Vdc of the power supply unit 82 to the three-phase voltage command correction unit 14 and the three-phase voltage command normalization unit 15 of the inverter control unit 10 .

[0014] In addition, since it is sufficient to supply direct current DC to the inverter 81, the power supply unit 82 can be switched to an external direct current power supply. In this case, a voltage detection unit is provided, which detects the direct current voltage value Vdc and sends the direct current voltage signal SD to the three-phase voltage command correction unit 14 and the three-phase voltage command normalization unit 15. The power supply unit 82 of the first embodiment has both the function of a power supply for supplying direct current DC to the inverter 81 and the function of a voltage detection unit responsible for detecting the direct current voltage value Vdc and sending the direct current voltage signal SD.

[0015] The output current detection unit 83 detects the three-phase current flowing between the inverter 81 and the rotary electric machine 900, and sends a three-phase current signal SC indicating the detection value of the three-phase current to the three-phase voltage command correction amount calculation unit 13 of the inverter control unit 10. The output current detection unit 83 may have a structure for obtaining the detection value of the three-phase current using a sensor, or may have a structure for estimating the current value of the three-phase current without using a sensor and using the result as the detection value.

[0016] The rotating motor 900 is, for example, a permanent magnet type synchronous rotating motor having a three-phase winding in a stator (not shown) and a permanent magnet in a rotor (not shown). The rotating motor 900 is driven by a three-phase AC voltage applied by an inverter 81. In addition, a rotation position detection unit 901 for detecting the rotation position of the rotating motor 900 is provided in the rotating motor 900. The rotation position detection unit 901 is, for example, a rotation angle sensor composed of a rotary transformer or an encoder, and detects the rotation angle of the rotor of the rotating motor 900 as the rotation position. The rotation position detection unit 901 sends a rotation position signal SR indicating the detected rotation position to the two-phase three-phase conversion unit 11 and the carrier generation unit 16 of the inverter control unit 10. In addition, as the rotating motor 900, an AC rotating motor other than a permanent magnet type synchronous rotating motor can be applied.

[0017] The inverter control unit 10 controls the inverter 81 based on the dq-axis voltage command, and includes: a two-phase to three-phase conversion unit 11, which calculates the voltage phase P2 and the three-phase voltage command P3 based on the dq-axis voltage command P1 and the rotation position signal SR; a three-phase voltage command correction determination unit 12, i.e., a correction determination unit, which performs correction determination of the three-phase voltage command P3 based on the voltage phase P2; a three-phase voltage command correction amount calculation unit 13, which calculates the three-phase voltage command correction amount P5 based on the current value represented by the three-phase current signal SC; a three-phase voltage command correction unit 14, which calculates the corrected three-phase voltage command P6 based on the three-phase voltage command P3, the correction determination result P4, the three-phase voltage command correction amount P5 and the DC voltage value Vdc represented by the DC voltage signal SD. In addition, the inverter control unit 10 includes: a three-phase voltage command normalization unit 15, which is used to calculate the duty cycle P7 by normalizing the corrected three-phase voltage command P6; a carrier generation unit 16, which is used to generate a carrier P8 based on the voltage phase P2 and the rotation position represented by the rotation position signal SR; and a PWM control unit 17, which is used to generate a switching pattern P9 based on the duty cycle P7 and the carrier P8. In addition, in the present application, "duty cycle" refers to the value obtained after normalizing the voltage command, especially the three-phase voltage command. In order to distinguish, the duty cycle after normalizing the corrected three-phase voltage command P6 is set to duty cycle P7, and the duty cycle after normalizing the three-phase voltage command before correction is also included in the "duty cycle".

[0018] The two-phase to three-phase conversion unit 11 receives the dq-axis voltage command P1 from an external upper controller or the like, and receives the rotation position signal SR from the rotation position detection unit 901. The two-phase to three-phase conversion unit 11 performs coordinate conversion on the dq-axis voltage command P1 based on the rotation position indicated by the rotation position signal SR, that is, the rotation position of the rotating motor 900 detected by the rotation position detection unit 901, thereby calculating the three-phase voltage command P3. In addition, the two-phase to three-phase conversion unit 11 calculates the voltage phase P2 according to the rotation position of the rotating motor 900. The two-phase to three-phase conversion unit 11 outputs the voltage phase P2 to the three-phase voltage command correction determination unit 12 and the carrier generation unit 16, and outputs the three-phase voltage command P3 to the three-phase voltage command correction determination unit 12 and the three-phase voltage command correction unit 14.

[0019] The dq axis voltage command P1 is a voltage command represented by an orthogonal two-phase coordinate system, and is calculated based on the torque command of the rotating motor 900 or the current command of the orthogonal two-phase coordinate system. In addition, in embodiment 1, the calculation of the dq axis voltage command P1 is performed by the above-mentioned external upper controller, but it can also be set as a structure in which the calculation of the dq axis voltage command P1 is performed inside the inverter control unit 10. The calculation method of the dq axis voltage command P1 is not particularly limited. As in feedforward control, the calculation can be performed based on the current command using a voltage equation, or it can be performed by feedback control using PI control (proportional integral control) based on the current flowing through the rotating motor 900.

[0020] The dq-axis voltage command P1 includes a d-axis voltage command Vd and a q-axis voltage command Vq determined by a dq-axis voltage phase θ1 on the dq plane. Figure 2 1 is a diagram for explaining the dq axis voltage phase θ1 of the first embodiment. The dq plane is a plane composed of the d axis and the q axis. The q axis has a phase difference of 90° with the d axis in electrical angle. The d axis corresponds to the magnetic pole direction of the rotor of the rotating electrical machine 900. Figure 2 As shown, the dq axis voltage command P1 is set based on the origin of the dq plane, and the dq axis voltage phase θ1 is set based on the +d direction. Thus, the d-axis voltage command Vd and the q-axis voltage command Vq of the dq axis voltage command P1 are calculated as shown in the following equations (1) and (2). Vd=Vcosθ1···(1) Vd=Vsinθ1···(2) Here, V is the amplitude of the voltage command of each phase.

[0021] The voltage phase P2 is the voltage phase of the three-phase voltage command P3. The voltage phase P2 is calculated based on the dq axis voltage phase θ1 and the electrical angle θe, and therefore includes the u-phase voltage phase, the v-phase voltage phase, and the w-phase voltage phase. In the following, the voltage phases of these phases are set to the u-phase voltage phase θ2u, the v-phase voltage phase θ2v, and the w-phase voltage phase θ2w.

[0022] The three-phase voltage command P3 includes a u-phase voltage command, a v-phase voltage command, and a w-phase voltage command. Hereinafter, the voltage commands of these phases are referred to as a u-phase voltage command Vu, a v-phase voltage command Vv, and a w-phase voltage command Vw.

[0023] The u-phase voltage command Vu is calculated by the following equation (3). Vu=Vsin(θ1+θe)=Vsin(θ2u)···(3)

[0024] The v-phase voltage command Vv is calculated by the following equation (4). Vv=Vsin(θ1+θe+2 / 3×π)=Vsin(θ2v)···(4)

[0025] The w-phase voltage command Vw is calculated by the following equation (5). Vw=Vsin(θ1+θe-2 / 3×π)=Vsin(θ2w)···(5) Equations (3), (4) and (5) also express the relationship between the u-phase voltage phase θ2u, the v-phase voltage phase θ2v and the w-phase voltage phase θ2w and the dq-axis voltage phase θ1. That is, if the electrical angle θe is known, the dq-axis voltage phase θ1 can be converted to the u-phase voltage phase θ2u, the v-phase voltage phase θ2v and the w-phase voltage phase θ2w.

[0026] The three-phase voltage command correction determination unit 12 receives inputs of the voltage phase P2 and the three-phase voltage command P3 from the two-phase to three-phase conversion unit 11. The three-phase voltage command correction determination unit 12 determines whether the voltage phase P2 of each phase is a "zero voltage phase", a "positive voltage phase", or a "negative voltage phase", and performs correction determination based on the determination result. The "zero voltage phase" is the voltage phase when the value of the three-phase voltage command as the determination object becomes zero. In addition, the "positive voltage phase" is the voltage phase when the value of the three-phase voltage command as the determination object becomes positive, and the "negative voltage phase" is the voltage phase when the value becomes negative. As described below, the three-phase voltage command correction determination unit 12 determines the value of the three-phase voltage command P3 based on the voltage phase P2, and performs correction determination based on the result. The three-phase voltage command correction determination unit 12 outputs the correction determination result P4 representing the result of the above-mentioned correction determination to the three-phase voltage command correction unit 14.

[0027] The correction determination of the three-phase voltage command will be described. Figure 3 1 is a diagram for explaining the correction judgment of the three-phase voltage command of the first embodiment, and is a diagram showing an example of the judgment result of the voltage phase of a certain phase in the voltage commands of each phase of the three-phase voltage command P3 in one electrical angle cycle (equal to one cycle of the three-phase voltage command). For the voltage command of a certain phase, when its voltage phase is 0° to 80° or 280° to 360°, it is judged as a "negative voltage phase", and when its voltage phase is 80° to 100° or 260° to 280°, it is judged as a "zero voltage phase". In addition, in the case of 100° to 260°, it is judged as a "positive voltage phase". In the first embodiment, the correction method is determined according to which one is judged as "zero voltage phase", "positive voltage phase" or "negative voltage phase", so the correction judgment based on the judgment of the above voltage phase is performed. The three-phase voltage command correction judgment unit 12 performs the above correction judgment for each of the u phase, the v phase, and the w phase.

[0028] The three-phase voltage command correction amount calculation unit 13 calculates the three-phase voltage command correction amount P5, which is a correction amount for adjusting the pulse width and phase of the rectangular wave voltage applied to the rotating electric machine 900. In embodiment 1, the three-phase voltage command correction amount calculation unit 13 receives the three-phase current signal SC input from the output current detection unit 83, and the three-phase voltage command correction amount calculation unit 13 calculates the three-phase voltage command correction amount P5 based on the three-phase current detected by the output current detection unit 83. The three-phase voltage command correction amount is calculated in a manner to reduce the offset component of the three-phase current. By suppressing the generation of the offset component in the three-phase current, the loss associated with the increase in the peak current can be suppressed, and the risk of the current flowing through the element exceeding its current allowable value can be reduced. The three-phase voltage command correction amount calculation unit 13 outputs the three-phase voltage command correction amount P5 to the three-phase voltage command correction unit 14. The three-phase voltage command correction amount P5 includes correction amounts for the voltage commands of each phase, namely, the u-phase voltage command Vu, the v-phase voltage command Vv, and the w-phase voltage command Vw, namely, the u-phase voltage command correction amount Vuo, the v-phase voltage command correction amount Vvo, and the w-phase voltage command correction amount Vwo.

[0029] The calculation of the three-phase voltage command correction amount is described. As described above, the three-phase voltage command correction amount is calculated in a manner to reduce the offset component of the three-phase current. As a method of reducing the offset component, there is a method of feeding back the integral value of the three-phase current so that the integral value of the three-phase current is close to zero.

[0030] When describing the case of the u-phase, the u-phase voltage command correction amount Vuo is calculated by the following equation (6). Vuo=K / s×Iu···(6) In formula (6), K represents the integral gain, s represents the differential operator, and Iu represents the u-phase current of the three-phase current. That is, the u-phase voltage command correction amount Vuo is calculated by integrating the u-phase current. Formula (6) represents the u-phase voltage command correction amount Vuo, but the v-phase voltage command correction amount Vvo and the w-phase voltage command correction amount Vwo are also the same. When calculating the v-phase voltage command correction amount Vvo and the w-phase voltage command correction amount Vwo, the u-phase current Iu in formula (6) can be replaced by the v-phase current Iv and the w-phase current Iw, respectively. The integral gain K can be a fixed value or can be changed according to the rotation position of the rotating motor 900. In addition, the integral gain K can be made different in the calculation of the u-phase voltage command correction amount Vuo, the v-phase voltage command correction amount Vvo, and the w-phase voltage command correction amount Vwo. In addition, although the method of calculating the three-phase voltage command correction amount using integral control is described here, the three-phase voltage command correction amount can be determined by extracting the offset component of the three-phase current using a high-pass filter or the like to reduce the offset component of the three-phase current.

[0031] The three-phase voltage command correction unit 14 receives the input of the correction determination result P4 from the three-phase voltage command correction determination unit 12, and receives the input of the three-phase voltage command P3 from the two-phase three-phase conversion unit 11. In addition, the three-phase voltage command correction amount P5 is input from the three-phase voltage command correction amount calculation unit 13. In addition, the DC voltage signal SD is input from the power supply unit 82. The three-phase voltage command correction unit 14 uses the three-phase voltage command correction amount P5 and the DC voltage value Vdc to correct the three-phase voltage command P3 based on the correction determination result P4, and calculates the corrected three-phase voltage command P6. The three-phase voltage command correction unit 14 outputs the corrected three-phase voltage command P6 to the three-phase voltage command normalization unit 15. The corrected three-phase voltage command P6 also includes voltage commands for the u-phase, v-phase, and w-phase. These voltage commands are set to the corrected u-phase voltage command Vu*, the corrected v-phase voltage command Vv*, and the corrected w-phase voltage command Vw*.

[0032] When the voltage phase P2 is determined to be a "zero voltage phase", the three-phase voltage command correction unit 14 adds or subtracts the three-phase voltage command P3 and the three-phase voltage command correction amount P5 so that the offset component of the three-phase current approaches zero. If the u phase is explained, the corrected u phase voltage command Vu* is calculated by the following formula (7). Vu*=Vu+Vuo···(7) However, since the correction is performed so that the offset component of the three-phase current approaches zero, the right side of equation (7) is a subtraction equation (Vu-Vuo) according to the signs of the u-phase voltage command Vu and the u-phase voltage command correction amount Vuo. The same is true for the corrected v-phase voltage command Vv* and the corrected w-phase voltage command Vw*. As described above, the correction of adding or subtracting the three-phase voltage command P3 from the three-phase voltage command correction amount P5 corresponds to the correction of the duty cycle offset calculated when normalizing the three-phase voltage command P3 in the amplitude direction. When it is determined that the voltage phase P2 is the "positive voltage phase", the three-phase voltage command correction unit 14 corrects the three-phase voltage command P3 so that a duty ratio described later becomes 100% or more. When it is determined that the voltage phase P2 is the "negative voltage phase", the three-phase voltage command correction unit 14 corrects the three-phase voltage command P3 so that a duty ratio described later becomes 0% or less.

[0033] The three-phase voltage command normalization unit 15 receives the input of the corrected three-phase voltage command P6 from the three-phase voltage command correction unit 14, and receives the input of the DC voltage signal SD from the power supply unit 82. The three-phase voltage command normalization unit 15 normalizes each phase of the corrected three-phase voltage command P6, and makes the size of the corrected three-phase voltage command P6 constant, regardless of the size of the DC power DC. Since the amplitude of the corrected three-phase voltage command P6 changes according to the size of the DC voltage value Vdc of the power supply unit 82, it is necessary to normalize it in order to compare it with the carrier P8 described later. The three-phase voltage command normalization unit 15 obtains the DC voltage value Vdc from the DC voltage signal SD, and uses the DC voltage value Vdc to normalize the corrected three-phase voltage command P6. The three-phase voltage command normalization unit 15 outputs the normalized corrected three-phase voltage command P6 as the duty cycle P7 to the PWM control unit 17.

[0034] The normalization of the three-phase voltage instructions is further explained. Figure 4 1 is a diagram showing the relationship between the three-phase voltage command and the duty ratio in the first embodiment, showing the relationship between the magnitude of the three-phase voltage command and the duty ratio in one cycle of the three-phase voltage command. Figure 4 In order to indicate the correspondence between the “three-phase voltage command” and the “duty cycle”, the “three-phase voltage command” is recorded, but the corrected three-phase voltage command is used in the actual calculation. Figure 4 The "three-phase voltage command" and "duty cycle" in represent the situation of any one of the u-phase, v-phase and w-phase. Here, the u-phase is used as an example for explanation, but the same applies to the v-phase and w-phase. The correspondence between the u-phase voltage command Vu and the u-phase duty cycle Du is expressed by the following formula (8) using the DC voltage value Vdc. Du=(Vu / Vdc+0.5)×100(%)···(8)

[0035] According to equation (8), the u-phase voltage command Vu when the u-phase duty ratio Du becomes 100% and when the u-phase duty ratio Du becomes 0% can be determined. If these are set to Vref_MAX and Vref_MIN, they are expressed by the following equations (9) and (10). Vref_MAX=+Vdc / 2···(9) Vref_MIN=-Vdc / 2···(10) It can be seen that when Vu in equation (8) is replaced by Vref_MAX, Du becomes 100%, and when Vu in equation (8) is replaced by Vref_MIN, Du becomes 0%. In addition, it can be seen that when Vu=0, Du=50%.

[0036] As described above, in the correction of the three-phase voltage command P3 performed by the three-phase voltage command correction unit 14, when the voltage phase P2 is determined to be a "positive voltage phase", the three-phase voltage command P3 is corrected so that the duty cycle is greater than 100%. In the case of the u phase, the corrected u-phase voltage command Vu* is corrected to a value greater than Vref_MAX (= +Vdc / 2). In addition, when it is determined to be a "negative voltage phase", the three-phase voltage command P3 is corrected so that the duty cycle is less than 0%. In the case of the u phase, the corrected u-phase voltage command Vu* is corrected to a value less than Vref_MIN (= -Vdc / 2). As described above, the DC voltage value Vdc is used to correct the three-phase voltage command P3.

[0037] A method for correcting the duty ratio to be greater than 100% or less than 0% is described. Figure 5 1 is a diagram showing an example of correction of the three-phase voltage command according to the first embodiment, and is a diagram for explaining correction to set the duty ratio to 100% or more or 0% or less. Figure 5 In the example, the “zero voltage phase” is omitted. In addition, Figure 5 The "three-phase voltage command" and "duty cycle" in the formula represent the situation of any one of the u-phase, v-phase and w-phase. As a method of correcting the duty cycle P7 to be greater than 100% in the case of a "positive voltage phase", there is a method of correcting the three-phase voltage command P3 to a predetermined first voltage value V1. In this case, the first V1 is set to a value greater than Vref_MAX of formula (9). As an example, consider setting the first voltage value V1 to be greater than the DC voltage value Vdc. When the corrected three-phase voltage command P6 is calculated by correcting the three-phase voltage command P3 to the first voltage value V1, the duty cycle P7 calculated according to the corrected three-phase voltage command P6 is greater than 100%. As a method of correcting the duty cycle P7 to less than 0% in the case of a "negative voltage phase", there is a method of correcting the three-phase voltage command P3 to a predetermined second voltage value V2. In this case, the second voltage value V2 is set to a value less than Vref_MIN of formula (10). As an example, consider setting the second voltage value V2 to less than -1 times (-Vdc) of the DC voltage value. When the corrected three-phase voltage command P6 is calculated by correcting the three-phase voltage command P3 to the second voltage value V2, the duty cycle P7 calculated according to the corrected three-phase voltage command P6 is less than 0%.

[0038] Another method of correcting the duty ratio to be equal to or greater than 100% or equal to or less than 0% will be described. Figure 6 1 is a diagram showing an example of correction of the three-phase voltage command according to the first embodiment, and is a diagram for explaining correction to set the duty ratio to 100% or more or 0% or less. Figure 6 In the example, the “zero voltage phase” is omitted. In addition, Figure 6 The "three-phase voltage command" and "duty cycle" in the table represent the situation of any one of the u-phase, v-phase and w-phase. Figure 6 In the example shown, the duty cycle is corrected to be greater than 100% or less than 0% by multiplying the three-phase voltage command P3 by the gain. As a method for correcting the duty cycle P7 to be greater than 100% in the case of a "positive voltage phase", the ratio of the minimum value in the case of a "positive voltage phase" to Vref_MAX (= +Vdc / 2) is obtained in each phase of the three-phase voltage command P3, and a gain having a value greater than the ratio is set (equivalent to the first gain). If the gain is set to be greater than Vref_MAX even at the minimum value in the case of a "positive voltage phase", the value multiplied by the gain is greater than Vref_MAX in all phases in the case of a "positive voltage phase", and the duty cycle is also greater than 100%. As a method of correcting the duty cycle P7 to be less than 0% in the case of a "negative voltage phase", the ratio of the maximum value (because it is a negative value, the absolute value is the minimum) in the case of a "negative voltage phase" to Vref_MIN (=-Vdc / 2) is obtained in each phase of the three-phase voltage command P3, and a gain (equivalent to the second gain) having a value greater than the ratio is set. If the gain is set to be less than Vref_MIN (because it is a negative value, the absolute value is greater than Vref_MIN) even at the maximum value in the case of a "negative voltage phase", then in all phases in the case of a "negative voltage phase", the value multiplied by the gain is less than Vref_MIN, and the duty cycle is also less than 0%.

[0039] Since the DC voltage value Vdc can be preset, Vref_MAX and Vref_MIN can also be preset. Therefore, the minimum value in the case of the "positive voltage phase" and the maximum value in the case of the "negative voltage phase" are obtained in advance, and the first gain and the second gain are preset.

[0040] In addition, as a method of correcting the duty ratio to 100% or more, for example, Figure 7 As shown in FIG. 1 , there is also a method of correcting the three-phase voltage command P3 based on the DC voltage value Vdc. As shown in equations (9) and (10), if the corrected three-phase voltage command P6 is set according to the DC voltage value Vdc, the duty cycle can be set to 100% or more or 0% or less.

[0041] The carrier generator 16 receives the rotation position signal SR from 901 and the voltage phase P2 from the two-phase to three-phase converter 11. The carrier generator 16 obtains the rotation position of the rotating electrical machine 900 from the rotation position signal SR, and obtains the frequency of the electrical angle θe, that is, the electrical angular frequency, from the rotation position of the rotating electrical machine 900. The carrier generator 16 generates a carrier P8 having an odd multiple of the electrical angular frequency. The carrier generator 16 outputs the generated carrier P8 to the PWM controller 17.

[0042] The PWM control unit 17 receives an input of the duty cycle P7 from the three-phase voltage command normalization unit 15, and receives an input of the carrier P8 from the carrier generation unit 16. The PWM control unit 17 compares the duty cycle P7 as the normalized three-phase voltage command with the size of the carrier P8, and generates a switching pattern P9 based on the comparison result. The PWM controller 17 outputs the switching pattern P9 to the inverter 81. The inverter 81 drives the on / off of each switching element according to the switching pattern P9, and converts the direct current DC from the power supply unit 82 into a desired alternating voltage.

[0043] Figure 8 1 is a diagram showing an example of the relationship between the duty ratio, carrier wave, and switching pattern in the first embodiment, and is a diagram when the duty ratio is calculated without correcting the three-phase voltage command. Figure 8 In the figure, the switching pattern is represented by a solid line, the duty cycle is represented by a dotted line, and the carrier is represented by a dashed line. Figure 8 The "duty cycle", "carrier", and "switching mode" in the figure represent the situation of any one of the u phase, v phase, and w phase. Figure 8 As shown in FIG. 1 , when the three-phase voltage command (three-phase voltage command P3) that is not corrected by the three-phase voltage command correction unit 14 is normalized, the calculated duty ratio P7 is sinusoidal. Figure 8In the example shown, the frequency of carrier P8 (carrier frequency) is set to 9 times the electrical angular frequency (equal to the frequency of the three-phase voltage command) of the rotating motor 900. In this case, the duty ratio P7 in half a cycle of carrier P8 is calculated. Figure 8 In the example, the operation of updating the duty cycle P7 is also performed at the timing of the peaks and troughs of the carrier P8.

[0044] The PWM control unit 17 compares the duty cycle P7 with the carrier P8, and sets the switch mode P9 to on when the duty cycle P7 exceeds the carrier P8, and sets the switch mode P9 to off when the duty cycle P7 is lower than the carrier P8. Figure 8 When the duty cycle P7 is a sine wave as in the example shown, the switching pattern P9 as a result of the comparison between the duty cycle P7 and the carrier P8 as described above is repeatedly turned on and off, the number of times being equal to the multiple of the carrier frequency relative to the electrical angular frequency. Figure 8 In the example shown, since the carrier frequency is 9 times the electrical angle frequency, the on and off of the switching pattern P9 in one electrical angle cycle is repeated 9 times.

[0045] Fig. 9 1 is a diagram showing an example of the relationship between the duty ratio, carrier wave, and switching pattern in the first embodiment, and is a diagram when the duty ratio is calculated by correcting the three-phase voltage command. Fig. 9 In the example shown, the three-phase voltage command correction amount P5 in the correction of the "zero voltage phase" is zero. Fig. 9 As shown, when the three-phase voltage command (corrected three-phase voltage command P6) corrected by the three-phase voltage command correction unit 14 is normalized, the calculated duty ratio P7 takes a value corresponding to each of the "positive voltage phase", "zero voltage phase" and "negative voltage phase", and becomes 100% or more, 50% or less, or 0% or less according to the voltage phase. However, in comparison with the carrier P8, a value of 100% or more can be regarded as 100%, and a value of 0% or less can be regarded as 0%. As shown in FIG. Fig. 9 As shown, the switching pattern P9 obtained by comparing the duty ratio P7 calculated according to the corrected three-phase voltage command P6 and the carrier P8 has a rectangular wave shape, thereby realizing rectangular wave control. In addition, the switching pattern P9 is repeated only once in one electrical angle cycle.

[0046] Fig.10: is a diagram showing an example of the relationship between the duty cycle, carrier wave and switching mode of the first embodiment, and is a diagram in which the switching timing of the on / off switching mode of the rectangular wave shape is adjusted while correcting the three-phase voltage command to calculate the duty cycle. Specifically, in the "zero voltage phase", correction is made according to the three-phase voltage command correction amount (in the case of the u phase, the u phase voltage command correction amount Vuo represented by equation (6)) so that the duty cycle P7 changes from 50% to 75%. As Fig. 9 As shown in the example, when the duty ratio P7 in the "zero voltage phase" is 50%, the voltage phase of the switching mode P9 when switching from off to on is 90°, and the voltage phase of the switching mode P9 when switching from on to off is 270°. Fig.10 As shown, when the duty ratio P7 in the "zero voltage phase" is 75%, the voltage phase of the switching mode P9 when switching from off to on is 85°, and the voltage phase of the switching mode P9 when switching from on to off is 275°. Fig. 9 In the example, the conduction interval of the switch mode P9 is 180° (90° to 270°). Fig.10 In the example of , the conduction interval of the switch mode P9 is 190° (85° to 275°). By adjusting the conduction interval of the switch mode P9 according to the three-phase voltage command correction amount as shown in equation (6), the offset component of the three-phase current is reduced.

[0047] In this way, by adjusting the three-phase voltage command correction amount (u-phase voltage command correction amount Vuo, v-phase voltage command correction amount Vvo and w-phase voltage command correction amount Vwo) in the "zero voltage phase", the switching timing of the on / off switching of the switch mode P9 can be adjusted, so that the desired three-phase voltage can be achieved. In addition, the adjustment of the above-mentioned three-phase voltage command correction amount does not require the subdivision of the operation cycle, nor does it lead to an increase in the amount of operation.

[0048] In addition, when the switching pattern P9 is generated by comparing the carrier P8 and the duty cycle P7 in the PWM control, in order to generate the desired switching pattern P9, the phase of the carrier P8 and the duty cycle P7 need to be synchronized. Therefore, the PWM control unit 17 corrects the phase of the carrier P8 as needed to eliminate the phase offset between the carrier P8 and the duty cycle P7. At this time, the correction amount of the phase of the carrier P8 is calculated based on the offset amount of the phase of the carrier P8 in the state synchronized with the duty cycle P7. By synchronizing the phase of the carrier P8 with the phase of the duty cycle P7, the offset of the switching timing of the on / off of the switching pattern P9 can be prevented, and by obtaining the desired switching pattern P9, the desired three-phase voltage can be applied to the inverter 81.

[0049] When the rotating electric machine 900 is a three-phase rotating electric machine, the value obtained by dividing the carrier frequency by the electrical angular frequency is preferably an odd multiple of 3. That is, it is preferable to apply a driving mode such as a so-called synchronous 3-pulse, synchronous 9-pulse, or synchronous 15-pulse. In this case, the rectangular wave voltage applied to the rotating electric machine 900 is positively and negatively symmetrical in all three phases, and the rotating electric machine 900 can be controlled more stably.

[0050] In addition, the carrier frequency needs to be an odd multiple of the electrical angular frequency. Fig.11 The relationship between the duty ratio, carrier wave, and switching pattern when the carrier wave frequency is set to an even multiple of the electrical angular frequency and rectangular wave control is implemented is shown in FIG. Fig.11 It can be seen that when the carrier frequency is set to an even multiple of the electrical angular frequency (in Fig.11 In the example shown, when the switching pattern P9 is set to a rectangular wave, there is no zero voltage phase in the duty cycle P7. Therefore, in the first embodiment, the carrier frequency needs to be set to an odd multiple of the electrical angular frequency.

[0051] Next, a hardware configuration for realizing the inverter control section 10 will be described. Fig.12 FIG. 1 is a diagram showing an example of a hardware configuration of an inverter control unit according to Embodiment 1. Fig.12 As shown, the inverter control unit 10 includes a processing circuit with a processor 91 and a storage device 92 as the core, and the processing circuit is implemented by the above processing circuit Figure 1 The various functional units shown. The processor 91 is composed of, for example, a CPU (Central Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), various logic circuits, or various signal processing circuits. The storage device 92 is composed of a memory (not shown) as a main storage device and an auxiliary storage device (not shown). The memory is composed of a volatile storage device such as a random access memory, and the auxiliary storage device is composed of a non-volatile storage device such as a flash memory or a hard disk. The prescribed program executed by the processor 91 is stored in the auxiliary storage device, and the processor 91 reads and executes the program appropriately, and performs various calculations. At this time, the above-mentioned prescribed program is temporarily stored in the memory from the auxiliary storage device, and the processor 91 reads the program from the memory. As described above, the processing of the various functional units of the inverter control unit 10 is realized by the processor 91 executing the prescribed program.

[0052] Next, the operation will be described. Fig.13Flowchart showing the operation of the rotating electrical machine control device in Embodiment 1. First, the dq axis voltage command P1 is acquired by receiving it from an external host controller or the like. (Step ST01, voltage command acquisition process). In the voltage command acquisition process, a rotation position signal indicating the rotation position of the rotating electrical machine 900 is also received.

[0053] Next, a three-phase voltage command P3 and its voltage phase P2 are calculated based on the dq axis voltage command P1 and the rotary electric machine 900 (step ST02 , three-phase voltage command calculation step).

[0054] Next, a correction judgment is performed on each phase (u phase, v phase and w phase) based on the voltage phase. In addition, the three-phase voltage command correction amount is calculated for each phase (step ST03, correction judgment process and correction amount calculation process). In the correction judgment process, it is determined whether the voltage phase is "zero voltage phase", "positive voltage phase" or "negative voltage phase", and the correction judgment result P4 is obtained. As described above, in embodiment 1, the determination of the voltage phase is a correction judgment. In the correction amount calculation process, the correction amount of the three-phase voltage command in the "zero voltage phase", that is, the u-phase voltage command correction amount Vuo shown in formula (6) is calculated to reduce the offset component of the three-phase current in the "zero voltage phase". The v-phase voltage command correction amount Vvo and the w-phase voltage command correction amount Vwo are also calculated in the same way.

[0055] Next, the three-phase voltage command P3 is corrected based on the correction determination result P4 to obtain the corrected three-phase voltage command P6. (Step ST04, three-phase voltage command correction process) As described above, the correction method differs depending on whether the voltage phase is determined to be "zero voltage phase", "positive voltage phase" or "negative voltage phase".

[0056] Next, each phase of the corrected three-phase voltage command P6 is normalized to obtain a duty ratio P7 (step ST05, normalization step).

[0057] Next, by comparing the duty cycle P7 and the carrier P8, the switching pattern P9 is obtained (step ST06, switching pattern generation process).

[0058] Next, the direct current DC is converted into alternating current by the inverter 81 to obtain a three-phase voltage, and the three-phase voltage is applied to the rotating electric machine 900. (Step ST07, power conversion process and three-phase voltage application process). In the power conversion process, each switching element of the inverter 81 is driven by the switching mode P9 to obtain the desired three-phase voltage. In the three-phase voltage application process, the rotating electric machine 900 is driven by applying a three-phase voltage to the three-phase winding provided in the stator of the rotating electric machine 900. In addition, the three-phase current flowing between the inverter 81 and the rotating electric machine 900 is detected, and the rotation position of the rotating electric machine 900 is detected.

[0059] In addition, in the first embodiment, the voltage command from the outside is set as the dq axis voltage command P1, and the dq axis voltage command P1 is converted into the three-phase voltage command P3 by the two-phase to three-phase conversion unit 11, but if the voltage command from the outside is a three-phase voltage command, the two-phase to three-phase conversion unit 11 can be omitted. In this case, the three-phase voltage command correction determination unit 12 and the three-phase voltage command correction unit 14 receive the three-phase voltage command from the outside. In addition, the three-phase voltage command correction determination unit 12 and the carrier generation unit 16 receive the voltage phase of the voltage command from the outside.

[0060] In addition, the relationship between the dq axis voltage phase θ1 and the voltage phase of each phase of the voltage phase P2, namely, the u phase voltage phase θ2u, the v phase voltage phase θ2v and the w phase voltage phase θ2w, is as shown in equations (3), (4) and (5). If the electrical angle θe is known, the dq axis voltage phase θ1 can be converted into the u phase voltage phase θ2u, the v phase voltage phase θ2v and the w phase voltage phase θ2w, respectively, and the reverse conversion can also be performed. Therefore, it can be Figure 3 The "three-phase voltage command" and "voltage phase" in are replaced by the dq axis voltage command P1 and the dq axis voltage phase θ1. Therefore, it can also be considered that the dq axis voltage phase θ1 is corrected and judged based on the "zero voltage phase", "positive voltage phase" and "negative voltage phase", the dq axis voltage command P1 is corrected by the above-mentioned three-phase voltage command correction unit 14, and then the corrected dq axis voltage command P1 is converted from two phases to three phases to obtain the corrected three-phase voltage command P6.

[0061] In the first embodiment, the three-phase voltage command P3 is corrected before normalization by the three-phase voltage command normalization unit 15, but the determination of "zero voltage phase", "positive voltage phase", and "negative voltage phase" and the correction determination result P4 based on the determination do not change even in the normalized voltage phase. Therefore, if the DC voltage value Vdc required for normalization is known, it is also considered that the three-phase voltage command P3 before correction can be normalized and the correction can be performed after calculating the duty ratio before correction that does not reflect the correction.

[0062] Fig.14 is a diagram for explaining an example of a case where the pre-correction duty ratio is corrected after normalizing the pre-correction three-phase voltage command and calculating the pre-correction duty ratio, and Figure 1 In the entire structure shown, only the structure required for the explanation is recorded. In the three-phase voltage command normalization unit 151, the three-phase voltage command P3 is input from the two-phase three-phase conversion unit 11, and the three-phase voltage command correction amount P5 is input from the three-phase voltage command correction amount calculation unit 13. In addition, the three-phase voltage command normalization unit 151 receives the input of the DC voltage signal SD from the power supply unit 82. The three-phase voltage command normalization unit 151 normalizes the three-phase voltage command P3 before correction, and calculates the duty cycle before correction P71 that does not reflect the correction. The normalization of the three-phase voltage command P3 is the same as the normalization of the three-phase voltage command normalization unit 15. In addition, the three-phase voltage command normalization unit 151 normalizes the three-phase voltage command correction amount P5 and calculates the duty cycle correction amount P51. The duty cycle correction amount P51 includes the u-phase duty cycle correction amount Duo, the v-phase duty cycle correction amount Dvo, and the w-phase duty cycle correction amount Dwo. The three-phase voltage command normalizing unit 151 outputs the pre-correction duty ratio P71 and the duty ratio correction amount P51 to the duty ratio correcting unit 141 .

[0063] The calculation of the duty cycle correction amount P51 is explained by taking the u phase as an example. If the u phase duty cycle Du and the u phase voltage command Vu in equation (8) are replaced by the u phase duty cycle correction amount Duo and the u phase voltage command correction amount Vuo, respectively, the u phase duty cycle correction amount Duo required for correction in the "zero voltage phase" can be obtained, and is therefore represented by the following equation (11), for example. Duo=(Vuo / Vdc+0.5)×100(%)···(11) The duty ratio correction unit 141 receives the pre-correction duty ratio P71 and the duty ratio correction amount P51 from the three-phase voltage command normalization unit 151 , and receives the correction determination result P4 from the three-phase voltage command correction determination unit 12 . The duty cycle correction unit 141 corrects the pre-correction duty cycle P71 based on the correction judgment result P4. If the u-phase case is used as an example, in the "zero voltage phase", the u-phase duty cycle correction amount Duo is added to the u-phase duty cycle Du that does not reflect the correction (subtraction operation is performed according to the sign of the u-phase duty cycle correction amount Duo), and a correction is performed to shift the pre-correction duty cycle P71 in the amplitude direction. In the "positive voltage phase", the u-phase duty cycle Du that does not reflect the correction is corrected to more than 100%. In the "negative voltage phase", the u-phase duty cycle Du that does not reflect the correction is corrected to less than 0%. The same is true for the v-phase duty cycle Dv and the w-phase duty cycle Dw.

[0065] The duty ratio correction unit 141 performs the above correction on the pre-correction duty ratio P71 to obtain the same result as the case where the post-correction three-phase voltage command P6 is normalized. That is, the duty ratio P7 is calculated. The duty ratio correction unit 141 outputs the duty ratio P7 to the PWM control unit 17. Figure 1 Same as the example in . In addition, the correction determination result P4 will not change due to the normalization of the three-phase voltage command normalization unit 151. That is, the voltage phase P2 determined to be a "zero voltage phase" before normalization is also determined to be a "zero voltage phase" after normalization. Figure 4 It can be seen that this is because if the three-phase voltage command before normalization is 0V, the duty cycle after normalization must also be 50%. That is, "the voltage phase when the three-phase voltage command is determined to be zero, that is, the zero voltage phase" is the same as "the voltage phase when the duty cycle is determined to be 50%, that is, the zero voltage phase". This is also the case for "positive voltage phase" and "negative voltage phase". Therefore, although Fig.14 An example of performing correction determination based on the three-phase voltage command P3 and the voltage phase P2 is shown, but the correction determination may be performed based on the duty cycle P71 before correction and the voltage phase P2. In this case, the voltage phase when the value of the duty cycle P71 before correction is 50% is determined to be a "zero voltage phase", the voltage phase when the value of the duty cycle P71 before correction is greater than 50% is determined to be a "positive voltage phase", and the voltage phase when the value of the duty cycle P71 before correction is less than 50% is determined to be a "negative voltage phase".

[0067] In the first embodiment, the switching pattern P9 can be obtained by comparing the duty ratio P7 reflecting the correction and the carrier P8. As described above, in order to finally calculate the duty ratio P7, the three-phase voltage command can be corrected first, or the duty ratio that does not reflect the correction can be corrected after the three-phase voltage command before correction is normalized. Regardless of the correction before normalization or the correction after normalization, the duty ratio finally obtained, that is, the duty ratio P7 compared with the carrier P8, is corrected.

[0068] According to the first embodiment, the on / off switching timing of the rectangular wave voltage can be adjusted while preventing the increase in the amount of calculation. More specifically, the inverter control unit of the rotating electrical machine control device includes: a two-phase to three-phase conversion unit, which converts the dq axis voltage command into a three-phase voltage command based on the rotation position of the rotating electrical machine, and calculates the voltage phase of the three-phase voltage command; a three-phase voltage command correction determination unit, which determines the correction method of the three-phase voltage command and outputs the correction determination result; a three-phase voltage command correction unit, which corrects the three-phase voltage command based on the correction determination result and calculates the corrected three-phase voltage command; a three-phase voltage command correction amount calculation unit, which calculates the correction amount for the three-phase voltage command, that is, the three-phase voltage command correction amount; a three-phase voltage command normalization unit, which normalizes the corrected three-phase voltage command and calculates the duty cycle; a carrier generation unit, which generates an odd multiple of the electrical angular frequency of the rotating electrical machine. a carrier of a frequency of; and a switching pattern generating unit, which generates a switching pattern by comparing the duty cycle and the carrier, a three-phase voltage command correction determining unit determines a correction method based on the voltage phase of the three-phase voltage command, and determines the correction method according to whether the voltage phase is a voltage phase when the three-phase voltage command is determined to be zero, i.e., a "zero voltage phase", a voltage phase when the three-phase voltage command is determined to be positive, i.e., a "positive voltage phase", or a voltage phase when the three-phase voltage command is determined to be negative, i.e., a "negative voltage phase", when the voltage phase is determined to be a "zero voltage phase", the three-phase voltage command correction unit performs a correction by adding or subtracting the three-phase voltage command from the three-phase voltage command correction amount, when the voltage phase is determined to be a "positive voltage phase", the three-phase voltage command is corrected to a value with a duty cycle of more than 100%, and when the voltage phase is determined to be a "negative voltage phase", the three-phase voltage command is corrected to a value with a duty cycle of less than 0%.

[0069] The on / off switching timing of the rectangular wave voltage is adjusted by adjusting the on / off switching timing of the switch mode. Here, in embodiment 1, when the voltage phase is determined to be a "zero voltage phase", the on / off switching timing of the switch mode is adjusted by offsetting (adding or subtracting) the three-phase voltage command with the three-phase voltage command correction amount. As described above, in the case of adjusting the on / off switching timing of the switch mode by the offset of the three-phase voltage command in the "zero voltage phase", it is not necessary to increase the amount of calculation per electrical angle cycle as in the prior art in patent document 1. Therefore, the on / off switching timing of the rectangular wave voltage can be adjusted while preventing the increase in the amount of calculation. In addition, since the correction method is determined according to the phase of the three-phase voltage command, it is easy to determine the correction method, and the increase in the amount of calculation accompanying the determination of the correction method is small. Therefore, a high computing processing power is not required, and the desired rectangular wave control can be achieved even in an inexpensive processing device.

[0070] In addition, when the voltage phase is judged to be a "positive voltage phase", the three-phase voltage command is corrected to a value with a duty cycle greater than 100%, and when the voltage phase is judged to be a "negative voltage phase", the three-phase voltage command is corrected to a value with a duty cycle less than 0%, so that the switching mode becomes a rectangular wave shape and rectangular wave control is realized.

[0071] Furthermore, since the frequency of the carrier wave compared with the duty ratio is an odd multiple of the electrical angular frequency of the rotating electrical machine, that is, the frequency of the voltage phase of the three-phase voltage command, the existence of a voltage phase that becomes a “zero voltage phase” is ensured.

[0072] In addition, an output current detection unit is included, which detects the three-phase current flowing between the inverter and the rotating electric machine, and a three-phase voltage command correction amount calculation unit calculates the three-phase voltage command correction amount for reducing the offset component of the three-phase current based on the three-phase current. Therefore, the offset component of the three-phase current can be reduced as the three-phase voltage command is corrected.

[0073] Furthermore, the three-phase voltage command correction amount calculation unit calculates the three-phase voltage command correction amount by feedback control that brings the integrated value of the three-phase current close to zero. Therefore, the offset component of the three-phase current can be reduced more reliably.

[0074] In addition, a voltage detection unit is included, which detects the DC voltage value of the DC power supplied to the inverter, and when the voltage phase is determined to be a "positive voltage phase", the three-phase voltage command correction unit sets the duty ratio to 100% or more by correcting the three-phase voltage command to a first voltage value determined based on the DC voltage value, and when the voltage phase is determined to be a "negative voltage phase", the three-phase voltage command correction unit sets the duty ratio to 0% or less by correcting the three-phase voltage command to a second voltage value determined based on the DC voltage value. Thus, rectangular wave control can be achieved even when the DC voltage value of the power supply unit changes.

[0075] Furthermore, when the voltage phase is determined to be a positive voltage phase, the three-phase voltage command correction unit sets the duty cycle to 100% or more by multiplying the three-phase voltage command by a preset first gain, and when the voltage phase is determined to be a negative voltage phase, the three-phase voltage command correction unit sets the duty cycle to 0% or less by multiplying the three-phase voltage command by a preset second gain, and sets the first gain and the second gain based on the DC voltage value. Thus, even when the DC voltage value of the power supply unit changes, rectangular wave control can be achieved.

[0076] Furthermore, the number obtained by dividing the frequency of the carrier by the electrical angular frequency is set to an odd multiple of 3. Therefore, when the rotating electric machine is a three-phase rotating electric machine, the rectangular wave voltage applied to the rotating electric machine is positively and negatively symmetrical in the three phases, and the rotating electric machine can be controlled more stably.

[0077] Next, based on Fig.15 Modification 1 of Embodiment 1 is described. In Embodiment 1, an example of reducing the offset component of the three-phase current by adjusting the pulse width of the rectangular wave voltage, that is, the conduction interval of the switch pattern P9 is shown. Modification 1 of Embodiment 1 reduces the offset component of the three-phase current by adjusting the phase of the rectangular wave voltage. The phase correction amount for adjusting the phase of the rectangular wave voltage is calculated based on at least one of the state quantities such as the torque, the rotation speed, the three-phase current flowing through the winding of the rotating electric machine 900, and the modulation rate of the rotating electric machine 900. As the phase correction amount, a value calculated in real time based on the above state quantities can be used, or a fixed value calculated in advance based on the above state quantities can be used. Here, an example of calculating the phase correction amount by feedback control of the torque of the rotating electric machine 900 will be described. The torque of the rotating electric machine 900 can use a value detected by a sensor or the like, or an estimated value can be used. The above estimated value can be estimated using the current value of the three-phase current flowing through the winding of the rotating electric machine 900 or the voltage value of the three-phase voltage applied to the winding of the rotating electric machine 900. In addition, the phase correction amount is set to the same value in the u phase, the v phase, and the w phase.

[0078] In the first variation of the first embodiment, the three-phase voltage command correction amount in the "zero voltage phase" is different when the three-phase voltage command P3 is switched from negative to positive and when the three-phase voltage command P3 is switched from positive to negative. Figure 4 As shown in the figure, there are two cases of "zero voltage phase": the case of switching from "negative voltage phase" to "positive voltage phase" (in Figure 4 In the example shown, the voltage is switched from 80° to 100°) and from a "positive voltage phase" to a "negative voltage phase" (in Figure 4 In the example shown, it is from 260° to 280°. In the first modification of the first embodiment, the former is defined as the "first zero voltage phase" and the latter is defined as the "second zero voltage phase", and the three-phase voltage command correction amounts are made different in the "first zero voltage phase" and the "second zero voltage phase".

[0079] Fig.15 1 is a diagram showing an example of the relationship among the duty ratio, the carrier wave, and the switching pattern in Modification 1 of Embodiment 1. Fig.15 In the example shown, the absolute values ​​of the three-phase voltage command correction amount for the correction of the "first zero voltage phase" and the three-phase voltage command correction amount for the correction of the "second zero voltage phase" are set to be 25% and equal, and the positive and negative signs are opposite. Therefore, the duty ratio P7 in the "first zero voltage phase" is 75%, and the duty ratio P7 in the "second zero voltage phase" is 25%. As a result, the timing when the switch mode P9 switches from off to on is corrected from 90° to 85°, and the timing when the switch mode P9 switches from off to on is corrected from 270° to 265°. The conduction interval is 180° before and after the correction and does not change. The phase correction amount in this case is 5° when the direction of accelerating the phase is positive. Therefore, by making the absolute values ​​of the three-phase voltage command correction amounts equal and opposite in positive and negative in the "first zero voltage phase" and the "second zero voltage phase", the phase of the switch mode P9 can be adjusted while keeping the conduction interval of the switch mode P9 constant. That is, by adjusting the three-phase voltage command correction amount, both the adjustment of the conduction period and the adjustment of the phase of the switching pattern P9 can be achieved.

[0080] Next, a modification example 2 of the first embodiment will be described. In the second modification example of the first embodiment, the calculation method of the three-phase voltage command correction amount is different. Here, the u-phase voltage command correction amount Vuo is used as an example for description, and the same is true for the v-phase voltage command correction amount Vvo and the w-phase voltage command correction amount Vwo. In the second modification example of the first embodiment, the u-phase voltage command correction amount Vuo is obtained by multiplying a fixed value preset as the correction amount of the rectangular wave voltage by a proportional gain. Here, the "fixed value preset as the correction amount of the rectangular wave voltage" is set to the value that is intended to correct the rectangular wave voltage applied to the winding of the rotating electric machine 900. In the second modification example of the first embodiment, in the correction of the "zero voltage phase", the correction of adding or subtracting the u-phase voltage command Vu from the u-phase voltage command correction amount Vuo is also performed. Here, the correction in the "zero voltage phase" is performed only twice in each electrical angle cycle. Therefore, when the correction amount for each electrical angle cycle is considered, the actual correction amount is often smaller than the amount originally intended to be corrected. Therefore, a value obtained by multiplying the originally intended correction amount by the proportional gain is set as the u-phase voltage command correction amount Vuo, and the correction amount is set larger than the originally intended correction amount, thereby obtaining a sufficient correction amount.

[0081] The setting of the above-mentioned proportional gain is explained. If the carrier frequency is N times the electrical angular frequency, and the u-phase voltage command Vu is calculated by the control method of updating the u-phase voltage command Vu within half the carrier cycle, the number of calculations of the u-phase voltage command Vu per electrical angular cycle is 2×N times. Therefore, the u-phase voltage command correction amount Vuo is expressed by the following formula (12). Vuo=(2×N) / 2×Vuo_ofs=N×Vuo_ofs··(12) Here, Vuo_ofs is “a fixed value set in advance as a correction amount of the rectangular wave voltage” and is a value to be corrected for the rectangular wave voltage applied to the winding of the rotary electric machine 900 .

[0082] In addition, in the above, the carrier frequency is set to N times the electrical angular frequency, and the u-phase voltage command Vu is set to be updated in half a cycle of the carrier P8, but for example, the larger N is, the more times the u-phase voltage command Vu is calculated, and the ratio of becoming "zero voltage phase" in one electrical angle cycle is smaller. On the other hand, by setting the u-phase voltage command correction amount Vuo as shown in formula (12), when N is larger, the proportional gain is also larger, and the u-phase voltage command correction amount Vuo is also larger. That is, the phase voltage command correction amount Vuo is set so that the decrease in the correction amount caused by the decrease in the ratio of the "zero voltage phase" is offset by the increase in the correction amount caused by the increase in N.

[0083] As described above, in the second modification of the first embodiment, the three-phase voltage command correction amount is calculated based on the frequency of the carrier wave and is set to a value larger than the original correction amount for the rectangular wave voltage. Therefore, the three-phase voltage command can be corrected more appropriately.

[0084] In addition, when the rotating motor 900 is a three-phase rotating motor, N in equation (12) is preferably an odd multiple of 3. In this case, the rectangular wave voltage applied to the rotating motor 900 is positively and negatively symmetrical in the three phases, and the rotating motor 900 can be controlled more stably.

[0085] Implementation method 2. based on Figures 16 to 21 Implementation method 2 is described. Figures 1 to 15 The same or equivalent structures are marked with the same reference numerals and their descriptions are omitted. As described below, the difference between the second embodiment and the first embodiment is that the correction of the three-phase voltage command is divided into two stages. The first correction is performed before the correction judgment, but the second correction is performed based on the correction judgment result as in the first embodiment.

[0086] Fig.16 2 is a block diagram showing a rotating electrical machine control device in Embodiment 2. The rotating electrical machine control device 200 controls the rotating electrical machine 900 according to the dq axis voltage command P1, and includes an inverter control unit 20, an inverter 81 controlled by the inverter control unit 20 and applying a three-phase AC voltage to the rotating electrical machine 900; and a power supply unit 82 that supplies a direct current DC to the inverter 81. An output current detection unit 83 for detecting a three-phase current flowing between the inverter 81 and the rotating electrical machine 900 is provided in a circuit for connecting the inverter 81 and the rotating electrical machine 900. The inverter 81, the power supply unit 82, and the output current detection unit 83 are the same as those in Embodiment 1.

[0087] The inverter control unit 20 controls the inverter 81 based on the dq axis voltage command, and includes: a two-phase three-phase conversion unit 21, which calculates the voltage phase P2 and the three-phase voltage command P3 based on the dq axis voltage command P1 and the rotation position signal SR; a three-phase voltage command correction amount calculation unit 23, which calculates the three-phase voltage command correction amount P15 based on the three-phase current signal SC; a first three-phase voltage command correction unit 28, which calculates the three-phase voltage command correction amount P15 based on the three-phase current signal SC; and a first three-phase voltage command correction unit 28. The inverter control unit 20 includes: a three-phase voltage instruction normalization unit 15, which is used to normalize the second corrected three-phase voltage instruction P11 and calculate the duty cycle P7; a carrier generation unit 16, which generates a carrier P8 based on the voltage phase P2 and the rotation position signal SR; and a PWM control unit 17, which generates a switching pattern P19 based on the duty cycle P7 and the carrier P8.

[0088] The two-phase to three-phase converter 21 outputs the voltage phase P2 and the three-phase voltage command P3 to the first three-phase voltage command corrector 28. Other features are the same as those of the two-phase to three-phase converter 11 of the first embodiment. The three-phase voltage command correction amount calculation unit 23 calculates the three-phase voltage command correction amount P15, which is a correction amount for adjusting the pulse width and phase of the rectangular wave voltage applied to the rotating electric machine 900, and outputs the calculated three-phase voltage command correction amount P15 to the first three-phase voltage command correction unit 28. The three-phase voltage command correction amount P15 includes the correction amounts for the voltage commands of each phase, i.e., the u-phase voltage command Vu, the v-phase voltage command Vv, and the w-phase voltage command Vw, i.e., the u-phase voltage command correction amount Vuo, the v-phase voltage command correction amount Vvo, and the w-phase voltage command correction amount Vwo, similarly to the three-phase voltage command correction amount P5 of the first embodiment. In addition, the three-phase voltage command correction amount calculation unit 23 receives the input of the three-phase current signal SC from the output current detection unit 83, and calculates the three-phase voltage command correction amount P15 based on the three-phase current detected by the output current detection unit 83. The method for calculating the three-phase voltage command correction amount P15 is different from the method for calculating the three-phase voltage command correction amount P5 in the first embodiment, and therefore will be described in detail below.

[0090] Since the three-phase voltage command correction amount P15 is also calculated in a manner to reduce the offset component of the three-phase current, for example, in the case of the u-phase, the calculation is basically based on formula (6). Among them, it is preferable to set the upper limit value Vlim and set the three-phase voltage command correction amount P15 within a range where the absolute value of the three-phase voltage command correction amount P15 does not exceed the upper limit value Vlim. The value of the upper limit value Vlim is a predetermined positive value, and hereinafter, as the value of the upper limit value Vlim, it is sometimes simply recorded as Vlim. As a result of formula (6), in the case of -Vlim≤Vuo≤+Vlim, the u-phase voltage command correction amount Vuo calculated according to formula (6) is directly used. When Vuo>+Vlim, it is preferably set to Vuo=Vlim, and when Vuo<-Vlim, it is preferably set to Vuo=-Vlim. This is also the same for the v-phase voltage command correction amount Vvo and the w-phase voltage command correction amount Vwo. It is preferable to set the upper limit value Vli m as the three-phase voltage command correction amount P15 in order to more appropriately perform the correction determination for determining the correction method for correcting the first corrected three-phase voltage command P10. The correction determination of the first corrected three-phase voltage command P10 will be described in detail later.

[0091] The first three-phase voltage command correction unit 28 receives the voltage phase P2 and the three-phase voltage command P3 from the two-phase three-phase conversion unit 21. In addition, the first three-phase voltage command correction unit 28 receives the input of the three-phase voltage command correction amount P15 from the three-phase voltage command correction amount calculation unit 23. The first three-phase voltage command correction unit 28 corrects the three-phase voltage command P3 based on the three-phase voltage command correction amount P15, and calculates the first corrected three-phase voltage command P10. The first three-phase voltage command correction unit 28 outputs the first corrected three-phase voltage command P10 to the first corrected three-phase voltage command correction determination unit 22 and the second three-phase voltage command correction unit 29. In addition, the first three-phase voltage command correction unit 28 outputs the voltage phase P2 to the first corrected three-phase voltage command correction determination unit 22 and the carrier generation unit 16. The first corrected three-phase voltage command P10 also includes voltage commands for the u-phase, v-phase, and w-phase. These voltage commands are referred to as a first corrected u-phase voltage command Vu*1, a first corrected v-phase voltage command Vv*1, and a first corrected w-phase voltage command Vw*1.

[0092] The correction of the three-phase voltage command P3 by the first three-phase voltage command correction unit 28 is as follows. That is, regardless of the voltage phase P2, the three-phase voltage command P3 is added to the three-phase voltage command correction amount P15. For example, in the case of the u phase, Vu*1=Vu+Vuo. The same is true for the v phase and the w phase. In other words, the correction performed by the addition and subtraction operation of the three-phase voltage command correction amount performed in the case of the "zero voltage phase" in Implementation 1 is performed on all voltage phases in one electrical angle cycle. The first corrected three-phase voltage command P10 obtained by this correction operation is obtained by offsetting all three-phase voltage commands P3 in the amplitude direction by the three-phase voltage command correction amount P15. In addition, since the correction is performed to make the offset component of the three-phase current close to zero, which is the same as Implementation 1, the u-phase voltage command correction amount Vuo is subtracted from the u-phase voltage command Vu according to the signs of the u-phase voltage command Vu and the u-phase voltage command correction amount Vuo.

[0093] The first corrected three-phase voltage command correction determination unit 22 receives the input of the voltage phase P2 and the first corrected three-phase voltage command P10 from the first three-phase voltage command correction unit 28. The first corrected three-phase voltage command correction determination unit 22 determines whether the voltage phase P2 of each phase of the first corrected three-phase voltage command P10 is a "zero voltage phase", "positive voltage phase", or "negative voltage phase", and performs a correction determination on the first corrected three-phase voltage command P10 based on the determination result. The three-phase voltage command correction determination unit 12 outputs a correction determination result P14 indicating the result of the above correction determination to the second three-phase voltage command correction unit 29.

[0094] As described above, the first corrected three-phase voltage command correction determination unit 22 performs correction determination based on the voltage phase P2 in the same manner as in the first embodiment, and therefore is equivalent to a correction determination unit. On the other hand, the first corrected three-phase voltage command correction determination unit 22 performs correction determination based on the first corrected three-phase voltage command P10 and the voltage phase P2. As described above, in the first corrected three-phase voltage command P10, the three-phase voltage command P3 is offset by the three-phase voltage command correction amount P15, and the voltage phase P2 that becomes the "zero voltage phase" sometimes changes. Therefore, the correction determination result P14 in the second embodiment is sometimes different from the correction determination result P4 in the first embodiment.

[0095] The correction determination of the first corrected three-phase voltage command P10 will be described. Fig.17 This is a diagram for explaining the correction determination of the first corrected three-phase voltage command according to the second embodiment. Fig.17 The u phase is shown, but the v phase and the w phase are the same. In the correction judgment of the first corrected three-phase voltage command P10, as in the first embodiment, it is determined whether the voltage phase of the first corrected three-phase voltage command P10 is a "zero voltage phase", a "positive voltage phase", or a "negative voltage phase", and the correction judgment is performed based on the judgment result. Among them, in the first corrected three-phase voltage command P10, since all three-phase voltage commands P3 are offset by the three-phase voltage command correction amount P15 (in the case of the u phase, the u-phase voltage command correction amount Vuo), the voltage phase P2 that becomes the "zero voltage phase" may change. On the other hand, when the offset of the first three-phase voltage command correction unit 28 is too large, in the voltage phase P2 that should originally be determined as the "zero voltage phase", it is possible to be determined as a "positive voltage phase" or a "negative voltage phase", and the correction judgment may not be properly performed. Although the correction judgment can also be performed by considering the offset of the first three-phase voltage command correction unit 28, in this case, the correction judgment will become complicated. Therefore, it is preferable that the correction of the offset of the first three-phase voltage command correction unit 28 does not affect the correction determination of the first corrected three-phase voltage command correction determination unit 22 and ensures an appropriate correction determination.

[0096] As a method for ensuring appropriate correction judgment, the following method can be considered. That is, first, a predetermined threshold value Vth is set. The value of the threshold value Vth is a predetermined positive value, and hereinafter, the value of the threshold value Vth is sometimes simply recorded as Vth. When the value of the first corrected three-phase voltage command P10 (in the case of the u-phase, the first corrected u-phase voltage command Vu*1) is within the range of above -Vth and below +Vth (-Vth≤Vu*1≤+Vth), the voltage phase P2 is judged as a "zero voltage phase", and when the value of the first corrected three-phase voltage command P10 (the first corrected u-phase voltage command Vu*1) is greater than +Vth (Vu*1>+Vth), the voltage phase P2 is judged as a "positive voltage phase", and when the value of the first corrected three-phase voltage command P10 (the first corrected u-phase voltage command Vu*1) is less than -Vth (Vu*1<-Vth), the first corrected three-phase voltage command P10 is judged as a "negative voltage phase". Fig.17 In the example shown, when the voltage phase value is 0° to 60° or 300° to 360°, it is determined as a "negative voltage phase", and when the voltage phase value is 60° to 80° or 280° to 300°, it is determined as a "zero voltage phase". In addition, in the case of 80° to 280°, it is determined as a "positive voltage phase". In order to properly perform the correction judgment, it is also necessary to properly perform the judgment of "zero voltage phase", "positive voltage phase" and "negative voltage phase". Therefore, preferably, the offset of the first corrected three-phase voltage instruction P10 (the first corrected u-phase voltage instruction Vu*1), that is, the three-phase voltage instruction correction amount P15 (u-phase voltage instruction correction amount Vuo) is set within a range that does not affect the judgment of "zero voltage phase" etc. That is, preferably, the upper limit value Vlim used when calculating the three-phase voltage instruction correction amount P15 is less than the threshold value Vth used to judge the "zero voltage phase" etc. By setting the upper limit value Vlim to be less than the threshold value Vth, it is possible to prevent erroneous judgments such as judging as "zero voltage phase" when it should be judged as "positive voltage phase". In addition, the correction judgment will not become complicated.

[0098] In addition, although only one upper limit value Vlim is set in Embodiment 2, and the sign is changed to correspond to the positive side and the negative side, the upper limit value (the lower limit value in the case of the negative side) can also be set on the positive side and the negative side respectively. That is, the upper limit value on the positive side can be set to Vlim1 (Vlim1>0), and the lower limit value on the negative side can be set to Vlim2 (Vlim2<0). The threshold value Vth is also the same, and the threshold value on the positive side can be set to Vth1 (Vth1>0), and the threshold value on the negative side can be set to Vth2 (Vth2<0). The threshold value Vth1 on the positive side needs to be less than the value of the minimum three-phase voltage command when it is determined to be a positive voltage phase. The threshold value Vth2 on the negative side needs to be greater than the value of the maximum three-phase voltage command when it is determined to be a negative voltage phase.

[0099] The second three-phase voltage command correction unit 29 receives the input of the correction determination result P14 from the first corrected three-phase voltage command correction determination unit 22, and receives the input of the first corrected three-phase voltage command P10 from the first three-phase voltage command correction unit 28. In addition, the DC voltage signal SD is input from the power supply unit 82. Based on the correction determination result P14, the second three-phase voltage command correction unit 29 corrects the first corrected three-phase voltage command P10 using the DC voltage value Vdc, and calculates the second corrected three-phase voltage command P11. The second three-phase voltage command correction unit 29 outputs the second corrected three-phase voltage command P11 to the three-phase voltage command normalization unit 15. The second corrected three-phase voltage command P11 also includes voltage commands for the u phase, the v phase, and the w phase. These voltage commands are set to the second corrected u-phase voltage command Vu*2, the second corrected v-phase voltage command Vv*2, and the second corrected w-phase voltage command Vw*2.

[0100] When the voltage phase P2 is determined to be the "zero voltage phase", the second three-phase voltage command correction unit 29 does not correct the first corrected three-phase voltage command P10. For example, in the case of the u phase, Vu*2=Vu*1. The same applies to the v phase and the w phase. Regarding the first corrected three-phase voltage command P10, when the voltage phase P2 is determined to be a "positive voltage phase", the second three-phase voltage command correction unit 29 corrects the first corrected three-phase voltage command P10 so that the duty cycle P7 is greater than 100%. The correction of setting the duty cycle P7 to greater than 100% is the same as in Embodiment 1. For example, in the case of the u phase, the first corrected u phase voltage command Vu*1 is corrected to a value greater than Vref_MAX (=+Vdc / 2). The same is true for the v phase and the w phase. Regarding the first corrected three-phase voltage command P10, when the voltage phase P2 is determined to be a "negative voltage phase", the second three-phase voltage command correction unit 29 corrects the first corrected three-phase voltage command P10 so that the duty cycle P7 is less than 0%. The correction of setting the duty cycle P7 to less than 0% is the same as in Embodiment 1. For example, in the case of the u phase, the first corrected u phase voltage command Vu*1 is corrected to a value less than Vref_MIN (=-Vdc / 2). The same is true for the v phase and the w phase.

[0101] The three-phase voltage command normalization unit 15 normalizes the second corrected three-phase voltage command P11 to generate a duty cycle P7. The calculation method of the duty cycle P7 is the same as that of the first embodiment. The duty cycle P7 is offset in the amplitude direction by the correction of the first three-phase voltage command correction unit 28, and is corrected to 100% or more and 0% or less in the "positive voltage phase" and "negative voltage phase" by the correction of the second three-phase voltage command correction unit 29. The carrier generation unit 16 and the PWM control unit 17 are the same as those of the first embodiment. Fig.18 1 is a diagram showing an example of the relationship between the duty ratio, carrier wave, and switching pattern in the second embodiment, and is a diagram when the duty ratio is calculated without correcting the first corrected three-phase voltage command. Fig.18 In the figure, the switching pattern is represented by a solid line, the duty cycle is represented by a dotted line, and the carrier is represented by a dashed line. Fig.18 The "duty cycle", "carrier", and "switching pattern" in the figure represent the conditions of any one of the u-phase, v-phase, and w-phase. Fig.18 It can be seen from FIG. 2 that when the three-phase voltage command (the first corrected three-phase voltage command P10) that has not been corrected by the second three-phase voltage command correction unit 29 is normalized, the calculated duty cycle P7 becomes a sine wave that is offset in the positive direction as a whole. Fig.18 In the example shown, the carrier frequency is set to 9 times the electrical angular frequency (equal to the frequency of the three-phase voltage command). In this case, the duty ratio P7 in half a period of the carrier P8 is calculated. Fig.18 It can be seen that the operation of updating the duty cycle P7 is performed at the timing of the peaks and troughs of the carrier P8.

[0103] Fig.19 1 is a diagram showing an example of the relationship between the duty ratio, carrier wave, and switching pattern of the second embodiment, and is a diagram when the first corrected three-phase voltage command is corrected and the duty ratio is calculated. Fig.19As shown, when the three-phase voltage command (second corrected three-phase voltage command P11) corrected by the second three-phase voltage command correction unit 29 is normalized, the calculated duty cycle P7 takes a value corresponding to each of the "positive voltage phase", "zero voltage phase" and "negative voltage phase", and becomes 100% or more, 50%, or less than 0% according to the voltage phase. However, in comparison with the carrier P8, a value of 100% or more can be regarded as 100%, and a value of 0% or less can be regarded as 0%. As shown in FIG. Fig.19 As shown, the switching pattern P9 obtained by comparing the duty ratio P7 calculated according to the second corrected three-phase voltage command P11 and the carrier P8 becomes a rectangular wave shape, thereby realizing rectangular wave control. In addition, the switching pattern P9 is repeated only once in one electrical angle cycle.

[0104] As described above, even if the offset of the three-phase voltage command correction amount P15 is first performed and then the correction judgment based on the voltage phase is performed, the on / off switching timing of the switching mode P9 can be adjusted in the same way as in embodiment 1, and the on / off switching timing of the rectangular wave voltage provided to the rotating motor 900 can be adjusted.

[0105] The hardware configuration for realizing the inverter control unit 20 is the same as that of the inverter control unit 20 in Embodiment 1. Since the other points are the same as those in Embodiment 1, the description thereof will be omitted.

[0106] In the second embodiment, the first three-phase voltage command correction unit 28 and the second three-phase voltage command correction unit 29 perform correction before the three-phase voltage command normalization unit 15 performs normalization, but normalization may be performed first as in the first embodiment.

[0107] Fig. 20 FIG. 2 is a diagram for explaining an example of a case where the pre-correction duty ratio is calculated by normalizing the pre-correction three-phase voltage command and then the pre-correction duty ratio is corrected in the second embodiment. Fig.16In the entire structure shown, only the structure required for explanation is recorded. In the three-phase voltage command normalization unit 152, the voltage phase P2 and the three-phase voltage command P3 are input from the two-phase to three-phase conversion unit 21, and the three-phase voltage command correction amount P15 is input from the three-phase voltage command correction amount calculation unit 23. In addition, the three-phase voltage command normalization unit 152 receives the input of the DC voltage signal SD from the power supply unit 82. The three-phase voltage command normalization unit 152 normalizes the three-phase voltage command P3 and the three-phase voltage command correction amount P15 before correction, and calculates the duty ratio before correction P71 that does not reflect the correction. The normalization of the three-phase voltage command P3 is the same as the normalization of the three-phase voltage command normalization unit 15. In addition, the three-phase voltage command normalization unit 152 normalizes the three-phase voltage command correction amount P15 and calculates the duty ratio correction amount P151. The calculation of the duty ratio correction amount P151 is the same as the duty ratio correction amount P51 of the first embodiment. The duty cycle correction amount P151 includes the u-phase duty cycle correction amount Duo, the v-phase duty cycle correction amount Dvo, and the w-phase duty cycle correction amount Dwo. The three-phase voltage command normalization unit 152 outputs the pre-correction duty cycle P71 and the duty cycle correction amount P151 to the first duty cycle correction unit 281. In addition, the three-phase voltage command normalization unit 152 outputs the voltage phase P2 to the first post-correction duty cycle correction determination unit 221.

[0108] The first duty cycle correction unit 281 receives input of the pre-correction duty cycle P71 and the duty cycle correction amount P151 from the three-phase voltage command normalization unit 152. The first duty cycle correction unit 281 corrects the pre-correction duty cycle P71 based on the duty cycle correction amount P151, and calculates the first corrected duty cycle P72. The first duty cycle correction unit 281 outputs the first corrected duty cycle P72 to the first corrected duty cycle correction determination unit 221 and the second duty cycle correction unit 291. The first corrected duty cycle P72 also includes the duty cycles of the u phase, the v phase, and the w phase. These duty cycles are set to the first corrected u phase duty cycle Du*1, the first corrected v phase duty cycle Dv*1, and the first corrected w phase duty cycle Dw*1.

[0109] The first corrected duty ratio correction determination unit 221 receives an input of the voltage phase P2 from the three-phase voltage command normalization unit 152, and receives an input of the first corrected duty ratio P72 from the first duty ratio correction unit 281. The first corrected duty ratio correction determination unit 221 determines whether the voltage phase P2 of each phase of the first corrected duty ratio P72 is a "zero voltage phase", a "positive voltage phase", or a "negative voltage phase", and performs a correction determination based on the determination result. The first corrected duty ratio correction determination unit 221 outputs a correction determination result P14 indicating the result of the correction determination to the second duty ratio correction unit 291.

[0110] The second duty ratio correction unit 291 receives the input of the correction determination result P14 from the first corrected duty ratio correction determination unit 221, and receives the input of the first corrected duty ratio P72 from the first duty ratio correction unit 281. The second duty ratio correction unit 291 corrects the first corrected duty ratio P72 based on the correction determination result P14, and calculates the duty ratio P7 reflecting the correction. The second duty ratio correction unit 291 outputs the duty ratio P7 to the PWM control unit 17. Fig.16 Same as the example in .

[0111] The correction of the first corrected duty cycle P72 by the second duty cycle correction unit 291 is as follows. When the voltage phase P2 is determined to be a "zero voltage phase", the second duty cycle correction unit 291 does not perform correction on the first corrected duty cycle P72. For the first corrected duty cycle P72, when the voltage phase P2 is determined to be a "positive voltage phase", the second duty cycle correction unit 291 corrects the first corrected duty cycle P72 to be greater than 100%. For the first corrected duty cycle P72, when the voltage phase P2 is determined to be a "negative voltage phase", the second duty cycle correction unit 291 corrects the first corrected duty cycle P72 to be less than 0%.

[0112] Furthermore, it is considered that normalization may be performed after the first corrected three-phase voltage command P10 is calculated and before the second corrected three-phase voltage command P11 is calculated. Fig.21 FIG. 2 is a diagram for explaining an example of a case where the first corrected duty ratio is calculated by normalizing the first corrected three-phase voltage command in the second embodiment, and then the first corrected duty ratio is further corrected. Fig.16 Among the entire structure shown, only the structure necessary for the description is described. Fig.16 Similarly to the example shown, the first three-phase voltage command correction unit 28 receives the input of the voltage phase P2 and the three-phase voltage command P3 from the two-phase to three-phase conversion unit 21, and receives the input of the three-phase voltage command correction amount P15 from the three-phase voltage command correction amount calculation unit 23. The first three-phase voltage command correction unit 28 corrects the three-phase voltage command P3 based on the three-phase voltage command correction amount P15, and calculates the first corrected three-phase voltage command P10. The first three-phase voltage command correction unit 28 outputs the voltage phase P2 and the first corrected three-phase voltage command P10 to the first corrected three-phase voltage command correction determination unit 22. In addition, the first three-phase voltage command correction unit 28 outputs the first corrected three-phase voltage command P10 to the first corrected three-phase voltage command normalization unit 153.

[0113] The first corrected three-phase voltage command normalization unit 153 receives the input of the first corrected three-phase voltage command P10 from the first three-phase voltage command correction unit 28, and receives the input of the DC voltage signal SD from the power supply unit 82. The first corrected three-phase voltage command normalization unit 153 normalizes each phase of the first corrected three-phase voltage command P10, and calculates the first corrected duty ratio P72. Fig.16 Similarly to the example shown, the first corrected three-phase voltage command correction determination unit 22 inputs the voltage phase P2 and the first corrected three-phase voltage command P10 from the first three-phase voltage command correction unit 28, determines whether the voltage phase P2 of each phase of the first corrected three-phase voltage command P10 is a "zero voltage phase", "positive voltage phase", or "negative voltage phase", and performs a correction determination on the first corrected three-phase voltage command P10 based on the determination result. The first corrected three-phase voltage command correction determination unit 22 outputs a correction determination result P14 indicating the result of the above correction determination to the second duty cycle correction unit 291. The second duty cycle correction unit 291 and Fig. 20 The examples shown are the same as Fig.21 In the example shown, even in a configuration in which normalization is performed after the first corrected three-phase voltage command P10 is calculated and before the second corrected three-phase voltage command P11 is calculated, the duty ratio P7 reflecting the correction is calculated.

[0114] In addition, the correction determination result P14 is not changed by the normalization of the first post-correction three-phase voltage command normalization unit 153. That is, the voltage phase P2 determined as "zero voltage phase" before normalization is also determined as "zero voltage phase" after normalization. Figure 4 It can be seen that this is because if the first corrected three-phase voltage command before normalization is 0V, the duty cycle after normalization must be 50% duty cycle. Therefore, although Fig.21 An example of performing correction determination based on the first corrected three-phase voltage command P10 and the voltage phase P2 is shown, but the correction determination may be performed based on the first corrected duty ratio P72 and the voltage phase P2. In this case, the voltage phase when the value of the first corrected duty ratio P72 is determined to be 50% is determined to be a "zero voltage phase", the voltage phase when the value of the first corrected duty ratio P72 is determined to be greater than 50% is determined to be a "positive voltage phase", and the voltage phase when the value of the first corrected duty ratio P72 is determined to be less than 50% is determined to be a "negative voltage phase".

[0115] As described above, the order of the overall offset correction of the first three-phase voltage command correction unit, the correction based on the correction determination result and the normalization of the second three-phase voltage command correction unit can be interchanged. That is, in Embodiment 2, the switching pattern P9 can also be obtained by comparing the duty cycle P7 and the carrier P8 reflecting the correction. In addition, even in the case of Fig. 20 and Fig.21 In the case where normalization is performed first as in the example shown, Fig.17 As described above, it is preferable to set the three-phase voltage command correction amount P15 within a range that does not affect the determination of the “zero voltage phase” or the like.

[0116] According to the second embodiment, the same effects as those of the first embodiment can be obtained. In addition, in the second embodiment, before the correction judgment is performed by the three-phase voltage command correction judgment unit, the three-phase voltage command is subjected to an offset correction in the amplitude direction based on the three-phase voltage command correction amount, and the first corrected three-phase voltage command is calculated, but the correction judgment based on the voltage phase can be appropriately performed. More specifically, the value below the value of the minimum three-phase voltage command value when the voltage phase is determined to be a positive voltage phase is set as the threshold value on the positive side, and the value above the value of the maximum three-phase voltage command value when the voltage phase is determined to be a negative voltage phase is set as the threshold value on the negative side. For the three-phase voltage command correction amount, the value less than the threshold value on the positive side is set as the upper limit value, and the value greater than the threshold value on the negative side is set as the lower limit value. Therefore, the correction of the offset performed by the first three-phase voltage command correction unit converges within a range that does not affect the correction judgment of the first corrected three-phase voltage command based on the voltage command. As a result, it is possible to prevent erroneous judgments such as being determined as "zero voltage phase" when it should be determined as "positive voltage phase", and the correction judgment based on the voltage phase can be appropriately performed. In addition, the correction judgment does not become complicated. In addition, although the present application describes exemplary embodiments, various features, modes, and functions described in the embodiments are not limited to application to specific embodiments, and can be applied to the embodiments alone or in various combinations. Therefore, numerous modifications not shown in the examples are conceivable within the technical scope disclosed in the present application, including, for example, modifications, additions, or omissions of at least one structural element.

[0118] Hereinafter, each aspect of the present disclosure will be collectively described as a supplementary note. (Note 1) A rotating electrical machine control device controls the rotating electrical machine by applying a rectangular wave voltage to the rotating electrical machine, characterized in that it comprises: An inverter converts direct current and outputs the rectangular wave voltage; an inverter control unit that generates a rectangular wave-shaped switching pattern for controlling the inverter; and a rotational position detection unit that detects a rotational position of the rotating electrical machine, The inverter control unit includes: A two-phase to three-phase conversion unit that converts a dq axis voltage command into a three-phase voltage command based on the rotation position and calculates a voltage phase of the three-phase voltage command; a three-phase voltage command normalization unit, which normalizes the three-phase voltage command and calculates the duty cycle; A three-phase voltage command correction amount calculation unit, which calculates the three-phase voltage command correction amount; a carrier wave generating unit that generates a carrier wave having a frequency that is an odd-number multiple of an electrical angular frequency of the rotating electric machine; and a switching pattern generating unit that generates the switching pattern by comparing the duty cycle with the carrier, In the inverter control unit, The correction method of the duty ratio is determined according to whether the voltage phase is the voltage phase when the three-phase voltage command is determined to be zero, that is, the zero voltage phase, the voltage phase when the three-phase voltage command is determined to be positive, that is, the positive voltage phase, or the voltage phase when the three-phase voltage command is determined to be negative, that is, the negative voltage phase, When the voltage phase is determined to be the zero voltage phase, correction is performed to shift the duty ratio in the amplitude direction based on the three-phase voltage command correction amount, When the voltage phase is determined to be the positive voltage phase, correction is performed to set the duty ratio to 100% or more, When the voltage phase is determined to be the negative voltage phase, correction is performed to set the duty ratio to 0% or less. (Note 2) According to the rotating electrical machine control device of Supplementary Note 1, wherein the inverter control unit further includes: a correction determination unit that determines a correction method of the three-phase voltage command according to whether the voltage phase is the zero voltage phase, the positive voltage phase, or the negative voltage phase, and outputs a correction determination result; and a three-phase voltage command correction unit that corrects the three-phase voltage command based on the correction determination result and calculates the corrected three-phase voltage command, The three-phase voltage command normalization unit calculates the duty ratio by normalizing the corrected three-phase voltage command. In the three-phase voltage command correction unit, When the voltage phase is determined to be the zero voltage phase, performing correction by adding or subtracting the three-phase voltage command and the three-phase voltage command correction amount, When the voltage phase is determined to be the positive voltage phase, the three-phase voltage command is corrected to a value where the duty ratio is greater than 100%, When the voltage phase is determined to be the negative voltage phase, the three-phase voltage command is corrected to a value at which the duty ratio is equal to or less than 0%. (Note 3) A rotating electrical machine control device controls the rotating electrical machine by applying a rectangular wave voltage to the rotating electrical machine, characterized in that it comprises: An inverter converts direct current and outputs the rectangular wave voltage; an inverter control unit that generates a rectangular wave-shaped switching pattern for controlling the inverter; and a rotational position detection unit that detects a rotational position of the rotating electrical machine, The inverter control unit comprises: A two-phase to three-phase conversion unit that converts a dq axis voltage command into a three-phase voltage command based on the rotation position and calculates a voltage phase of the three-phase voltage command; a three-phase voltage command normalization unit, which normalizes the three-phase voltage command and calculates the duty cycle; A three-phase voltage command correction amount calculation unit, which calculates the three-phase voltage command correction amount; a first three-phase voltage command correction unit that performs correction to shift the three-phase voltage command in an amplitude direction based on the three-phase voltage command correction amount and calculates a first corrected three-phase voltage command; a carrier wave generating unit that generates a carrier wave having a frequency that is an odd-number multiple of an electrical angular frequency of the rotating electric machine; and a switching pattern generating unit that generates the switching pattern by comparing the duty cycle with the carrier, In the inverter control unit, A method for correcting the duty cycle is determined based on whether the voltage phase is the voltage phase when the first corrected three-phase voltage instruction is determined to be zero, that is, the zero voltage phase; the voltage phase when the first corrected three-phase voltage instruction is determined to be positive, that is, the positive voltage phase; or the voltage phase when the first corrected three-phase voltage instruction is determined to be negative, that is, the negative voltage phase. When the voltage phase is determined to be the zero voltage phase, the duty cycle is not corrected; when the voltage phase is determined to be the positive voltage phase, a correction is performed to set the duty cycle to be greater than 100%; and when the voltage phase is determined to be the negative voltage phase, a correction is performed to set the duty cycle to be less than 0%. (Note 4) According to the rotating electrical machine control device of Supplementary Note 3, wherein the inverter control unit further includes: a correction determination unit that determines a correction method of the first corrected three-phase voltage command according to whether the voltage phase is the zero voltage phase, the positive voltage phase, or the negative voltage phase, and outputs a correction determination result; and a second three-phase voltage command correction unit that corrects the first corrected three-phase voltage command based on the correction determination result and calculates the corrected three-phase voltage command, The three-phase voltage command normalization unit normalizes the corrected three-phase voltage command and calculates the duty ratio. In the second three-phase voltage command correction unit, When the voltage phase is determined to be the zero voltage phase, the first corrected three-phase voltage command is not corrected, When the voltage phase is determined to be the positive voltage phase, the first corrected three-phase voltage command is corrected to a value where the duty ratio is greater than 100%, When the voltage phase is determined to be the negative voltage phase, the first corrected three-phase voltage command is corrected to a value where the duty ratio is equal to or less than 0%. (Appendix 5) (Appendix 5) A rotating electrical machine control device according to Appendices 3 or 4, wherein a value less than the minimum value of the three-phase voltage instruction when the voltage phase is determined to be the positive voltage phase is set as a positive side threshold, a value greater than the maximum value of the three-phase voltage instruction when the voltage phase is determined to be the negative voltage phase is set as a negative side threshold, and for the three-phase voltage instruction correction amount, a value less than the positive side threshold is set as an upper limit value, and a value greater than the negative side threshold is set as a lower limit value. (Note 6) The rotating electrical machine control device according to any one of Supplementary Notes 1 to 5, further comprising an output current detection unit that detects a three-phase current flowing between the inverter and the rotating electrical machine, The three-phase voltage command correction amount calculation section calculates the three-phase voltage command correction amount for reducing an offset component of the three-phase current based on the three-phase current. (Note 7) The rotating electrical machine control device according to Supplementary Note 6, wherein the three-phase voltage command correction amount calculation unit calculates the three-phase voltage command correction amount by feedback control that brings the integrated value of the three-phase current close to zero. (Note 8) A rotating electrical machine control device according to any one of Notes 1 to 7, wherein the three-phase voltage command correction amount calculation unit calculates the three-phase voltage command correction amount by multiplying a fixed value pre-set as the correction amount of the rectangular wave voltage by a proportional gain based on a numerical value obtained by dividing the frequency of the carrier by the electrical angular frequency. (Note 9) The rotating electrical machine control device according to any one of Supplementary Notes 1 to 8, further comprising a voltage detection unit that detects a DC voltage value of the DC power supplied to the inverter. The inverter control unit sets the duty cycle to greater than 100% by correcting the three-phase voltage command to a first voltage value determined based on the DC voltage value when the voltage phase is determined to be the positive voltage phase, and sets the duty cycle to less than 0% by correcting the three-phase voltage command to a second voltage value determined based on the DC voltage value when the voltage phase is determined to be the negative voltage phase. (Note 10) The rotating electrical machine control device according to Supplementary Note 9 is characterized in that the inverter control unit sets the duty cycle to 100% or more by multiplying the three-phase voltage command by a preset first gain when the voltage phase is determined to be the positive voltage phase, and sets the duty cycle to 0% or less by multiplying the three-phase voltage command by a preset second gain when the voltage phase is determined to be the negative voltage phase. The first gain and the second gain are set based on the DC voltage value. (Note 11) The rotating electrical machine control device according to any one of Supplementary Notes 1 to 10, wherein a value obtained by dividing the frequency of the carrier by the electrical angular frequency is an odd multiple of 3. (Note 12) A rotating electrical machine control device according to any one of Notes 1 to 11, wherein the zero voltage phase includes: a first zero voltage phase generated when the three-phase voltage command switches from negative to positive, and a second zero voltage phase generated when the three-phase voltage command switches from positive to negative, and the value of the three-phase voltage command correction amount corresponding to the first zero voltage phase and the value of the three-phase voltage command correction amount corresponding to the second zero voltage phase are different from each other. (Note 13) The rotating electrical machine control device according to Supplementary Note 1, wherein the inverter control unit comprises: a correction determination unit that determines a correction method of the duty ratio according to whether the voltage phase is the zero voltage phase, the positive voltage phase, or the negative voltage phase, and outputs a correction determination result; and a duty ratio correction unit that corrects the duty ratio based on the correction determination result, The three-phase voltage command normalization unit calculates the duty ratio by normalizing the three-phase voltage command before correction, and calculates the duty ratio correction amount by normalizing the three-phase voltage command correction amount. In the duty ratio correction unit, When the voltage phase is determined to be the zero voltage phase, performing correction of adding or subtracting the duty ratio from the duty ratio correction amount, When the voltage phase is determined to be the positive voltage phase, the duty cycle is corrected to be greater than 100%, When the voltage phase is determined to be the negative voltage phase, the duty ratio is corrected to be equal to or less than 0%. (Note 14) The rotating electrical machine control device according to Supplement 3, wherein the three-phase voltage command normalization unit calculates the duty ratio by normalizing the first corrected three-phase voltage command, The inverter control unit also includes: a correction determination unit that determines a correction method of the duty ratio according to whether the voltage phase is the zero voltage phase, the positive voltage phase, or the negative voltage phase, and outputs a correction determination result; and a duty ratio correction unit that corrects the duty ratio based on the correction determination result, In the duty ratio correction unit, When the voltage phase is determined to be the zero voltage phase, the duty ratio is not corrected, When the voltage phase is determined to be the positive voltage phase, the duty cycle is corrected to be greater than 100%, When the voltage phase is determined to be the negative voltage phase, the duty ratio is corrected to be equal to or less than 0%. (Note 15) According to the rotating electrical machine control device described in Supplementary Note 3, the three-phase voltage command normalization unit calculates the duty ratio by normalizing the three-phase voltage command, and calculates the duty ratio correction amount by normalizing the three-phase voltage command correction amount. The first three-phase voltage command correction unit is a first duty cycle correction unit, which performs correction by adding or subtracting the duty cycle and the duty cycle correction amount, and calculates a normalized first corrected three-phase voltage command, i.e., a first corrected duty cycle. The inverter control unit also includes: a correction determination unit that determines a correction method of the first corrected duty cycle according to whether the voltage phase is the zero voltage phase, the positive voltage phase, or the negative voltage phase, and outputs a correction determination result; and a second duty ratio correction unit that corrects the first corrected duty ratio based on the correction determination result; In the second duty cycle correction unit, When the voltage phase is determined to be the zero voltage phase, the first corrected duty cycle is not corrected, When the voltage phase is determined to be the positive voltage phase, the first corrected duty cycle is corrected to be greater than 100%, When the voltage phase is determined to be the negative voltage phase, the first corrected duty ratio is corrected to be less than 0%. Description of symbols

[0119] 10, 20 inverter control unit, 11, 21 two-phase to three-phase conversion unit, 12 three-phase voltage instruction correction determination unit, 13, 23 three-phase voltage instruction correction amount calculation unit, 14 three-phase voltage instruction correction unit, 15, 151, 152 three-phase voltage instruction normalization unit, 16 carrier generation unit, 17 PWM control unit, 22 first corrected three-phase voltage instruction correction determination unit, 28 first three-phase voltage instruction correction unit, 29 second three-phase voltage instruction correction unit, 81 inverter, 82 power supply unit, 83 output current detection unit, 100, 200 rotating motor control device, 141 duty ratio correction unit, 153 first corrected three-phase voltage instruction normalization unit, 221 first corrected duty ratio correction determination unit, 281 first duty ratio correction unit, 291 second duty ratio correction unit, 900 rotating motor, 901 rotation position detection unit, DC direct current, P1 dq axis voltage command, P2 voltage phase, P3 three-phase voltage command, P4, P14 correction judgment result, P5, P15 three-phase voltage command correction amount, P6 three-phase voltage command after correction, P7 duty cycle, P8 carrier, P9, P19 switching mode, P10 three-phase voltage command after the first correction, P11 three-phase voltage command after the second correction, P51, P151 duty cycle correction amount, P71 duty cycle before correction, P72 duty cycle after the first correction, SC three-phase current signal, SD DC voltage signal, SR rotation position signal.

Claims

1. A rotating electrical machine control device, which controls the rotating electrical machine by applying a rectangular wave voltage to the rotating electrical machine, characterized in that: include: An inverter converts direct current and outputs the rectangular wave voltage; an inverter control unit that generates a rectangular wave-shaped switching pattern for controlling the inverter; as well as a rotational position detection unit that detects a rotational position of the rotating electrical machine, The inverter control unit includes: A two-phase to three-phase conversion unit that converts a dq axis voltage command into a three-phase voltage command based on the rotation position and calculates a voltage phase of the three-phase voltage command; a three-phase voltage command normalization unit, which normalizes the three-phase voltage command and calculates the duty cycle; A three-phase voltage command correction amount calculation unit, which calculates the three-phase voltage command correction amount; a carrier wave generating unit that generates a carrier wave having a frequency that is an odd-number multiple of an electrical angular frequency of the rotating electric machine; and a switching pattern generating unit that generates the switching pattern by comparing the duty cycle with the carrier, In the inverter control unit, The correction method of the duty ratio is determined according to whether the voltage phase is the voltage phase when the three-phase voltage command is determined to be zero, that is, the zero voltage phase, the voltage phase when the three-phase voltage command is determined to be positive, that is, the positive voltage phase, or the voltage phase when the three-phase voltage command is determined to be negative, that is, the negative voltage phase, When the voltage phase is determined to be the zero voltage phase, correction is performed to shift the duty ratio in the amplitude direction based on the three-phase voltage command correction amount, When the voltage phase is determined to be the positive voltage phase, correction is performed to set the duty ratio to 100% or more, When the voltage phase is determined to be the negative voltage phase, correction is performed to set the duty ratio to 0% or less.

2. The rotating electrical machine control device according to claim 1, characterized in that: The inverter control unit also includes: a correction determination unit that determines a correction method of the three-phase voltage command according to whether the voltage phase is the zero voltage phase, the positive voltage phase, or the negative voltage phase, and outputs a correction determination result; and a three-phase voltage command correction unit that corrects the three-phase voltage command based on the correction determination result and calculates the corrected three-phase voltage command, The three-phase voltage command normalization unit calculates the duty ratio by normalizing the corrected three-phase voltage command. In the three-phase voltage command correction unit, When the voltage phase is determined to be the zero voltage phase, performing correction by adding or subtracting the three-phase voltage command and the three-phase voltage command correction amount, When the voltage phase is determined to be the positive voltage phase, the three-phase voltage command is corrected to a value where the duty ratio is greater than 100%, When the voltage phase is determined to be the negative voltage phase, the three-phase voltage command is corrected to a value at which the duty ratio is equal to or less than 0%.

3. A rotating electrical machine control device, which controls the rotating electrical machine by applying a rectangular wave voltage to the rotating electrical machine, characterized in that: include: An inverter converts direct current and outputs the rectangular wave voltage; an inverter control unit that generates a rectangular wave-shaped switching pattern for controlling the inverter; as well as a rotational position detection unit that detects a rotational position of the rotating electrical machine, The inverter control unit includes: A two-phase to three-phase conversion unit that converts a dq axis voltage command into a three-phase voltage command based on the rotation position and calculates a voltage phase of the three-phase voltage command; a three-phase voltage command normalization unit, which normalizes the three-phase voltage command and calculates the duty cycle; A three-phase voltage command correction amount calculation unit, which calculates the three-phase voltage command correction amount; a first three-phase voltage command correction unit that performs correction to shift the three-phase voltage command in an amplitude direction based on the three-phase voltage command correction amount and calculates a first corrected three-phase voltage command; a carrier wave generating unit that generates a carrier wave having a frequency that is an odd-integer multiple of an electrical angular frequency of the rotating electric machine; as well as a switching pattern generating unit that generates the switching pattern by comparing the duty cycle with the carrier, In the inverter control unit, The correction method of the duty ratio is determined according to whether the voltage phase is the voltage phase when the first corrected three-phase voltage instruction is determined to be zero, that is, the zero voltage phase; the voltage phase when the first corrected three-phase voltage instruction is determined to be positive, that is, the positive voltage phase; or the voltage phase when the first corrected three-phase voltage instruction is determined to be negative, that is, the negative voltage phase. When the voltage phase is determined to be the zero voltage phase, the duty ratio is not corrected, When the voltage phase is determined to be the positive voltage phase, correction is performed to set the duty ratio to 100% or more, When the voltage phase is determined to be the negative voltage phase, correction is performed to set the duty ratio to 0% or less.

4. The rotating electrical machine control device according to claim 3, characterized in that: The inverter control unit also includes: a correction determination unit that determines a correction method of the first corrected three-phase voltage command according to whether the voltage phase is the zero voltage phase, the positive voltage phase, or the negative voltage phase, and outputs a correction determination result; and a second three-phase voltage command correction unit that corrects the first corrected three-phase voltage command based on the correction determination result and calculates the corrected three-phase voltage command, The three-phase voltage command normalization unit normalizes the corrected three-phase voltage command and calculates the duty ratio. In the second three-phase voltage command correction unit, When the voltage phase is determined to be the zero voltage phase, the first corrected three-phase voltage command is not corrected, When the voltage phase is determined to be the positive voltage phase, the first corrected three-phase voltage command is corrected to a value where the duty ratio is greater than 100%, When the voltage phase is determined to be the negative voltage phase, the first corrected three-phase voltage command is corrected to a value where the duty ratio is equal to or less than 0%.

5. The rotating electrical machine control device according to claim 3 or 4, characterized in that: A value less than or equal to the minimum value of the three-phase voltage command when the voltage phase is determined to be the positive voltage phase is set as a positive threshold, and a value greater than or equal to the maximum value of the three-phase voltage command when the voltage phase is determined to be the negative voltage phase is set as a negative threshold. Regarding the three-phase voltage command correction amount, a value smaller than the positive threshold is set as an upper limit value, and a value larger than the negative threshold is set as a lower limit value.

6. The rotating electrical machine control device according to any one of claims 1 to 5, characterized in that: The inverter further includes an output current detection unit that detects a three-phase current flowing between the inverter and the rotating electric machine. The three-phase voltage command correction amount calculation section calculates the three-phase voltage command correction amount for reducing an offset component of the three-phase current based on the three-phase current.

7. The rotating electrical machine control device according to claim 6, characterized in that: The three-phase voltage command correction amount calculation unit calculates the three-phase voltage command correction amount by feedback control that brings the integrated value of the three-phase current close to zero.

8. The rotating electrical machine control device according to any one of claims 1 to 7, characterized in that: The three-phase voltage command correction amount calculation unit calculates the three-phase voltage command correction amount by multiplying a fixed value preset as the correction amount of the rectangular wave voltage by a proportional gain based on a value obtained by dividing the frequency of the carrier by the electrical angular frequency.

9. The rotating electrical machine control device according to any one of claims 1 to 8, characterized in that: The inverter further includes a voltage detection unit configured to detect a DC voltage value of the DC power provided to the inverter. The inverter control unit sets the duty cycle to greater than 100% by correcting the three-phase voltage command to a first voltage value determined based on the DC voltage value when the voltage phase is determined to be the positive voltage phase, and sets the duty cycle to less than 0% by correcting the three-phase voltage command to a second voltage value determined based on the DC voltage value when the voltage phase is determined to be the negative voltage phase.

10. The rotating electrical machine control device according to claim 9, characterized in that: The inverter control unit sets the duty ratio to 100% or more by multiplying the three-phase voltage command by a preset first gain when the voltage phase is determined to be the positive voltage phase, and sets the duty ratio to 0% or less by multiplying the three-phase voltage command by a preset second gain when the voltage phase is determined to be the negative voltage phase, The first gain and the second gain are set based on the DC voltage value.

11. The rotating electrical machine control device according to any one of claims 1 to 10, characterized in that: A value obtained by dividing the frequency of the carrier by the electrical angular frequency is an odd multiple of 3.

12. The rotating electrical machine control device according to any one of claims 1 to 11, characterized in that: The zero voltage phase includes: a first zero voltage phase generated when the three-phase voltage command switches from negative to positive, and a second zero voltage phase generated when the three-phase voltage command switches from positive to negative, and the value of the three-phase voltage command correction amount corresponding to the first zero voltage phase and the value of the three-phase voltage command correction amount corresponding to the second zero voltage phase are different from each other.

13. The rotating electrical machine control device according to claim 1, wherein: The inverter control unit includes: a correction determination unit that determines a correction method of the duty ratio according to whether the voltage phase is the zero voltage phase, the positive voltage phase, or the negative voltage phase, and outputs a correction determination result; and a duty ratio correction unit that corrects the duty ratio based on the correction determination result, The three-phase voltage command normalization unit calculates the duty ratio by normalizing the three-phase voltage command before correction, and calculates the duty ratio correction amount by normalizing the three-phase voltage command correction amount. In the duty ratio correction unit, When the voltage phase is determined to be the zero voltage phase, performing correction of adding or subtracting the duty ratio from the duty ratio correction amount, When the voltage phase is determined to be the positive voltage phase, the duty cycle is corrected to be greater than 100%, When the voltage phase is determined to be the negative voltage phase, the duty ratio is corrected to be equal to or less than 0%.

14. The rotating electrical machine control device according to claim 3, characterized in that: The three-phase voltage command normalization unit calculates the duty ratio by normalizing the first corrected three-phase voltage command. The inverter control unit also includes: a correction determination unit that determines a correction method of the duty ratio according to whether the voltage phase is the zero voltage phase, the positive voltage phase, or the negative voltage phase, and outputs a correction determination result; and a duty ratio correction unit that corrects the duty ratio based on the correction determination result, In the duty ratio correction unit, When the voltage phase is determined to be the zero voltage phase, the duty ratio is not corrected, When the voltage phase is determined to be the positive voltage phase, the duty cycle is corrected to be greater than 100%, When the voltage phase is determined to be the negative voltage phase, the duty ratio is corrected to be equal to or less than 0%.

15. The rotating electrical machine control device according to claim 3, characterized in that: The three-phase voltage command normalization unit calculates the duty ratio by normalizing the three-phase voltage commands, and calculates the duty ratio correction amount by normalizing the three-phase voltage command correction amount. The first three-phase voltage command correction unit is a first duty cycle correction unit, which performs correction by adding or subtracting the duty cycle and the duty cycle correction amount, and calculates a normalized first corrected three-phase voltage command, i.e., a first corrected duty cycle. The inverter control unit also includes: a correction determination unit that determines a correction method of the first corrected duty cycle according to whether the voltage phase is the zero voltage phase, the positive voltage phase, or the negative voltage phase, and outputs a correction determination result; and a second duty ratio correction unit that corrects the first corrected duty ratio based on the correction determination result; In the second duty cycle correction unit, When the voltage phase is determined to be the zero voltage phase, the first corrected duty cycle is not corrected, When the voltage phase is determined to be the positive voltage phase, the first corrected duty cycle is corrected to be greater than 100%, When the voltage phase is determined to be the negative voltage phase, the first corrected duty ratio is corrected to be less than 0%.

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