Control device

Abstract

A control device (10) is provided with a feedback controller (12) that performs feedback control on the basis of a d-axis current value (Idr) and a d-axis current command value (Id *) and feedback control on the basis of a q-axis current value (Iqr) and a q-axis current command value (Iq *), calculates a d-axis voltage command value (Vd *) and a q-axis voltage command value (Vq *), and a state feedback controller (17) that performs feedback control on the basis of the d-axis current value (Idr) and the d-axis current command value (Id *) and the q-axis current command value (Iq *) using a rotation matrix. A d-axis voltage value (Vdr) and a q-axis voltage value (Vqr), which are obtained by performing state feedback control on a d-axis current value and a q-axis current value, are subjected to rotational conversion at a rotational angle which is related to the rotational speed (omega) of a motor (30) and is determined by the characteristics of the motor, and a d-axis voltage correction value (Vd1) and a q-axis voltage correction value (Vq1) are calculated.

Description

[0001] Cross-references between related applications

[0002] This application is based on patent application No. 2023-26477 filed in Japan on February 22, 2023, and the contents of the basic application are incorporated by reference in their entirety. Technical Field

[0003] The present disclosure relates to a control device. Background Art

[0004] An example of a control device is a control device for a rotating electrical machine disclosed in Patent Document 1. The control device calculates a feedback manipulated variable (MOV) for controlling the rotational speed of a motor equipped with a cooling fan to a target value. Furthermore, based on the rotational speed, the control device calculates a load manipulated variable (MOV), which is a feedforward MOV corresponding to a load torque that increases as the motor's rotational speed increases. The control device then operates an inverter based on the command MOV, the value obtained by adding the load MOV to the feedback MOV.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent No. 7099186 Summary of the Invention

[0008] However, in systems that include inverters, high-order harmonic ripple can sometimes be generated due to variations in the inverter's dead time. State feedback control has been considered as a way to suppress this dead time variation. However, state feedback control has the following problem: when the control cycle is slow and the motor rotates at high speed, the control system becomes unstable.

[0009] An object of the present disclosure is to provide a control device capable of stably controlling an inverter with a slow control cycle and at high-speed rotation.

[0010] The control device disclosed herein is applicable to a drive system that converts power from a DC power supply into three-phase AC power via an inverter and supplies the power to a rotating electrical machine. The control device calculates a voltage command to be output to the inverter using vector control, and is characterized in that:

[0011] The control device has:

[0012] A command value output unit outputs a d-axis current command value and a q-axis current command value;

[0013] a conversion unit that performs dq-axis conversion on a phase current flowing through each phase of the rotating electrical machine into a d-axis current value and a q-axis current value;

[0014] a feedback controller that performs feedback control based on the d-axis current value and the d-axis current command value, and feedback control based on the q-axis current value and the q-axis current command value, and calculates the d-axis voltage command value and the q-axis voltage command value;

[0015] a state feedback controller that uses a rotation matrix to perform a rotation transformation on a d-axis voltage value and a q-axis voltage value obtained by state feedback control of the d-axis current value and the q-axis current value, at an angle related to the rotation speed of the rotating electric machine and determined by the characteristics of the rotating electric machine, and calculates a d-axis voltage correction value and a q-axis voltage correction value; and

[0016] The control unit outputs the value obtained by performing uvw conversion on the d-axis corrected command value and the q-axis corrected command value as a voltage command to the inverter. The d-axis corrected command value is a value obtained by subtracting the d-axis voltage correction value from the d-axis voltage command value or a value related to the d-axis voltage command value; and the q-axis corrected command value is a value obtained by subtracting the q-axis voltage correction value from the q-axis voltage command value or a value related to the q-axis voltage command value.

[0017] In this manner, the control device uses a rotation matrix to perform a rotational transformation at an angle related to the rotational speed of the rotating electrical machine and determined by the characteristics of the rotating electrical machine, thereby calculating the d-axis voltage correction value and the q-axis voltage correction value. The control device then uses the d-axis voltage correction value and the q-axis voltage correction value to calculate the d-axis corrected command value and the q-axis corrected command value. The uvw-transformed d-axis corrected command value and the q-axis corrected command value are then output as voltage commands to the inverter. Consequently, the control device can suppress instability caused by state feedback control even when the control cycle is slow and the rotation speed is high. Consequently, the control device can stably control the inverter even when the control cycle is slow and the rotating electrical machine is rotating at high speed.

[0018] The various embodiments disclosed in this specification utilize different technical means to achieve their respective objectives. The claims and the accompanying figures within parentheses are provided for illustrative purposes only to indicate the correspondence with the embodiments described below and are not intended to limit the scope of the invention. The objectives, features, and effects disclosed in this specification will become more apparent with reference to the detailed description and accompanying drawings that follow. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a block diagram showing the schematic configuration of a drive system.

[0020] Figure 2 This is a diagram showing a schematic structure of a state feedback controller.

[0021] Figure 3 It is a diagram showing a schematic configuration of a feedback controller and a state feedback controller according to a modified example.

[0022] Figure 4 It means K SFB The speed characteristic curve diagram.

[0023] Figure 5 is the value of θ SFB The speed characteristic curve diagram.

[0024] Figure 6 It means K FBC The speed characteristic curve diagram.

[0025] Figure 7 is the value of θ FBC The speed characteristic curve diagram.

[0026] Figure 8 It is a contour map illustrating the effect.

[0027] Figure 9 This is a graph showing the effect of reducing torque ripple. DETAILED DESCRIPTION

[0028] Hereinafter, a mode for carrying out the present disclosure will be described with reference to the drawings.

[0029] In this embodiment, as an example, the drive system 100 is applied to a cooling system. The cooling system includes the drive system 100; a radiator that dissipates heat from cooling water flowing through an engine (not shown); a cooling fan 50 that air-cools the cooling water flowing through the radiator; and a motor 30 that rotates the cooling fan 50. The radiator is connected to the engine via a cooling water passage (not shown) consisting of an inflow path and a return path.

[0030] The motor 30 is an AC-driven rotating electric machine having coils 31, 32, and 33 for each phase, U, V, and W. A cooling fan 50 is mounted on the rotating shaft of the motor 30. The cooling fan 50 is rotated by the motor 30 when the vehicle is parked or traveling at a low speed.

[0031] Drive system 100 includes a control device 10 and an inverter 20 (INV). Inverter 20 is connected to the positive and negative terminals of battery 70. Inverter 20 is connected to motor 30 via wiring L1 to L3. Inverter 20 converts DC power supplied from battery 70 into three-phase AC power (U, V, W) and supplies it to motor 30. Battery 70 serves as a DC power source.

[0032] Inverter 20 includes a series connection of switching elements for each phase (U, V, and W), each connected in parallel. The connection points of the switching elements for each phase are connected to the U, V, and W phase coils 31 to 33 of motor 30 via wiring L1, L2, and L3. Each switching element is turned on and off in response to an operating signal (voltage command) output from control device 10, thereby supplying power to the respective phase coils 31 to 33 via wiring L1 to L3. Examples of the switching elements include MOSFETs and IGBTs.

[0033] Current detection units 40 are provided in wiring lines L1 to L3. Current detection units 40 include three phase detection units 41 to 43 that detect the phase currents flowing through the respective phase coils 31 to 33. U-phase detection unit 41 is provided in wiring line L1 that connects inverter 20 to U-phase coil 31. U-phase detection unit 41 detects the phase current flowing through U-phase coil 31 as U-phase current Iu.

[0034] The V-phase detection unit 42 is provided in the wiring L2 connecting the inverter 20 and the V-phase coil 32. The V-phase detection unit 42 detects the phase current flowing through the V-phase coil 32 as the V-phase current Iv.

[0035] W-phase detector 43 is provided in wiring L3 connecting inverter 20 and W-phase coil 33. W-phase detector 43 detects the phase current flowing through W-phase coil 33 as W-phase current Iw. Each phase current Iu to Iw is input to three-phase to two-phase converter 15 described later.

[0036] In this embodiment, a shunt resistor is used as an example of each phase detection unit 41 to 43. In addition, the present disclosure can use a Hall IC or the like as each phase detection unit 41 to 43.

[0037] Motor 30 is provided with a resolver 60 that detects the electrical angle θr of motor 30. This electrical angle θr is input to a rotational speed calculation unit 16 of a two-phase to three-phase converter 13 and a three-phase to two-phase converter 15, described later. Furthermore, current detection unit 40 and resolver 60 may also be included in drive system 100.

[0038] The control device 10 calculates the operating signal output to the inverter 20 through vector control. The control device 10 is primarily composed of a microcomputer and a control IC. For example, the control device 10 may include a processing device such as a CPU, a memory device including ROM and RAM, and interfaces such as I / O circuits. The control device 10 performs control, for example, using software stored in a physical memory device and a computer, hardware, or a combination thereof to execute the software.

[0039] like Figure 1As shown, the control device 10 includes a command value calculation unit 11, a feedback controller 12, a two-phase to three-phase conversion unit 13, a PWM control unit 14, a three-phase to two-phase converter 15, a rotational speed calculation unit 16, and a state feedback controller 17. Furthermore, the control device 10 includes a first d-axis calculation unit 18a, a first q-axis calculation unit 18b, a second d-axis calculation unit 18c, and a second q-axis calculation unit 18d. In the drawings, the command value calculation unit 11 is denoted as CVC, the feedback controller 12 is denoted as FBC, the two-phase to three-phase conversion unit 13 is denoted as 2-3CVT, and the PWM control unit 14 is denoted as PWMC. Furthermore, the three-phase to two-phase converter 15 is denoted as 3-2CVT, the rotational speed calculation unit 16 is denoted as RPMC, and the state feedback controller 17 is denoted as SFB.

[0040] The command value calculation unit 11 calculates the feedback manipulated variable based on the externally input command value and the rotational speed ω of the motor 30 calculated by the rotational speed calculation unit 16. The command value calculation unit 11 calculates the d-axis current command value Id* and the q-axis current command value Iq*, which are values ​​on the dq coordinate system, as the feedback manipulated variable. The command value calculation unit 11 outputs the calculated d-axis current command value Id* and q-axis current command value Iq*. The command value calculation unit 11 functions as a command value output unit.

[0041] Here, of the axes defining the dq coordinates, the d-axis represents the reactive current component, i.e., the current contributing to the rotating magnetic field accompanying the rotation of the motor 30, i.e., the excitation current component. Meanwhile, the q-axis represents the active current component, i.e., the current contributing to the torque of the motor 30, i.e., the torque current component.

[0042] Feedback controller 12 performs feedback control based on d-axis current value Idr and d-axis current command value Id*, as well as feedback control based on q-axis current value Iqr and q-axis current command value Iq*. Consequently, feedback controller 12 calculates d-axis voltage command value Vd* and q-axis voltage command value Vq*. The d-axis current value Idr and the q-axis current value Iqr are output from a three-phase to two-phase converter 15, described later.

[0043] Specifically, the feedback controller 12 receives inputs from the first d-axis calculator 18a, the first q-axis calculator 18b, and the rotational speed calculator 16. The first d-axis calculator 18a calculates the value obtained by subtracting the d-axis current value Idr from the d-axis current command value Id* as the d-axis current deviation ΔId. The first q-axis calculator 18b calculates the value obtained by subtracting the q-axis current value Iqr from the q-axis current command value Iq* as the q-axis current deviation ΔIq. As described later, the rotational speed calculator 16 outputs the rotational speed ω of the motor 30. The d-axis current deviation ΔId and the q-axis current deviation ΔIq are inputs to the feedback controller 12. The feedback controller 12 calculates the d-axis voltage command value Vd* so that the d-axis current deviation ΔId becomes zero, and calculates the q-axis voltage command value Vq* so that the q-axis current deviation ΔIq becomes zero. The feedback controller 12 can, for example, employ the configuration described in FIG. 24 of Japanese Patent No. 5998663. Furthermore, the feedback controller 12 improves the current response performance by eliminating the interference component using the rotation speed ω.

[0044] The two-phase to three-phase conversion unit 13 receives input from the outputs of the second d-axis calculator 18c and the second q-axis calculator 18d. The second d-axis calculator 18c calculates the value obtained by subtracting the d-axis voltage correction value Vd1 from the d-axis voltage command value Vd* as the d-axis corrected command value Vd. The second q-axis calculator 18d calculates the value obtained by subtracting the q-axis voltage correction value Vq1 from the q-axis voltage command value Vq* as the q-axis corrected command value Vq. The d-axis corrected command value Vd can also be referred to as the d-axis voltage deviation, which is the deviation between the d-axis voltage command value Vd* and the d-axis voltage correction value Vd1. The q-axis corrected command value Vq can also be referred to as the q-axis voltage deviation, which is the deviation between the q-axis voltage command value Vq* and the q-axis voltage correction value Vq1. The d-axis voltage correction value Vd1 and the q-axis voltage correction value Vq1 are output from the state feedback controller 17, which will be described later.

[0045] The two-phase to three-phase converter 13 performs a uvw conversion on the d-axis corrected command value Vd and the q-axis corrected command value Vq using the electrical angle θr of the motor 30. Specifically, the two-phase to three-phase converter 13 performs a uvw conversion on the d-axis corrected command value Vd and the q-axis corrected command value Vq to convert them into a U-phase command voltage Vu, a V-phase command voltage Vv, and a W-phase command voltage Vw.

[0046] Thus, the control device 10 corrects the d-axis voltage command value Vd* using the d-axis voltage correction value Vd1 calculated by the state feedback controller 17 . Furthermore, the control device 10 corrects the q-axis voltage command value Vq* using the q-axis voltage correction value Vq1 calculated by the state feedback controller 17 .

[0047] The PWM control unit 14 calculates operation signals GSu, GSv, and GSw for operating the semiconductor switches of the U, V, and W phases of the inverter 20 based on the U-phase command voltage Vu, the V-phase command voltage Vv, and the W-phase command voltage Vw. In other words, the PWM control unit 14 generates PWM waveform signals (voltage specified value signals) GSu, GSv, and GSw to control the switching of the switches of the inverter 20.

[0048] Operation signal GSu is a signal for operating the U-phase switch of inverter 20. Operation signal GSv is a signal for operating the V-phase switch of inverter 20. Operation signal GSw is a signal for operating the W-phase switch of inverter 20. PWM control unit 14 then outputs operation signals GSu, GSv, and GSw to inverter 20. In this way, control device 10 controls inverter 20. Furthermore, two-phase / three-phase conversion unit 13 and PWM control unit 14 constitute a control unit.

[0049] The three-phase to two-phase converter 15 performs a dq-axis transformation on each phase current Iu to Iw based on the electrical angle θr, converting them into d-axis current values ​​Idr and q-axis current values ​​Iqr. Specifically, the three-phase to two-phase converter 15 converts each phase current Iu to Iw into dq coordinate values, namely, d-axis current values ​​Idr and q-axis current values ​​Iqr. The three-phase to two-phase converter 15 functions as a conversion unit. The rotational speed ω of the motor 30 is calculated by the rotational speed calculation unit 16. The rotational speed calculation unit 16 calculates the rotational speed ω by differentiating the electrical angle θr.

[0050] use Figure 2 The state feedback controller 17 is described below. The state feedback controller 17 includes a rotation matrix calculation unit 170 and gain compensators 171 to 173. The d-axis gain compensator 171 calculates the state feedback gain K SFB The d-axis current value Idr is subjected to state feedback control, thereby calculating the d-axis voltage value Vdr. The q-axis gain compensator 172 calculates the d-axis voltage value Vdr by using the state feedback gain K SFB The q-axis voltage value Vqr is calculated by performing state feedback control on the q-axis current value Iqr. In this way, the state feedback controller 17 calculates the d-axis voltage value Vdr and the q-axis voltage value Vqr by performing state feedback control on the d-axis current value Idr and the q-axis current value Iqr.

[0051] In addition, the state feedback gain K SFB It is a value set in advance based on manufacturing tolerance, control cycle, etc. In this embodiment, as an example, the same state feedback gain K is used on the d-axis side and the q-axis side. SFB However, the state feedback gain K SFB Different values ​​may be employed on the d-axis side and the q-axis side.

[0052] The ω gain compensator 173 multiplies the speed ω by the state feedback angle gain K θSFB To calculate the rotation angle θ SFB State feedback angle gain K θSFB is a value preset according to the characteristics of the motor 30. The characteristics of the motor 30 are parameters such as the resistance value and inductance of the motor 30. SFB This is an angle related to the rotation speed ω of the motor 30 and determined by the characteristics of the motor 30. In this embodiment, as an example, a rotation angle θ proportional to the rotation speed ω is used. SFB That is, the rotation angle θ SFB As the value related to the rotation speed ω, a value proportional to the rotation speed ω is adopted. SFB It can also be said to be the rotation angle of the state feedback control system or the state feedback rotation angle.

[0053] The rotation matrix calculation unit 170 receives as input the d-axis voltage value Vdr, the q-axis voltage value Vqr, and the rotation angle θ. SFB The rotation matrix calculation unit 170 calculates Figure 2 The rotation matrix calculation unit 170 uses the rotation matrix to perform rotation transformations on the d-axis voltage value Vdr and the q-axis voltage value Vqr corresponding to the rotation angle θ. SFB In other words, the rotation matrix calculation unit 170 calculates the d-axis voltage value Vdr and the q-axis voltage value Vqr by rotating them inversely by the rotation angle θ. SFB The d-axis voltage correction value Vd1 and the q-axis voltage correction value Vq1 after the amount of rotation matrix calculation unit 170 are obtained. In addition, the rotation matrix calculation unit 170 can also be called a calculation unit of the state feedback control system or a phase compensator of the state feedback control system.

[0054] The control device 10 is designed as a discrete system, not a continuous system. In a discrete system, it is necessary to compensate for the inter-axis interference between the d-axis and q-axis in state feedback control. The more rigorous the inter-axis interference compensation, the more stable the control. However, due to the time required for calculation, this can lead to instability. Therefore, the control device 10 uses the rotation matrix calculation unit 170 to calculate the d-axis voltage correction value Vd1 and the q-axis voltage correction value Vq1 to compensate for the inter-axis interference.

[0055] As described above, the control device 10 uses the rotation matrix to calculate the rotation angle θ which is related to the rotation speed ω of the motor 30 and is determined by the characteristics of the motor 30. SFBA rotational transformation is performed to calculate the d-axis voltage correction value Vd1 and the q-axis voltage correction value Vq1. The control device 10 then uses the d-axis voltage correction value Vd1 and the q-axis voltage correction value Vq1 to calculate the d-axis corrected command value Vd and the q-axis corrected command value Vq. Furthermore, the control device 10 calculates the operation signals GSu, GSv, and GSw based on the values ​​Vu to Vw obtained by performing uvw transformation on the d-axis corrected command value Vd and the q-axis corrected command value Vq, and outputs them to the inverter.

[0056] Therefore, the control device 10 can suppress instability caused by state feedback control when the control cycle is slow and the motor 30 rotates at high speed. Therefore, the control device 10 can stably control the inverter 20 when the control cycle is slow and the motor 30 rotates at high speed. Furthermore, the control device 10 can stably control the inverter 20 while suppressing higher-order harmonic ripple. Furthermore, it can be said that the control device 10 can stably drive and control the motor 30 via the inverter 20 when the control cycle is slow and the motor rotates at high speed.

[0057] In other words, drive system 100 generates high-order harmonic ripple due to the dead-time deviation of inverter 20. Drive system 100 generates abnormal noise (sound) due to the coincidence of the high-order harmonic ripple with the resonant frequency of the cooling system. This dead-time deviation is a voltage disturbance. To suppress this voltage disturbance, state feedback control can be used.

[0058] However, state feedback control can lead to unstable control systems when the control cycle of the control device 10 is slow and the control device 10 rotates at high speed. Therefore, the control device 10 uses the rotation matrix as described above to calculate the d-axis voltage correction value Vd1 and the q-axis voltage correction value Vq1, and uses the d-axis voltage correction value Vd1 and the q-axis voltage correction value Vq1 to calculate the d-axis corrected command value Vd and the q-axis corrected command value Vq. As described above, the control device 10 thus stabilizes the control of the inverter 20 and can suppress higher harmonic ripple through state feedback control. Furthermore, the control system includes the drive system 100, the cooling fan 50, and the motor 30 that rotates the cooling fan 50. That is, the control system can also be referred to as a cooling system.

[0059] In addition, use Figure 8 The contour plot shown confirms the stability with respect to parameter variations of the motor 30 . Figure 8 (a) shows the result of a control device as a comparison object having a structure not using a rotation matrix. Figure 8 (b) is the result related to the control device 10 using the rotation matrix. Figure 8 In the example above, shadows are applied to unstable areas. Figure 8 The black dots represent nominal parameters (design values). The parameters of the motor 30 are resistance and inductance.

[0060] like Figure 8 As shown in (a), in the control device of the comparison object, the unstable region is close to the nominal parameters, and the control system is easily unstable due to parameter changes. Figure 8 As shown in (b), the unstable region of the control device 10 is far from the nominal parameters, and the control system can be stabilized. In other words, for the control device 10, even if the parameters fluctuate, the control system is unlikely to become unstable.

[0061] Furthermore, the cause of the abnormal noise is the secondary ripple component of the electrical angle. Figure 9 As shown, the effect is confirmed by the torque ripple. Figure 9 This is a graph showing the effect of reducing torque ripple. Figure 9 This is the simulation result showing the relationship between the electrical angle order and the torque ripple. Figure 9 The solid line is a simulation result related to the control device 10 having the state feedback controller 17. On the other hand, Figure 9 The solid line is a simulation result related to a control device of a comparison object that does not have the state feedback controller 17. Figure 9 As shown, it can be confirmed that the control device 10 can reduce the torque ripple of the electrical angle quadratic by about 33%.

[0062] In addition, if Figure 3 In the modified example shown, the control device 10 may also include a rotation matrix calculation unit 124 on the output side of the feedback controller 12. The rotation matrix calculation unit 124 may also be called a calculation unit of the feedback control system or a phase compensator of the feedback control system. The rotation matrix calculation unit 124 corresponds to a correlation value calculation unit.

[0063] The rotation matrix calculation unit 124 receives as input the d-axis voltage command value Vd*, the q-axis voltage command value Vq*, and the rotation angle θ FBC The rotation matrix calculation unit 124 calculates Figure 3 The rotation matrix is ​​shown in Figure 2. In addition, the rotation angle θ FBC The ω gain compensator 123 calculates the ω gain. The ω gain compensator 123 receives the rotation speed ω as input and sets the feedback angle gain K θFBC .

[0064] The rotation matrix calculation unit 170 uses the rotation matrix to rotate the angle θ FBC The d-axis voltage command value Vd* and the q-axis voltage command value Vq* are subjected to rotation transformation to calculate a d-axis correlation value Vd1* related to the d-axis voltage command value Vd* and a q-axis correlation value Vq1* related to the q-axis voltage command value Vq*. That is, the rotation matrix calculation unit 170 calculates the value obtained by inverting the d-axis voltage command value Vd* and the q-axis voltage command value Vq* by an angle corresponding to the rotation angle θ. FBCThe d-axis correlation value Vd1* and q-axis correlation value Vq1* are obtained.

[0065] In the modified configuration, the second d-axis calculator 18c calculates the d-axis corrected command value Vd by subtracting the d-axis voltage correction value Vd1 from the d-axis correlation value Vd1*. The second q-axis calculator 18d calculates the q-axis corrected command value Vq by subtracting the q-axis voltage correction value Vq1 from the q-axis correlation value Vq1*.

[0066] exist Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 The state feedback gain K is represented in SFB , rotation angle θ SFB , feedback gain K FBC , rotation angle θ FBC In each figure, the theoretical value is represented by a solid line. In the control device 10 of the modified example, the theoretical value is used for calculation processing to control the inverter 20. Therefore, the control device 10 of the modified example can appropriately control the inverter 20.

[0067] However, the control device 10 of the modified example uses Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 Therefore, in the above embodiment, if Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 As shown by the dotted line, the state feedback gain K SFB , feedback gain K FBC , rotation angle θ FBC Approximately a constant value, the rotation angle θ SFB It is approximately proportional to the rotation speed ω. Therefore, the control device 10 of the above embodiment can reduce the processing load compared with the modified example.

[0068] However, the present disclosure is not limited thereto. SFB The theoretical value of can also be considered to change as a linear function according to the range of the rotation speed ω. In this case, the rotation angle θ SFB As the value correlated with the rotation speed ω, the values ​​in which the slope and intercept of the linear function change according to the rotation speed ω are adopted.

[0069] Preferred embodiments of the present disclosure have been described above. However, the present disclosure is not limited to the above embodiments, and various modifications are possible without departing from the spirit of the present disclosure.

[0070] While the present disclosure is described based on embodiments, it should be understood that the present disclosure is not limited to such embodiments or structures. The present disclosure also includes various modifications and variations within the scope of equivalents. In addition, various combinations and methods are shown in the present disclosure, but other combinations and methods that include only one element, more than one element, or less than one element also fall within the scope and spirit of the present disclosure.

Claims

1. A control device for a drive system that converts power from a DC power supply into three-phase AC power via an inverter and supplies the power to a rotating electrical machine, wherein the control device calculates a voltage command to be output to the inverter through vector control. The control device comprises: A command value output unit (11) outputs a d-axis current command value (Id*) and a q-axis current command value (Iq*); a conversion unit (15) for performing dq-axis conversion on the phase current (Iu, Iv, Iw) flowing through each phase of the rotating electrical machine to obtain a d-axis current value (Idr) and a q-axis current value (Iqr); A feedback controller (12) performs feedback control based on the d-axis current value and the d-axis current command value, and performs feedback control based on the q-axis current value and the q-axis current command value, and calculates a d-axis voltage command value (Vd*) and a q-axis voltage command value (Vq*); a state feedback controller (17) that uses a rotation matrix to perform rotational transformation on a d-axis voltage value (Vdr) and a q-axis voltage value (Vqr) obtained by state feedback control of the d-axis current value and the q-axis current value at an angle related to the rotation speed of the rotating motor and determined by the characteristics of the rotating motor, and calculates a d-axis voltage correction value (Vd1) and a q-axis voltage correction value (Vq1); and The control unit (13, 14) outputs the value obtained by performing uvw conversion on the d-axis corrected command value (Vd) and the q-axis corrected command value (Vq) as the voltage command to the inverter, wherein the d-axis corrected command value is a value obtained by subtracting the d-axis voltage correction value from the d-axis voltage command value or a related value (Vd1*) of the d-axis voltage command value; and the q-axis corrected command value is a value obtained by subtracting the q-axis voltage correction value from the q-axis voltage command value or a related value (Vq1*) of the q-axis voltage command value.

2. The control device according to claim 1, The invention also includes a correlation value calculation unit (124) which uses a rotation matrix to perform rotation transformation on the d-axis voltage command value and the q-axis voltage command value at an angle that is related to the rotation speed of the rotating motor and is determined by the characteristics of the feedback controller and the characteristics of the state feedback controller, and calculates the correlation value of the d-axis voltage command value and the correlation value of the q-axis voltage command value.

3. The control device according to claim 1 or 2, The angle determined by the characteristics of the rotating electric machine is proportional to the rotation speed of the rotating electric machine.

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