Control device and control system

Abstract

Control device (10) comprising the following: - a correction unit (13) for correcting at least one value of a thermal resistance (21), a value of heat generation and a heat capacity (24), which are physical quantities, to generate a model (30-1) for the thermal circuit covering the thermal circuit of a rotating electrical machine (1), - wherein the correction unit (13) corrects at least one value of the thermal resistance (12), the heat generation value and the heat capacity (24) using measurement information at a measurement position using measurement information obtained from a plurality of sensors (8) installed in or around the rotating electric machine (1), including measurement information that includes the temperature (T31) or the heat flux (U32) measured by a sensor unit (8) at the measurement position in the rotating electric machine (1).

Description

Technical field

[0001] The invention relates to a control device that performs a temperature estimation of a rotating electric machine, and to a control system that includes such a control device. State of the art

[0002] Some conventional control devices include a temperature detection device that detects the temperature of the motor stator, as well as a temperature estimation device that estimates the temperature of the motor stator. The temperature estimation device estimates the motor stator temperature based on a model of a thermal circuit. This model is composed of the thermal resistances and heat generations within the motor and represents the thermal characteristics of the actual motor, which is a rotating electrical machine.

[0003] It is known that in such a conventional control device, the heat generation of the motor is corrected by using a product obtained by multiplying an error by a predetermined coefficient, where the error lies between the detected temperature of the stator obtained from the temperature detection device and the estimated temperature of the stator obtained from the temperature estimating device (e.g. JP 2016 - 82 698 A).

[0004] US Patent 2011 / 0080124A1 discloses an inverter device comprising a controller, a converter, and an inverter. The inverter is mounted on a heat sink, and a sensor measures the temperature of the heat sink in the environment where the inverter is installed. An overload protection device estimates the junction temperature of a semiconductor device of the inverter based on the motor current detected by a current detector and the ambient temperature. The inverter device includes a sensor that detects the temperature of a power module of the inverter. An estimator calculates the thermal resistance and thermal capacitance of an unknown heat sink.The values ​​calculated by the estimator are fed to the overload protection device, which calculates the junction temperature of the semiconductor device using an equivalent thermal circuit that includes the motor current, the ambient temperature of the inverter, and the estimated thermal capacity of the unknown heat sink. A current limiter then applies current limiting to the motor based on a current limit derived from the calculation result.

[0005] DE 10 2009 025 390 A1 discloses an asynchronous electric motor in whose stator winding a temperature sensor is provided for measuring the stator winding temperature. From measured current values ​​and a rotational speed determined from measured angular values, at least three power losses are calculated as a loss model, in particular as approximations for the winding losses, the rotor losses, and the iron losses. The power losses determined in this way as a loss model are considered as sources in a thermal equivalent circuit, which models the heat capacities and the thermal resistances. In this way, and taking into account the measured temperature at the sensor, which is also fed into the equivalent circuit, estimated temperatures are determined using the thermal equivalent circuit as output variables, in particular the winding temperature, the iron temperature, and the rotor temperature.Furthermore, the temperature at the sensor is estimated using the thermal equivalent circuit, and this estimate is compared with the measured value. The difference between the two temperature values ​​is fed to a Luenberger observer and used to scale the temperatures determined from the thermal model.

[0006] US Patent 2015 / 0048772A1 discloses a motor drive device comprising a motor coil temperature estimation unit in which a motor coil elevated temperature estimate and a motor coil ambient temperature estimate are added together by an adder to calculate and output a motor coil temperature estimate. In one embodiment, a pre-identified coefficient R (gain factor) is used to estimate the motor coil elevated temperature in the subsequent model. R represents a gain factor obtained by approximating the constants contained in the motor's heat capacity and the amount of heat generated per unit time. Measurement information including temperature is used to determine a first-order lead compensation time constant. Summary of the invention Problems to be solved with the invention

[0007] In the control device shown in JP 2016-82698A, the values ​​of the thermal resistances and heat capacities of the thermal circuit model used for temperature estimation must be corrected during the production process when the control logic is written to the control device. After delivery from the factory, these values ​​cannot be changed.

[0008] Therefore, it is not possible to correct the thermal resistances, heat generations, and heat capacities specified in the model for the thermal circuit according to the actual changes in the thermal resistances, heat generations, and heat capacities of the motor due to aging deterioration, which results in the accuracy of the temperature estimation of the control device becoming worse after deterioration over time.

[0009] The object of the present invention is to solve the above-mentioned problem and to provide a control device that is capable of preventing the deterioration of the accuracy of the temperature estimation after deterioration over time. Solution to the problem

[0010] The problem underlying the invention is solved by a control device having the features of independent claim 1. Advantageous embodiments of the control device according to the invention are specified in dependent claims 2 to 10. Furthermore, the problem underlying the invention is solved by a control system having the features of independent claim 11. Advantageous effects of the invention

[0011] The control device with the configuration mentioned above is able to prevent a deterioration in the accuracy of the temperature estimate after deterioration over time. Brief description of the drawings Fig. Figure 1 is a block diagram showing a control system according to embodiment 1 of this application. Fig. Figure 2 is a hardware configuration diagram showing the control system according to embodiment 1 of this application. Fig. Figure 3 is a block diagram showing part of the control device according to embodiment 1 of this application. Fig. Figure 4 is a diagram showing a model for the thermal circuit of an entire motor, which is to be used for temperature estimation by means of the control device according to embodiment 1 of this application. Fig. Figure 5 shows part of the model for the thermal circuit, which is in Fig. 4 is shown. Fig. Figure 6 shows part of the model for the thermal circuit for correcting the thermal resistance, which is to be used by the control device according to embodiment 1 of this application. Fig. Figure 7 shows part of the model for the thermal circuit for correcting heat generation, which is to be used by the control device according to embodiment 1 of this application. Fig. Figure 8 shows part of the model for the thermal circuit for correcting the heat capacity, which is to be used by the control device according to embodiment 1 of this application. Fig. Figure 9 is a flowchart of a control process carried out by the control device according to embodiment 1 of this application. Fig. Figure 10 is a flowchart of a control process carried out by a control device according to embodiment 2 of this application. Fig. Figure 11 is a diagram showing the motor output power versus time when the motor is under the control of the control device according to embodiment 2 of this application. Fig. Figure 12 is a diagram showing the estimated temperature versus time when the motor is under the control of the control device according to embodiment 2 of this application. Fig. Figure 13 is a diagram showing the motor output power versus time when the motor is under the control of the control device according to embodiment 2 of this application. Fig. Figure 14 is a diagram showing the estimated temperature versus time when the motor is under the control of the control device according to embodiment 2 of this application. Designs

[0012] Drive control devices according to various embodiments of this application are shown in detail below with reference to the drawings. Design 1

[0013] Fig. Figure 1 is a block diagram showing a control system according to embodiment 1 of the present invention disclosed in this application.

[0014] As in Fig. As shown in Figure 1, a control system 100 comprises the following: a motor 1, which is a rotating electric machine; an inverter 9, which is a power converter; a control device 10, which controls the inverter 9; sensors 8, which are sensor units; a rotation position detector 14; and a current detector 15. The control device 100, which is in Fig. Figure 1, which is a motor system, drives a motor mounted on an electric vehicle, for example via an inverter and a control unit. The control unit 10 can be integrated into the inverter 9.

[0015] The motor 1 has a stator 2 and a rotor 3, with the rotor 3 facing the stator 2 with a gap between them, enabling it to rotate. The stator 2 has a stator core 4 and a stator winding 5. The rotor 3 has a rotor core 6, a rotor winding 7, and a shaft 23. The rotor 3 can have a permanent magnet instead of the rotor winding 7 to generate a magnetic field.

[0016] The sensors 8, which are temperature and heat flux sensors, are attached to the stator 2 and rotor 3 near the stator winding 5, and to the stator core 4 near the rotor winding 7. They measure local temperatures and heat fluxes within the motor 1. The mounting location for a sensor 8 is not limited to the interior of the motor 1. It is possible to position it elsewhere on the motor 1, such as on its outer surface.

[0017] Furthermore, sensor 8 does not necessarily need to be installed in or on motor 1. It can be located in a position separate from motor 1, as long as it can measure temperatures and the heat flux of motor 1. It should be noted that sensor 8 is not limited to a temperature sensor or a heat flux sensor; it can be any type of sensor that receives information allowing the temperature and heat flux to be determined indirectly.

[0018] Furthermore, the motor 1 is equipped with a rotation position detector 14, which detects the rotation position of the rotor 3, and a current detector 15, which detects the current flowing through the motor 1 as a detected current.

[0019] The control device 10 comprises the following: a control unit 11 for controlling the motor 1 using a model for the thermal circuit covering the thermal circuit of the motor 1, which is a rotating electric machine; a calculation unit 12 for estimating the temperature of the rotating electric machine as an estimated temperature using the model for the thermal circuit; and a correction unit 13 for correcting at least one of the thermal resistance, heat generation, and heat capacity, which are physical quantities, to form the model for the thermal circuit.

[0020] The calculation unit 12 and the correction unit 13 receive measurement information acquired by the sensors 8 supplied to the motor 1 and perform the calculation described later.

[0021] The control unit 11 receives correction information representing the correction result from the correction unit 13, the rotational position of the motor 1 from the rotational position detector 14, and the detected current from the current detector 15, and then calculates a voltage command using a current command generated on the basis of the correction information and the rotational position, as well as the detected current, and sends this as an output to the inverter 9.

[0022] Inverter 9 applies a voltage to motor 1 based on the voltage command. For example, inverter 9 drives motor 1 by applying a voltage to motor 1, the voltage being modulated with the PWM waveform generated based on the voltage command.

[0023] As a result, the control device 10 can control the voltage applied to the motor 1, so that the detected current, which is to be detected by the current detector 15, follows the current command. Consequently, the control device 10 controls the output power of the motor 1 by changing the way in which the motor 1 operates, more precisely its torque or its speed.

[0024] Fig. Figure 2 is a hardware configuration diagram showing the control system according to the present embodiment. As shown in Fig. As shown in Figure 2, the control device 10, which is contained in the control system 100, has a processor 90 and a memory device 91. The processor 90 executes a program stored in the memory device 91 and thus performs the processing of the control device 10.

[0025] The Processor 90 features a processor that is logically configured as a hardware circuit, such as a microcomputer, a digital signal processor (DSP), and an FPGA.

[0026] The storage device 91 includes volatile memory, such as a selective-access memory, and non-volatile auxiliary memory, such as flash memory. Neither is shown. Alternatively, the storage device 91 may include volatile memory, such as a selective-access memory, and auxiliary memory, such as a hard disk, instead of non-volatile auxiliary memory. Neither is shown.

[0027] Processor 90 executes a program that is loaded from memory device 91. Since memory device 91 has auxiliary memory and volatile memory, the program is loaded from auxiliary memory into processor 90 via volatile memory. Processor 90 can send its output data, such as a calculation result, to the volatile memory of memory device 91, or it can store the data in auxiliary memory via volatile memory.

[0028] The functions of the control unit 11, the calculation unit 12 and the correction unit 13 (the units that are in Fig. The functions shown in Figure 1 are implemented by the processor 90, which executes the program stored in the memory device 91, or by means of a processing circuit, such as an LSI system (not shown). It is also possible for a plurality of processors 90 and memory devices 91 to work together for a plurality of the processing circuits mentioned above to implement the above functions. Furthermore, it is possible for a combination of a plurality of processors 90, a plurality of memory devices 91, and a plurality of processing circuits to work together to implement the above functions.

[0029] Next, the manner in which the device of the present embodiment works will be described.

[0030] Fig. Figure 3 is a block diagram showing part of the control device according to the present embodiment. The control device 10's calculation unit 12 includes a temperature calculation unit 30, which estimates the temperature distribution of the motor 1 based on the thermal circuit model and thus outputs the estimated temperature T33. The estimation is performed using a measured temperature T31, which represents the measurement information from a temperature sensor 31 (sensor 8), a measured heat flux U32, which represents the measurement information from a heat flux sensor 32 (sensor 8), and correction information Cc, which is the output from the correction unit 13.The model for the thermal circuit is a model formed from a heat network containing a thermal circuit represented by a thermal circuit equation based on Ohm's law.

[0031] In the present embodiment, the measured temperature T31 is the measured temperature of the temperature sensor st2, and the measured heat fluxes U32 are measured heat fluxes of the heat flux sensors sf1 and sf3. There can be a plurality of measured temperatures T31 and measured heat fluxes U32, each measured by the sensors 8.

[0032] The correction unit 13 includes a correction assessment unit 34, which assesses the need for a correction of the thermal circuit model, and a correction calculation unit 35, which sends its output of the correction information Cc for a partial thermal circuit model, which is a part of the thermal circuit model that is necessary for the correction.

[0033] The correction evaluation unit 34 determines the necessity of the correction using the estimated temperature T33, which is the output from the temperature calculation unit 30, as well as the measured temperature T31 or the measured heat flux U32, and sends its output of the correction command Dc, if necessary. The temperature sensor 31, which is a sensor 8, measures as the measured temperature the temperature at a measurement position where the estimated temperature T33 is calculated. The heat flux sensor 32, which is a sensor 8, measures as a measured heat flux the heat flux of a measurement position where the estimated temperature T33 is calculated.

[0034] The correction calculation unit 35 corrects at least one parameter of the thermal resistance, heat generation, and heat capacity at the measurement position based on the partial model for the thermal circuit and sends its output of correction information Cc. The correction is performed using the correction command Dc, the measurement temperature T31, and the measurement heat flux U32; in other words, by using the measurement information, including the temperature or heat flux, measured by sensor 8 at the measurement position in motor 1. The partial model for the thermal circuit specifies the measurement position of sensor 8.

[0035] The correction unit 13 can also, using a plurality of the measurement temperatures T31 measured by the plurality of sensors 8 provided for the motor 1, correct at least one value of the thermal resistance, heat generation and heat capacity for each of the measurement positions, wherein the measurement positions are positions where the measurement temperatures T31 are measured by the sensors 8.

[0036] Next, with reference to Fig. 4 the model for the thermal circuit is described.

[0037] Fig. Figure 4 is a diagram showing a model for the thermal circuit of an entire motor, intended for temperature estimation using the control device according to the present embodiment. The thermal circuit model 30-1 in Fig. 4 features spatial heat flow elements and spatial temperature elements that collectively represent the entire motor 1 as a thermal circuit comprising one or more components of a node 20, a thermal resistance 21, a heat source 22 and a heat capacity 24.

[0038] Each of the nodes 20, such as node 20b in Fig. 4 represents a specific position of the motor 1, including its interior. Each of the nodes 20 in the model has the temperature T corresponding to its position.

[0039] The thermal resistance 21 represents how difficult it is for heat to flow. Thermal resistances are included in each of the partial thermal circuits for motor 1. Examples of thermal resistances 21 are Rst1, Rst2, ..., Rro1, Rro2, ... etc. Fig. 4. The heat fluxes U flow through their respective thermal resistances 21.

[0040] The heat “generations” Q in Fig. 4 show the following: The heat generation Qc1 due to copper losses resulting from the energy input to the stator winding 5, the heat generation Qc2 due to copper losses resulting from the energy input to the rotor winding 7, the heat generations Q3, Q4, which represent heat flowing in from outside the motor 1, and the heat generations Qst, Qr due to iron losses occurring in the stator core 4 and the rotor core 6. They are quantities of heat flowing in from their respective heat sources 22.

[0041] The heat capacity 24 represents how easily the temperature rises. It is connected to at least one of the nodes 20. The model 30-1 for the thermal circuit is a combination of model elements, such as the nodes 20, the thermal resistances 21, the heat sources 22, and the heat capacities 24. It is not limited to a two-dimensional model. A model for the thermal circuit whose elements are connected three-dimensionally can also be created. To improve the accuracy of the temperature estimation, a model can be created in which more nodes 20 are arranged at a higher density, connected to the thermal resistances 21, the heat sources 22, and the heat capacities 24.

[0042] In Fig. In Figure 4, motor 1 has vertical symmetry with respect to the horizontal plane that divides the motor shaft at its center, so that only minimal elements are shown in the model for the thermal circuit. However, the thermal circuit actually has its lower half below the dotted lines. It must be noted that model 30-1 for the thermal circuit is shown according to... Fig. 4 is not the one with its details. The actual model has further details regarding, for example, the arrangements of the nodes 20 and the thermal resistances 21, etc. A more detailed thermal circuit will be described later with reference to Fig. 5 described.

[0043] In model 30-1 for the thermal circuit, the temperature sensor st2 is positioned centrally along the shaft of the stator core, and the heat flux sensors sf1 and sf3 are located near the stator winding 5 and the rotor winding 7, respectively. The temperature sensor st2 measures the temperature at its installed measuring position, and the heat flux sensors sf1 and sf3 measure the heat fluxes at their respective measuring positions. Each heat flux sensor sf1 and sf3 calculates the product of its measured heat flux and the measuring area of ​​either sensor and outputs the calculated product as its measured heat flux value.

[0044] In this case, the measurement position at which a sensor 8 is to acquire the data corresponds to the position where the sensor 8 is installed. However, the measurement position from which the sensor 8 receives the data does not need to correspond to the position where the sensor 8 is located. It is possible for a sensor 8 to be located away from the measurement position and thus receive the measurement information for that position without actually touching it.

[0045] Next, the type of temperature estimation using the calculation unit 12 with the model 30-1 for the thermal circuit will be described with reference to Fig. 5 and Fig. 6 described.

[0046] First, the thermal circuit equations used in model 30-1 for the thermal circuit are explained with reference to Fig. 5 described. Fig. Figure 5 shows a partial model 30-2 for the thermal circuit, which is part of the in Fig. Model 30-1 shown in section 4 is for the thermal circuit.

[0047] Fig. Figure 5 is a detailed illustration of the model for the thermal circuit, which includes node 20a, the heat generation Qc1a of heat source 22 and the value C1 of heat capacity 24, which in model 30-1 for the thermal circuit according to Fig. 4 are included. As in Fig. As shown in Figure 5, the partial model 30-2 for the thermal circuit has the following: Four nodes 20a1, 20a2, 20a3, 20a4, three thermal resistances 21a1, 21a2, 21a3, one heat source 22a and two heat capacities 24a1, 24a2.

[0048] The three thermal resistances 21 and the four nodes 20a1, 20a2, 20a3, 20a4 are part of node 20a of model 30-1 for the thermal circuit in Fig. 4. For the partial model 30-2 for the thermal circuit, equations (1), (2) and (3) contain the thermal resistances R1, R2 and R3 based on Ohm's law. R1=T1−T4U1 R2=T4−T2U2 R3=T4−T3U3

[0049] In equations (1), (2), and (3), T1, T2, T3, and T4 are the temperatures at the four nodes 20a1, 20a2, 20a3, and 20a4, respectively; R1, R2, and R3 are the values ​​of the three thermal resistances 21; U1, U2, and U3 are the heat fluxes at the three thermal resistances 21. Equations (1), (2), and (3) are part of the thermal circuit equations used for the partial model 30-2 for the thermal circuit in Fig. 5 are standing.

[0050] A plurality of such equations represent the entire model 30-1 for the thermal circuit. Therefore, the thermal circuit equations that apply to model 30-1 for the thermal circuit are used for the entire in Fig. Motor 1 shown in 4 is expressed as equation (4). {T^33}T=F(R^,Q^){T31,U32}T

[0051] The function F on the right-hand side of equation (4) is a matrix of functions representing the thermal circuit equations of model 30-1 for the thermal circuit, where R represents the values ​​of the thermal resistances 21 included in the thermal circuit equations, and where Q represents the heat outputs of the heat sources 22 also included therein. The left-hand side of equation (4) is a column vector whose elements represent the estimated temperatures T33. The {T31, U32}T on the right-hand side of equation (4) is a column vector whose elements represent the measured temperatures T31 and the measured heat flows U32. That is, equation (4) shows all the thermal circuit equations that exist for model 30-1 for the thermal circuit.

[0052] It should be noted that the caret symbol or circumflex sign “^” added above T33, R, and Q indicates that these are not measured values ​​but predefined estimates. Accordingly, 33 and the respective estimated temperatures, resistance values, and heat generations represent the estimated temperatures and heat generations, respectively. T31 and U32 in equation (4) are replaced by the measured temperatures T31 and the measured heat fluxes U32, which represent measurement information supplied by the temperature sensors 31 and the heat flux sensors 32, respectively, to solve equation (4) and obtain the estimated temperatures 33. Hereafter, 33 will simply be referred to as T33.

[0053] If the values ​​R of the thermal resistances 21 and the heat generations Q in model 30 for the thermal circuit are accurate for the actual values ​​of the thermal resistances 21 and the heat generations in motor 1, it is possible to accurately estimate the temperatures T33 using equation (4). However, the values ​​R of the thermal resistances 21 and the heat generations Q of motor 1 change due to age-related deterioration or the type of motor use, so errors occur between the values ​​of the thermal resistances 21 in model 30 for the thermal circuit and those of motor 1, and between the heat generations in model 30 for the thermal circuit and those of motor 1.

[0054] These errors are expected to complicate accurate temperature estimates T33. To address this issue, the thermal resistance values ​​R 21 and the heat generation values ​​Q in the thermal circuit model 30 are initially set to the estimated resistance and heat generation values ​​as their respective factory defaults. These values ​​are subsequently corrected by the correction unit 13 using measurement information transmitted by the sensors 8 and a portion of the thermal circuit equations. At this stage, suitable initial values ​​for the estimated thermal resistances are: (length of heat flow path) / {(cross-sectional area of ​​heat flow path) (thermal conductivity of motor parts and materials 1)}

[0055] The winding as a heat source 22 generates heat as a result of its copper losses, so that the estimated heat generation Q can be calculated as the initial value as (resistance of the winding) × (square of the current through the winding).

[0056] The stator core 4 or the rotor core 6, acting as a heat source 22, generates heat primarily due to their copper losses. The iron losses are proportional to the square of the magnetic flux density and the square of its frequency. The induced voltage, which is induced by the magnetic flux connecting the stator winding 5, is (magnetic flux density) × (cross-sectional area of ​​the magnetic path through which the magnetic flux passes) × (frequency of the magnetic flux density).

[0057] It is then assumed that the iron losses are proportional to the induced voltage of the stator winding 5. Therefore, the estimated heat generation of the stator core 4 and the rotor core 6 can be calculated as (square of the induced voltage of the stator winding 5) × (proportional coefficient).

[0058] The way in which the thermal resistance in model 30-1 is corrected for the thermal circuit is described with reference to Fig. 6 described.

[0059] Fig. Figure 6 shows part of the model for the thermal circuit for correcting the thermal resistance, which is to be used by the control device according to the present embodiment. Fig. Figure 6 shows a partial model 30-2a for the thermal circuit, which is part of model 30-1 for the thermal circuit. The in Fig. The partial model 30-2a shown in Figure 6 for the thermal circuit, for example, has nodes 20a2, 20a4 and the thermal resistance R2, which result from the Fig. 5 are removed. With regard to the partial model 30-2a for the thermal circuit, the temperature sensors 31 measure the temperature T2 of node 20a2 and the temperature T4 of node 20a4, and the heat flux sensor 32 measures the heat flux U2.

[0060] The value of the thermal resistances 21 is R2. Although the temperature sensors 31 and the heat flux sensors 32 can be located at certain positions in or around the motor 1, it is advantageous to position them close to the thermal resistances 21 to be corrected. Equation (2) shown below applies to this thermal circuit due to Ohm's law.

[0061] Here, U2 is defined as positive in the case where heat flows from node 20a4, whose temperature is T4, to node 20a2, whose temperature is T2. The correction unit 13 solves equation (2) using the temperatures T2 and T4 measured by the temperature sensors 31 and the heat flux U2 measured by the heat flux sensor 32, so that the thermal resistance R2, which is the value of the thermal resistance 21 between node 20a4 and node 20a2, is corrected using the result obtained by solving the equation.

[0062] That is, one sensor 8 measures the temperature at measuring position 20a4 as measuring temperature T4, and one sensor 8 measures the temperature at measuring position 20a2 as measuring temperature T2, where measuring position 20a4 and measuring position 20a2 are two different measuring positions on or in the motor 1, while one sensor 8 measures the heat flow flowing from measuring position 20a4 to measuring position 20a2 as heat flow U2.

[0063] Then the correction calculation unit 35 of the correction unit 13 corrects the thermal resistance R2 between the measuring position 20a4 and the measuring position 20a2 using the difference between the measuring temperature T4 and the measuring temperature T2 plus the measuring heat flow U2.

[0064] As shown here, the thermal resistance R2 can always be corrected on the basis of the measurement information obtained from two temperature sensors 31 and one heat flux sensor 32, which are placed near the thermal resistance 21.

[0065] The way in which heat generation in model 30-1 is corrected for the thermal circuit is described with reference to Fig. 7 described.

[0066] Fig. Figure 7 shows part of the model for the thermal circuit for correcting heat generation, which is to be used by the control device according to the present embodiment. Fig. Figure 7 shows a partial model 30-2b for the thermal circuit, which is part of model 30-1 for the thermal circuit. The partial model 30-2b for the thermal circuit, which is in Fig. Figure 7 shows, for example, the following: three nodes 20a1, 20a2, 20a4, two thermal resistances 21 with thermal resistances R1 and R2, and a heat source 22a, which consists of the Fig. 5 have been removed.

[0067] Temperatures T1, T2, and T4 are measured temperatures recorded by temperature sensors 31. Although the temperature sensors 31 can be positioned at certain locations, it is advantageous to position them close to the heat source 22a to be corrected. Equation (5) applies to this thermal circuit. Qc1a=U1−U2=T1−T4R1−T4−T2R2

[0068] Here, U1 is defined as positive in the case where heat flows from node 20a1, whose temperature is T1, to node 20a4, whose temperature is T4, while U2 is defined as positive in the case where heat flows from node 20a4, whose temperature is T4, to node 20a2, whose temperature is T2. R1 is the value of the thermal resistance 21 between nodes 20a1 and 20a4, and R2 is the value of the thermal resistance 21 between nodes 20a4 and 20a2. Qc1a is the value of the heat generation at the heat source 22a and is defined as positive in the case where heat flows into node 20a4, whose temperature is T4.

[0069] The correction unit 13 solves equation (5) using the measured temperatures T1, T2, T4 and the known thermal resistances R1, R2 to correct the heat generation Qc1a using the result obtained by solving the equation. The correction of the heat generation Qc1a can be performed using the heat fluxes U1, U2 instead of the temperatures T1, T2, T4. In this case, the heat fluxes U1 and U2 are measured by the heat flux sensors 32.

[0070] That is, one sensor 8 measures the temperature at measuring position 20a1 as measuring temperature T1, one sensor 8 measures the temperature at measuring position 20a4 as measuring temperature T4, and one sensor 8 measures the temperature at measuring position 20a2 as measuring temperature T2, where measuring positions 20a1, 20a4, and 20a2 are three different measuring positions on or in the motor 1. The correction unit 13 corrects the heat generation Qc1a flowing into or out of measuring position 20a4 using the measuring temperatures T1, T2, and T4, the thermal resistance R2 between measuring position 20a2 and measuring position 20a4, and the thermal resistance R1 between measuring position 20a4 and measuring position 20a1.

[0071] This means that the heat generation Qc1a can always be corrected on the basis of the measurement information obtained from two heat flux sensors 32 located near the heat source 22a.

[0072] A sensor 8 measures the heat flow at the first measurement position as the measured heat flow U1, while a sensor 8 measures the heat flow at the second measurement position as the measured heat flow U2, wherein the first measurement position is the position between nodes 20a1 and 20a4, the second measurement position is the position between nodes 20a4 and 20a2, and these two measurement positions are two different measurement positions on or in the motor 1. The correction unit 13 corrects the heat generation Qc1a, which is the heat flow into or out of a position between the first measurement position and the second measurement position, using the difference between the measured heat flow U1 and the measured heat flow U2.

[0073] As shown here, the heat generation Qc1a can always be corrected on the basis of the measurement information obtained from two heat flux sensors 32 located near the heat source 22a.

[0074] The way in which the heat capacity is corrected in the model for the thermal circuit is described with reference to Fig. 8 described.

[0075] Fig. Figure 8 shows part of the model for the thermal circuit for correcting the heat capacity, which is to be used by the control device according to the present embodiment. Fig. Figure 8 shows a partial model 30-2c for the thermal circuit, which is part of model 30-1 for the thermal circuit. The in Fig. For example, the partial model 30-2c shown in Figure 8 for the thermal circuit has a node 20a1 and a heat capacity 24a1, which is derived from the Fig. 5 are removed. Node 20a1 is an intersection of four heat flow paths, each representing a heat flow path of heat flow U1, U4, U5, or U6. The temperature T1 of node 20a1 is the measured temperature, as measured by a temperature sensor 31. The heat flows U1, U5, and U6 are measured heat flows, each obtained from a heat flow sensor 32. Equation (6) applies to this thermal circuit. C1=U4dT=U6−U1−U5dT

[0076] Here, dT is the temperature rise per unit time at node 20a1, and C1 is the value of the heat capacity 24a1. The correction unit 13 solves equation (6) using the measured values ​​U1, U5, U6 obtained from the heat flux sensors 32 to correct the heat capacity C1 using the result obtained by solving the equation.

[0077] That is, in a case where a sensor 8 measures the temperature rise per unit time at the measuring position 20a1 as the measured temperature rise dT, where the measuring position 20a1 is a measuring position on or in the motor 1, and the sensors 8 measure three heat flows as measured heat flows U1, U5 and U6, where these three heat flows are three heat flows of four heat flows U1, U4, U5 and U6, each flowing into or out of the measuring position 20a1, where a heat flow that is one of the four heat flows U1, U4, U5 and U6 and that is different from the measured heat flows U1, U5 and U6 is called heat flow U4, the correction unit 13 corrects the heat capacity C1 where the heat flow U4 passes through, using the measured heat flows U1, U5 and U6 and the measured temperature rise dT.

[0078] As shown here, the value C1 of the heat capacity 24a1 can always be corrected on the basis of the measurement information obtained from a temperature sensor 31 and three heat flux sensors 32, which are attached near the heat capacity 24a1.

[0079] The method used to correct thermal resistance, heat generation, and heat capacity is not limited to the method using equations (2), (5), or (6) shown above. The method of correction utilizes the measurement information obtained from a majority of the sensors 8 installed in or around the motor 1, and at least part of the thermal circuit equations found in the Fig. The 4 shown model 30-1 for the thermal circuit can be effectively used for this task.

[0080] Using the method described above, the correction unit 13 sends information to the calculation unit 12 for correcting at least one value of the thermal resistance, heat generation, and heat capacity, as its output of the correction information Cc. Referring to the flowchart in Fig. 9 Reference is made to the procedure of the detailed manner of correction to be carried out by the control device 10.

[0081] Fig. Figure 9 is a flowchart of a control process carried out by the control device according to the present embodiment.

[0082] In the initial value setpoint step S0 according to Fig. 9 specifies initial values ​​to the temperature calculation unit 30 of the calculation unit 12, each of which is at least one of the thermal resistance, heat generation, and heat capacity, the physical quantities for constructing model 30-1 for the thermal circuit to be used by the temperature calculation unit 30 of the calculation unit 12. The initial values ​​can be specified, for example, at the time of delivery from the factory, or the correction calculation unit 35 of the correction unit 13 can send its output of the specified initial values ​​as the correction information Cc to the temperature calculation unit 30 to specify them.

[0083] Next, measure in measuring step S1 in Fig. 9 the temperature sensors 31 the measurement temperatures T31, and the heat flux sensors 32 measure the measurement heat fluxes U32, each of the temperature sensors 31 and the flux sensors 32 being a sensor 8.

[0084] Next, in temperature estimation step S2, estimates according to Fig. 9. The temperature calculation unit 30 of the calculation unit 12 estimates the temperature T33 using the measured temperatures U31 and the measured heat flows T32 based on model 30-1 for the thermal circuit. In the case where the correction unit 13 sends its output of the correction information Cc, the temperature calculation unit 30 of the calculation unit 12 estimates the temperature T33 based on model 30-1 for the thermal circuit, which is corrected using the correction information Cc.

[0085] Next, in assessment step S3, a comparison is made in Fig. 9 the correction assessment unit 34 of the correction unit 13 in Fig. 3. The estimated temperature T33, estimated by the calculation unit 12, is compared to the measured temperature T31 at the same position as the estimated temperature T33. If the error ε between the estimated temperature T33 and the measured temperature T31 is equal to or greater than a predefined threshold, the correction evaluation unit 34 sends its output of the correction command Dc, which is a command to instruct the correction, as a correction trigger.

[0086] If the error ε is below the specified threshold, the active step jumps back to measurement step S1, and then step S1 and the temperature estimation step S2, followed by the evaluation step S3, are repeated again and again until the error ε is equal to or greater than the specified threshold. The specified threshold is determined according to the required accuracy for the temperature estimation. The correction-evaluation unit 34 sends its output of the correction command Dc not only when motor 1 is not operating, but also when motor 1 is generating torque.

[0087] In correction step S4, which is the next one in Fig. In step 9 shown, the correction calculation unit 35 calculates the thermal resistances using equation (2), it calculates the heat generations using equation (5), or it calculates the heat capacities using equation (6), upon receiving the correction command Dc in a case where the error ε is greater than or equal to the specified threshold.

[0088] The correction calculation unit 35 then sends its output of the calculation results, which are one each of the thermal resistance, heat generation, and heat capacity, to the calculation unit 12 as the correction information Cc. The temperature calculation unit 30 of the calculation unit 12 corrects at least one value of a thermal resistance, a heat generation, and a heat capacity in model 30-1 for the thermal circuit using the correction information Cc.

[0089] Next, the advantageous effects of the present embodiment will be described.

[0090] As described above, the control device 10 includes the calculation unit 12, which performs the temperature estimation using the measurement information from the sensors 8 and the model 30-1 for the thermal circuit, and the correction unit 13, which corrects at least one value of the thermal resistance, heat generation and heat capacity in the model 30-1 for the thermal circuit.

[0091] It is assumed here that the thermal resistance, heat generation and heat capacity are fixed at the time the logic is written to the control device 10 during the manufacturing process of the motor 1 and are not changed after delivery from the factory.In a conventional control device that estimates motor temperatures, the thermal resistances, heat generations, and heat capacities in the thermal circuit model are specified with the same values ​​for all individual products of motor 1, regardless of the product-to-product variation in the manufacturing processes of the motors 1. Therefore, the errors between the actual values ​​in a motor 1 and the specified values ​​in the thermal circuit model can be significantly large due to the product-to-product variation, where the actual and specified values ​​are the values ​​of thermal resistances, heat generations, and heat capacities. A deterioration in the temperature estimation accuracy is then expected.

[0092] The thermal resistance (length of the heat flow path) / {(cross-sectional area of ​​the heat flow path) (thermal conductivity of parts and materials of engine 1)}. (Thermal conductivity of parts and materials of engine 1) is a physical property of parts and materials of engine 1, and it is expected to change as a result of age-related deterioration.

[0093] The heat generation due to copper losses in the winding of motor 1 is (winding resistance) × (square of the winding current). The heat generation due to iron losses in the rotor core 6 or the stator core 4 is {square of ((magnetic flux density) × (cross-sectional area of ​​the magnetic path) × (frequency of the magnetic flux density))} × (proportional coefficient). Winding resistance and magnetic flux density are physical properties of a single-core winding and are expected to change due to age-related degradation.

[0094] The heat capacity is (specific heat of parts and materials) × (mass). (Specific heat of parts and materials) is a physical property of parts and materials, and it is expected to change as a result of age-related deterioration.

[0095] In the event that at least one of the thermal resistance, heat generation, or heat capacity of the actual motor 1 changes due to age-related deterioration, the correction unit 13 of the control device 10, according to the present embodiment, is able to correct the thermal resistance, heat generation, or heat capacity of model 30-1 for the thermal circuit to reflect the changed characteristic of at least one parameter of the thermal resistance, heat generation, or heat capacity of the actual motor 1. Therefore, the accuracy of the temperature estimation can be improved compared to conventional control devices that estimate motor temperatures.

[0096] The correction unit 13 performs a correction if the error between the estimated temperature T33, estimated by the calculation unit 12, and the measured temperature at the location of the estimated temperature T33 is equal to or greater than the predefined threshold. The threshold is set according to the required accuracy for the temperature estimation, thus ensuring a certain practical degree of accuracy. The accuracy of the temperature estimation can be adjusted by changing the threshold, if necessary.

[0097] In the event that the same initial thermal resistance, heat generation, and heat capacity values ​​for the Model 30-1 thermal circuit are specified in all products 1 of the motor at the time of their delivery from the factory, it is possible to improve the accuracy of the temperature estimation by correcting the thermal resistance, heat generation, or heat capacity in the Model 30-1 thermal circuit according to the product-to-product variations of the thermal resistances, heat generations, or heat capacities of the actual motors 1.

[0098] It is also possible to improve the accuracy of the temperature estimation by means of a control device 10 that corrects the thermal resistance, heat generation or heat capacity of its own product of the motor 1 from the factory default value at the time of the operational test of the motor 1 before delivery.

[0099] The correction unit 13 corrects the value R of the thermal resistance 21 by solving equation (2) for the partial model 30-2a for the thermal circuit using the measured temperatures obtained from two temperature sensors 31. That is, the correction unit 13 can calculate the correction information Cc to correct the value R of the thermal resistance 21 solely from the measured information obtained from two temperature sensors 31 located near the thermal resistance 21.

[0100] The correction unit 13 corrects the heat generation Q by solving equation (5) for the partial models 30-2b and 30-2c for the thermal circuit using the measured temperatures obtained from three temperature sensors. That is, the correction unit 13 can calculate the correction information Cc to correct the heat generation Q solely from the measured information obtained from three temperature sensors 31 located near the heat source 22.

[0101] The correction unit 13 can calculate the correction information Cc to correct the heat generation Q by measuring two heat flows. That is, the correction unit 13 can calculate the correction information Cc to correct the heat generation Q near the sensors 8 from the measurement information obtained from two heat flow sensors 32.

[0102] The method used to correct thermal resistance, heat generation, and heat capacity is not limited to the methods described above. It is possible to apply a different method for solving the equations for the partial models of the thermal circuit that include sensors 8, using the measurement information obtained from sensors 8. Therefore, the equations to be used for correction are not limited to equations (2), (5), and (6), but can also be equations representing other suitable models of the thermal circuit.

[0103] The sensors 8 used for correction are needed to measure the temperatures and / or heat fluxes required to solve the equations for the partial models of the thermal circuit for correction. A sensor 8 can also be a combination of temperature sensors 31 and heat flux sensors 32. For example, the measurement information to be used for equation (5) in the case of heat generation correction can be a combination of (T1, T4, U2), etc., instead of the combination (T1, T4, T2) or (U1, U2). Therefore, the thermal resistance, heat generation, or heat capacity can be corrected at a necessary position by changing the type of sensor 8 or the measurement position.

[0104] The correction of thermal resistance, heat generation, or heat capacity is performed not only when motor 1 is not operating, but also when motor 1 is generating torque, as described above. During the time that motor 1 is generating torque, the temperature of the entire motor 1 rises, and its thermal conductivity varies. This leads to a change in the value of the thermal resistance, which is represented by: (Length of the heat flow path) / ({cross-sectional area of ​​the heat flow path)(thermal conductivity of parts and materials of the motor 1)}.

[0105] During the time in which motor 1 generates torque, the winding current flowing through stator winding 5 increases the overall temperature of motor 1, whose winding resistance consequently changes, as does the value of the electrical resistance of stator winding 5. Therefore, the heat generation at stator winding 5 also changes, which is represented by (winding resistance) × (square of winding current).

[0106] Since heat capacity is temperature-dependent, it changes according to temperature changes. Therefore, the accuracy of the temperature estimation for motor 1 is expected to deteriorate as the overall temperature of motor 1 increases during the time it is generating torque.

[0107] Even in a case of the situation described above, the accuracy of the temperature estimate for motor 1 can be improved if its temperature increases during the time in which motor 1 generates torque, by correcting the thermal resistances, heat generations or heat capacities. Design 2

[0108] Fig. Figure 10 is a flowchart of a control process carried out by a control device according to embodiment 2 of the present invention. Fig. Figure 11 is a diagram showing the motor output power versus time when the motor is subject to control by the control device according to the present embodiment. Fig. Figure 12 is a diagram showing the estimated temperature versus time when the motor is subject to control by the control device according to the present embodiment of this application.

[0109] Fig. Figure 13 is a diagram showing the motor output power versus time when the motor is subject to control by the control device according to the present embodiment. Fig. Figure 14 is a diagram showing the estimated temperature over time when the engine is under the control of the control device according to the present embodiment of this application. In the Fig. 10, Fig. 11, Fig. 12, Fig. 13 and Fig. 14 The control device 10a according to the present embodiment differs from the control device 10 according to embodiment 1 in the following points.

[0110] After the temperature estimation step S2 in Fig. Once the process 10 has been carried out, the control unit 11 sends a control command to the inverter 9 in control step S5 to change the output of the motor 1 according to the estimated temperature T33 of the motor 1, which is estimated by the calculation unit 12 in temperature estimation step S2, which is the same as in Fig. 9, as estimated in embodiment 1.

[0111] After the control of the output of motor 1 by the control unit 11 in control step S5, the correction-evaluation unit 34 of the correction unit 13, as it does in embodiment 1, compares the estimated temperature T33 obtained by the calculation unit 12 with the measured temperature T31, which has the same position as the estimated temperature T33 in evaluation step S3, which is the same as the one in Fig. 9, and sends its output of the correction command Dc, which is a correction command, as a correction trigger in a case where the error ε between the estimated temperature T33 and the measured temperature T31 is equal to or greater than a specified threshold.

[0112] If the error ε is below the specified threshold, the active step returns to measurement step S1, and then step S1 and temperature estimation step S2, followed by evaluation step S3, are repeated until the error ε is equal to or greater than the specified threshold. The processing steps of correction step S4 and thereafter are the same as those of embodiment 1.

[0113] Next, the control of the output power of motor 1, which is carried out in control step S5, is described.

[0114] In Fig. Figure 11 represents the horizontal axis as time t, and the vertical axis represents the output power of motor 1. Fig. Figure 12 represents the horizontal axis as time t, and the vertical axis represents the estimated temperature T33 of motor 1. As shown in the Fig. 11 and Fig. As shown in Figure 12, the following applies: If the estimated temperature T33 exceeds the predefined threshold Tth at time t1, the control unit 11 reduces the output power of motor 1 or stops it, thus lowering the estimated temperature T33. This control makes it possible to lower the estimated temperature T33 to the threshold Tth or below.

[0115] In Fig. In figure 13, the horizontal axis represents time t, and the vertical axis represents the output power of motor 1. Fig. Figure 14 represents the horizontal axis as time t, and the vertical axis as the estimated temperature T33 of motor 1. As shown in the Fig. 13 and Fig.As shown in Figure 14, the control unit 11 can cause the motor 1 to operate, keeping its output power at Plim or lower by limiting it so that the estimated temperature T33 is kept at the threshold Tth or lower.

[0116] Next, the advantageous effects of the present embodiment will be described.

[0117] The control device 10 of the motor system 100 according to the present embodiment is equipped with the control unit 11, which modifies the way in which the motor 1 operates according to the estimated temperature T33, which is estimated by the calculation unit 12. More precisely: The control unit 11 controls the voltage to be applied to the motor 1 by the inverter 9 according to the estimated temperature. This prevents the motor 1 from overheating by reducing or stopping its output power, so that the temperature at the same point as the estimated temperature T33 does not reach or exceed the threshold value Th, particularly in cases where the estimated temperature T33 is high.

[0118] The control unit 11 is also able to supply the maximum permissible output power of the motor 1 while keeping the estimated temperature T33 at the threshold Th or lower by limiting the output power of the motor 1 so that it operates within the limit, thus keeping the estimated temperature T33 close to the threshold Tth.

[0119] Even during the time in which the motor 1 generates torque, the control unit 11 controls the output power of the motor 1 by controlling the voltage applied to the motor 1 by the inverter 9 according to the estimated temperature T33. This allows the accuracy of the temperature estimation for the motor 1, as in embodiment 1, to be improved if its temperature rises during the time the motor 1 generates torque, by correcting for the thermal resistances, heat generations, or heat capacities. Description of reference symbols 1 Motor (rotating electric machine) 2 Stator 3 Rotor 4 Stator core 5 Stator winding 6 rotor core 7 Rotor winding 8 Sensor 9 Inverters (Power Converters) 10, 10a Control device 11 Control unit 12 units of calculation 13 Correction Unit 14 rotation position detector 15 Current detector 20, 20a, 20b nodes 20c, 20d, 20e nodes 20f, 20g knot 21 Thermal resistance 22, 22a Heat source 23rd wave 24 Heat capacity 24a1, 24a2 Heat capacity 30 Temperature calculation unit 30-1 model for the thermal circuit 30-2, 30-2a partial model for the thermal circuit 30-2b, 30-2c partial model for the thermal circuit 31, st2 temperature sensor 32, SF1, SF3 heat flow sensor 34 Correction-Assessment Unit 35 Correction calculation unit 90 processor 91 Storage device 100 Control system (motor system).

Claims

[1] Control device (10) comprising: - a correction unit (13) for correcting at least one of a thermal resistance (21), a heat generation value and a heat capacity (24), which are physical quantities, to generate a thermal circuit model (30-1) covering the thermal circuit of a rotating electrical machine (1), - wherein the correction unit (13) corrects at least one of the thermal resistance (12), the heat generation value and the heat capacity (24) using measurement information at a measurement position using measurement information obtained from a plurality of sensors (8) installed in the vicinity of or in the rotating electrical machine (1), including measurement information including the temperature (T31) or the heat flow (U32) measured by a sensor unit (8) at the measurement position in the rotating electrical machine (1). [2] The control device (10) according to claim 1, wherein the correction unit (13) corrects at least one of the thermal resistance (21), the heat generation value and the heat capacity (24) at the measurement position using measurement information and the thermal cycle model including the measurement position. [3] Control device (10) according to claim 1 or 2, further comprising: - a calculation unit (12) for estimating the temperature of a rotating electrical machine (1) as an estimated temperature (T33) using the thermal cycle model (30-1), - wherein the sensor unit (8) measures as the measurement temperature (T31) a temperature at a measurement position where the estimated temperature (T33) is obtained, and - wherein the correction unit (13) corrects at least one of the thermal resistance (21), the heat generation value and the heat capacity (24) at the measurement position in the case where the absolute value of the difference between the estimated temperature (T33) and the measurement temperature (T31) is equal to or greater than a predetermined threshold value. [4] Control device (10) according to claim 3, further comprising: a control unit (11) for controlling a rotating electrical machine (1) using the thermal cycle model (30-1), wherein the control unit (11) controls the voltage to be applied to the rotating electrical machine (1) by a power converter (9) according to the estimated temperature (T33). [5] Control device (10) according to claim 3, further comprising: a control unit (11) for controlling a rotating electrical machine (1) using the thermal cycle model, wherein, during the time in which the rotating electrical machine (1) generates a torque, the control unit (11) controls the output power of the rotating electrical machine (1) by controlling the voltage to be applied to the rotating electrical machine (1) by a power converter (9) according to the estimated temperature (T33). [6] Control device (10) according to one of claims 1 to 5, wherein the sensor unit (8) measures a first measuring temperature (T31) and a second measuring temperature (T31) and a first measuring heat flow (U32), wherein the first measuring temperature (T31) is a temperature at a first measuring position, wherein the second measuring temperature (T31) is a temperature at a second measuring position, wherein the first measuring position and the second measuring position are two different measuring positions in a rotating electrical machine (1), wherein the first measuring heat flow (U32) is the heat flow (U32) flowing from the first measuring position to the second measuring position, and wherein the correction unit (13) corrects the thermal resistance (21) between the first measuring position and the second measuring position using the first measuring heat flow (U32) and the difference between the first measuring temperature (T31) and the second measuring temperature (T31). [7] Control device (10) according to one of claims 1 to 5, wherein the sensor unit (8) measures a first measuring heat flow (U32) and a second measuring heat flow (U32), wherein the first measuring heat flow (U32) is a heat flow (U32) at a first measuring position, wherein the second measuring heat flow (U32) is a heat flow at a second measuring position (U32), wherein the first measuring position and the second measuring position are two different measuring positions in a rotating electrical machine (1), and wherein the correction unit (13) corrects the value of heat generation flowing into or out of a position between the first measurement position and the second measurement position using the difference between the first measurement heat flow (U32) and the second measurement heat flow (U32). [8] Control device (10) according to one of claims 1 to 5, wherein the sensor unit (8) measures a first measuring temperature (T31), a second measuring temperature (T31), and a third measuring temperature (T31), wherein the first measuring temperature (T31) is a temperature at a first measuring position, wherein the second measuring temperature (T31) is a temperature at a second measuring position, wherein the third measuring temperature (T31) is a temperature at a third measuring position, wherein these three measuring positions are three different measuring positions in a rotating electrical machine (1), and wherein the correction unit (13) measures the value of heat generation flowing into or out of the second measurement position using the first measurement temperature (T31), the second measurement temperature (T31), the third measurement temperature (T31) and a first thermal resistance (21) between the first measurement position and the second measurement position, and a second thermal resistance (21) between the second measurement position and the third measurement position. [9] Control device (10) according to one of claims 1 to 5, wherein the sensor unit (8) measures a first measuring temperature rise, a first measuring heat flow (U32), a second measuring heat flow (U32) and a third measuring heat flow (U32), where the measuring temperature rise is a temperature rise per unit time at a first measuring position, wherein the first measuring position is a measuring position in a rotating electrical machine (1), wherein the first measuring heat flow (U32), the second measuring heat flow (U32) and the third measuring heat flow (U32) are three of four heat flows (U32) flowing into or out of the first measuring position, where the heat flow (U32), which is one of the four heat flows (U32) and which is different from the three measured heat flows (U32), is referred to as the first heat flow (U32), wherein the correction unit (13) corrects the heat capacity (24) where the first heat flow passes through, using the first measurement heat flow (U32), the second measurement heat flow (U32), the third measurement heat flow (U32) and the measurement temperature rise. [10] Control device (10) according to one of claims 1 to 5, wherein, when measuring temperatures (T31) measured by a plurality of sensor units mounted in a rotating electrical machine (1) are used, the correction unit (13) corrects at least one of the thermal resistance (21), the heat generation value and the heat capacity (24) for each of the measuring positions, wherein the measuring positions are positions at which the measuring temperatures (T31) are measured by the plurality of sensor units (8). [11] Control system (100) comprising the control device (10) and at least one of the sensor units (8) according to one of claims 1 to 10.

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