Rotating electric machine control device and rotating electric machine control method

Abstract

A control device (100) for a rotating electric machine (1) comprises: a reference current instruction generating unit (110) that generates d-axis and q-axis reference current instruction values ​​based on a torque instruction value and a rotational speed; a current phase generating unit (120) that generates a current phase instruction based on the d-axis and q-axis current instruction values, the torque instruction value, the rotational speed, and a supply voltage; a current instruction generating unit (130) that generates d-axis and q-axis current instruction values ​​based on the d-axis and q-axis current instruction values ​​and the current phase instruction;and a voltage instruction generation unit (140) that generates three-phase voltage instruction values ​​based on the d-axis and q-axis current instruction values, the rotational speed, a rotational position and three-phase currents, and outputs the three-phase voltage instruction values ​​to an inverter 3.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a control device for a rotating electric machine and a control method for a rotating electric machine. STATE OF THE ART

[0002] A rotating electric machine with an embedded permanent magnet, which achieves high efficiency and high output, is sometimes used as a power source for an automobile, train, or the like. In the rotating electric machine, magnetic torque is generated due to the attractive and repulsive forces acting between the coils and the permanent magnets, and reluctance torque is generated due to a change in magnetic resistance at the gap between a stator and a rotor.

[0003] A control device is known as a conventional control device for such an embedded permanent magnet rotating electric machine. This known control device performs vector control using efficiency-related best extended angle Id and Iq maps, which store a control extension angle for prioritizing the efficiency of the rotating electric machine; and torque ripple minimization-related best extended angle Id and Iq maps, which store a control extension angle for suppressing torque ripples that occur when the rotating electric machine is driven within a specific rotation frequency range.In this control device, vector control is performed with the control extension angle in the efficiency-related best extended angle Id and Iq maps based on a torque control value for the rotating electric machine. In the specific rotation frequency range, vector control is performed by switching to the control extension angle in the torque ripple minimization-related best extended angle Id and Iq maps. In the thus configured control device, the output torque of the rotating electric machine can be maximized, and noise, vibration, and the like caused by torque ripple can be prevented (see, for example, Patent Document 1). CITATION LISTPATENT DOCUMENT

[0004] Patent Document 1: Japanese Laid-Open Patent Publication No. 2021-150966 SUMMARY OF THE INVENTION PROBLEM TO BE SOLVED BY THE INVENTION

[0005] In conventional control devices, the efficiency-related best extended angle Id and Iq mappings and the torque ripple minimization-related best extended angle Id and Iq mappings must be pre-stored in a memory or the like. If the rotating electrical machine is controlled as a power source for an automobile, train, or the like, the power supply voltage changes significantly. When the power supply voltage changes significantly, the d-axis current and q-axis current change with high efficiency according to the voltage.Considering this change, a variety of efficiency-related best extended angle ID maps and efficiency-related best extended angle IQ maps must be created, as well as a variety of torque ripple minimization-related best extended angle ID maps and torque ripple minimization-related best extended angle IQ maps, according to the power supply voltage. Consequently, the conventional control device faces the problem that the capacity for storing these maps becomes enormous.

[0006] The present disclosure has been made to solve the above-mentioned problem, and an object of the present disclosure is to provide a control apparatus for a rotating electric machine that enables a reduction in the memory capacity required for storing maps for performing vector control. MEANS TO SOLVE THE PROBLEM

[0007] A control device for a rotating electric machine according to the present disclosure is a control device for a rotating electric machine to be driven with three-phase currents from an inverter, the control device comprising: a reference current command generation unit that generates a d-axis reference current command value and a q-axis reference current command value based on a torque command value and a rotation speed of the rotating electric machine; a current phase generation unit that generates a current phase instruction based on the d-axis reference current instruction value and the q-axis reference current instruction value generated by the reference current instruction generation unit, the torque instruction value, the rotation speed, and a power supply voltage of the rotating electric machine; a current instruction generation unit that generates a d-axis current instruction value and a q-axis current instruction value based on the d-axis reference current instruction value and the q-axis reference current instruction value generated by the current phase instruction generation unit and the current phase instruction generated by the current phase instruction generation unit; and a voltage command generation unit that generates three-phase voltage command values ​​based on the d-axis current command value and the q-axis current command value generated by the current command generation unit, the rotation speed, a rotation position of the rotating electrical machine, and the three-phase currents, and outputs the three-phase voltage command values ​​to the inverter.

[0008] The current instruction generation unit includes: a first magnetic flux calculation unit that calculates a d-axis reference magnetic flux and a q-axis reference magnetic flux from the d-axis reference current command value and the q-axis reference current command value; a reference torque command calculation unit that calculates a reference torque command value based on the d-axis reference magnetic flux and the q-axis reference magnetic flux calculated by the first magnetic flux calculation unit, and the d-axis reference current command value and the q-axis reference current command value; a second magnetic flux calculation unit that calculates a previous d-axis magnetic flux and a previous q-axis magnetic flux from a previous d-axis current instruction value and a previous q-axis current instruction value generated by the current instruction generation unit; and a current command correction calculation unit that calculates the d-axis current command value and the q-axis current command value based on the previous d-axis magnetic flux and the previous q-axis magnetic flux calculated by the second magnetic flux calculation unit, the reference torque command value calculated by the reference torque command calculation unit, and the current phase command. EFFECTS OF THE INVENTION

[0009] In the control device for the rotating electric machine according to the present disclosure, the reference current command generation unit generates a d-axis reference current command value and a q-axis reference current command value using Id and Iq reference current command assignments, the current phase generation unit generates a current phase command based on the d-axis reference current command value, the q-axis reference current command value, the rotation speed, and the power supply voltage of the rotating electric machine, and in the current command generation unit, a reference torque command value is generated based on the d-axis reference magnetic flux, the q-axis reference magnetic flux, the d-axis reference current command value, and the q-axis reference current command value, and a d-axis current command value and a q-axis current command value are based on the previous d-axis magnetic flux, the previous q-axis magnetic flux,the reference torque command value and the current phase command. Consequently, the memory capacity required to store assignments for performing vector control can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS [ Fig. 1] Fig. 1 is a configuration diagram of a control device for a rotating electric machine according to Embodiment 1. [ Fig. 2] Fig. 2 is a cross-sectional view of the rotating electric machine according to Embodiment 1. [ Fig. 3] Fig. 3 is a diagram for explaining Id and Iq reference current instruction assignments according to Embodiment 1. [ Fig. 4] Fig. 4 is a configuration diagram of a power instruction generation unit according to Embodiment 1. [ Fig. 5] Fig. 5 shows a hardware configuration for realizing the control device for the rotating electric machine according to Embodiment 1. DESCRIPTION OF THE EMBODIMENTS

[0010] Hereinafter, a control device for a rotating electric machine according to an embodiment for carrying out the present disclosure will be described in detail with reference to the drawings. The same or corresponding components in the drawings are denoted by the same reference numerals. Embodiment 1

[0011] Fig. 1 is a configuration diagram of a control device for a rotating electric machine according to Embodiment 1. Fig. Figure 1 shows the entirety of a rotating electrical machine control system, including the rotating electrical machine control device according to the present embodiment. The rotating electrical machine control system 10 consists of a rotating electrical machine 1, a power supply 2, an inverter 3, a voltage detector 4, a current detector 5, a position detector 6, and a control device 100.

[0012] Fig. Figure 2 is a cross-sectional view of the rotating electric machine 1 driven by the control device 100 according to the present embodiment. The rotating electric machine 1 is a 4-pole, magnetically embedded, 12-slot rotating electric machine. As shown in Fig. As shown in Figure 2, the rotating electric machine 1 includes an annular stator 11 and a columnar rotor 12 rotatably supported by the stator 11. The stator 11 includes an annular stator core 13 and coils 14. The stator core 13 includes an annular core back surface 15 and a plurality of teeth 16 projecting radially inward from the core back surface 15. The intervals between the plurality of teeth 16 serve as slots, and by utilizing these slots, the coils 14 are wound around the teeth 16 by concentrated winding. The coils 14 consist of coils for three phases, namely a U-phase, a V-phase, and a W-phase.

[0013] The rotor 12 includes a columnar rotor core 17, permanent magnets 18, and a rotating shaft 19 fixed in the center of the rotor core 17. The rotor core 17 has magnet insertion holes 20 formed so as to be arranged in the circumferential direction. The permanent magnets 18 are fixed in the magnet insertion holes 20. The rotating electrical machine 1 to be controlled by the control device 100 according to the present embodiment is not limited to the Fig. 2 shown 4-pole, 12-slot, embedded magnet rotating electrical machine as long as the rotating electrical machine is driven with three-phase currents.

[0014] In the Fig. In the rotating electric machine 1 shown in Figure 2, the direction of a magnetic flux generated by each of the permanent magnets 18 of the rotor 12 is a d-axis, and a direction electrically orthogonal to the d-axis is a q-axis. The rotating electric machine control device 100 according to the present embodiment controls the rotating electric machine 1 through vector control. In vector control, the exciting current (d-axis current) for controlling field strengths and the torque current (q-axis current) for generating torque are controlled with a two-dimensional orthogonal vector coordinate system including the d-axis and the q-axis.In vector control, a coordinate transformation is introduced based on the rotation position (rotation angle) of the rotor of the rotating electric machine 1, and thus the currents Iu, Iv and Iw for the three phases flowing into the rotating electric machine 1 are converted into a d-axis current (hereinafter also referred to as Id) and a q-axis current (hereinafter also referred to as Iq) orthogonal to the d-axis current, and components are controlled independently of each other as in a DC motor.

[0015] The power supply 2 is a DC power supply for outputting a DC voltage. For example, a lithium-ion battery or the like can be used as the power supply 2. The inverter 3 is a three-phase inverter including a plurality of switching elements and diodes reverse-connected to the switching elements. Based on three-phase voltage command values ​​from the control device 100, the inverter 3 converts the DC voltage input from the power supply 2 into a three-phase AC voltage and drives the rotating electrical machine 1 with the outputs for the three phases, which are the U-phase, the V-phase, and the W-phase.

[0016] The voltage detector 4 detects the output voltage of the power supply 2. The voltage detector 4 detects a voltage, for example, resulting from dividing the power supply voltage by a resistance, using a voltage detection circuit consisting of an operational amplifier and the like. Information about the power supply voltage detected by the voltage detector 4 is input to the control device 100.

[0017] The current detector 5 detects a current flow to the rotating electrical machine 1. Specifically, the current detector 5 is composed of a U-phase current sensor, a V-phase current sensor, and a W-phase current sensor, which respectively detect a U-phase current Iu, a V-phase current Iv, and a W-phase current Iw. Since the sum of the instantaneous values ​​of the currents Iu, Iv, and Iw for the corresponding phases is 0, the current detector 5 can alternatively detect the currents for two of the phases (for example, the V-phase current Iv and the W-phase current Iw) and calculate the current for the remaining phase (for example, the U-phase current Iu). Current information about the currents Iu, Iv, and Iw for the respective phases detected by the current detector 5 is input to the control device 100.

[0018] The position detector 6 detects a rotation angle θ (rotational position information) of the rotating shaft of the rotating electrical machine 1. For example, a resolver that can detect the rotation angle θ with high resolution by magnetic coupling to the rotating shaft of the rotating electrical machine 1, a magnetic encoder, an optical encoder, or the like, is used as the position detector 6. The detected rotational position information is input to the control device 100.

[0019] The control device 100 outputs instructions to the inverter 3 regarding an amplitude and a frequency of a current to be superimposed for the rotating electrical machine 1, based on the power supply voltage information, the current information, and the rotation position information respectively input from the voltage detector 4, the current detector 5, and the position detector 6, and a torque instruction value input from an external device. The control device 100 is implemented by a digital computing device such as a microcomputer or a field-programmable gate array (FPGA), and has the function of repeating data input, calculation, and data output at an arbitrary time interval (a fixed time interval or a variable time interval).

[0020] As in Fig. 1, the control device 100 according to the present embodiment includes a reference current command generation unit 110, a current phase generation unit 120, a current command generation unit 130, a voltage command generation unit 140, and a rotation speed calculation unit 150.

[0021] The reference current command generation unit 110 receives a torque command value from a higher-level external device. In addition, the reference current command generation unit 110 receives a rotation speed (or number of revolutions) of the rotating electric machine 1 from the rotation speed calculation unit 150 described later. For example, in a case where the rotating electric machine 1 is used as a power source for an automobile, the higher-level external device is an electronic control unit (ECU) of a control system for the automobile or the like. In addition, the current command generation unit 110 receives a power supply voltage from the voltage detector 4. The current command generation unit 110 outputs Id and Iq reference current command values ​​based on the received torque command value and the rotation speed.

[0022] Fig. 3 is a diagram for explaining Id and Iq reference current instruction assignments used in the current instruction generation unit 110. Fig. 3(a) shows an Id reference current instruction assignment and Fig. 3(b) shows an Iq reference current instruction assignment. As in Fig. As shown in Figure 3, each of the reference current command maps is a two-dimensional map with the torque command value and the rotation speed as respective axes. In the reference current command map, reference current command values ​​are predetermined according to the torque command values ​​and the rotation speed. Furthermore, each of the reference current command maps consists of a plurality of maps set for respective voltage values ​​of the power supply voltage. For example, in the reference current command map, maps are set for respective power supply voltages that differ from each other by 5 V. In the control device 100 according to the present embodiment, the reference current command maps are established with a combination of Id and Iq in which the sum of the power loss in the rotating electrical machine 1 and the power loss in the inverter 3 is minimal.The reference current command maps are stored in a storage unit inside or outside the reference current command generation unit 110. The current command generation unit 110 outputs Id and Iq current command values ​​based on the power supply voltage, the torque command value, and the rotation speed using the Id and Iq current command maps. Hereinafter, the d-axis reference current command value and the q-axis reference current command value output by the current command generation unit 110 are referred to as Id*_base and Iq*_base, respectively.

[0023] The current phase generation unit 120 receives the torque command value from the host external device and receives the rotation speed of the rotating electrical machine 1 from the rotation speed calculation unit 150. In addition, the current phase generation unit 120 receives the power supply voltage from the voltage detector 4 and receives the reference current command values ​​from the reference current command generation unit 110. The current phase generation unit 120 outputs a current phase command based on the received data. Hereinafter, the current phase command output by the current phase generation unit 120 is referred to as β.

[0024] Examples of a method for determining β include: a method using a function; a method using a map; and the like. Examples of the method using a function include a method in which β is calculated using a function that has the received rotation speed as a parameter. Examples of the method using a map include a method in which β is determined using a two-dimensional map that has the received rotation speed and the power supply voltage as respective axes.In such a method using a function or such a method using a map, a function or a map can be set to reduce at least one of power loss, torque pulsation, noise, and heat generation in a specific range or a plurality of ranges related to the rotation frequency of the rotating electrical machine 1. The function or the map is stored in a storage unit inside or outside the current phase generation unit 120.

[0025] As a function for use in the method for determining β, the following function can be set. That is, the set function can be used to calculate a current phase command β using a current phase β0 and the rotation speed as parameters, where the current phase β0 is based on the received reference current command values ​​and is calculated from the reference current command values ​​using the following expression (1). [Mathematics 1] β0=tan−1(−Id_base∗ / Iq_base∗)

[0026] The current phase generation unit 120 may have a plurality of functions or mappings. In this case, the current phase generation unit 120 may select an optimal function or mapping for calculating a current phase command β from the plurality of functions or mappings according to a mode identification signal input from the host external device, which is used to identify, for example, an efficiency maximization mode, a torque ripple reduction mode, a noise reduction mode, a heat generation reduction mode, or the like.

[0027] The current command generation unit 130 outputs current command values ​​to cause the voltage command generation unit 140 to perform current control (vector control). The current command generation unit 130 receives the reference current command values ​​Id*_base and Iq*_base from the reference current command generation unit 110 and receives the current phase command β from the current phase generation unit 120. The current command generation unit 130 outputs a d-axis current command value and a q-axis current command value to the voltage command generation unit 140 based on the received reference current command values ​​and the received current phase command. Hereinafter, the d-axis current command value is denoted by Id*, and the q-axis current command value is denoted by Iq*.

[0028] Fig. 4 is a configuration diagram of the current instruction generation unit according to the present embodiment 1. As shown in Fig. 4, the current command generation unit 130 according to the present embodiment includes a first magnetic flux calculation unit 131, a reference torque command calculation unit 132, a current command correction calculation unit 133, a current command storage unit 134, and a second magnetic flux calculation unit 135.

[0029] The first magnetic flux calculation unit 131 receives the d-axis reference current command value Id*_base and the q-axis reference current command value Iq*_base from the current command generation unit 110. The first magnetic flux calculation unit 131 calculates a d-axis reference magnetic flux Φd_base and a q-axis reference magnetic flux Φq_base based on the received reference current command values ​​and outputs the calculation results to the reference torque command calculation unit 132. The first magnetic flux calculation unit 131 can calculate the reference magnetic fluxes from the reference current commands by, for example, applying a magnetic flux allocation for use in the decoupling compensation calculation of the current control calculation (vector control calculation) by the voltage command generation unit 140.Since a magnetic flux (or magnetic flux) is obtained by multiplying an inductance by a current command value, the first magnetic flux calculation unit 131 may use an inductance map instead of the magnetic flux map.

[0030] The second magnetic flux calculation unit 135 receives previous current command values ​​Id*_old and Iq*_old from the current command storage unit 134 described later. The second magnetic flux calculation unit 135 calculates a previous d-axis magnetic flux Φd_old and a previous q-axis magnetic flux Φq_old based on the received previous current command values ​​and outputs the calculation results to the current command correction calculation unit 133. In the same manner as the first magnetic flux calculation unit 131, the second magnetic flux calculation unit 135 can calculate the reference magnetic fluxes from the reference current command values ​​by applying the magnetic flux allocation for use in the decoupling compensation calculation of the current control calculation by the voltage command generation unit 140.

[0031] The first magnetic flux calculation unit 131 and the second magnetic flux calculation unit 135 can apply the magnetic flux allocation for use in the decoupling compensation calculation of the current control calculation by the voltage command generation unit 140 at the time of calculating magnetic fluxes from the received current command values. Consequently, the addition of storage capacity for magnetic flux allocations can be prevented.

[0032] The reference torque command calculation unit 132 receives the d-axis reference current command value Id*_base and the q-axis reference current command value Iq*_base from the current command generation unit 110, and receives the d-axis reference magnetic flux Φd_base and the q-axis reference magnetic flux Φq_base from the first magnetic flux calculation unit 131. The reference torque command calculation unit 132 calculates a reference torque command value T' from the reference current command values ​​and the reference magnetic fluxes using the following expression (2). The reference torque command value calculated according to expression (2) is a reference torque command value T' that reflects the compensation for the torque loss due to mechanical losses and iron losses in the rotating electric machine 1. The reference torque command calculation unit 132 outputs the calculated reference torque command value T' to the current command correction calculation unit 133. [Mathematics 2] T'=p×(∅d_base×Iq_base∗−∅q_base×Id_base∗)

[0033] Here, p represents the number of pole pairs in the rotating electrical machine 1. In the rotating electrical machine 1, which is Fig. 2, p is equal to 4.

[0034] The current command correction calculation unit 133 receives the current phase command β from the current phase generation unit 120, receives the reference torque command value T' from the reference torque command calculation unit 132, and receives the previous d-axis magnetic flux Φd_old and the previous q-axis magnetic flux Φq_old from the second magnetic flux calculation unit 135. The current command correction calculation unit 133 calculates Id* and Iq* using the following expression (3), expression (4), and expression (5). [Mathematics 3] Iα=T'p×(∅d_old×cosβ+∅q_old×sinβ) [Mathematics 4] Id∗=−Iα×sinβ [Mathematics 5] Iq∗=Iα×cosβ

[0035] Here stands I a for a current amplitude. The current command storage unit 134 stores therein Id* and Iq* output from the current command correction calculation unit 133. In addition, the current command storage unit 134 outputs already stored Id* and Iq* as previous current command values ​​Id*_old and Iq*_old to the second magnetic flux calculation unit 135.

[0036] As indicated in Expression (3), the current amplitude can be obtained from torque information, current phase information, and magnetic flux information. However, regarding the magnetic fluxes in the rotating electric machine, there is a problem that the rotor core and the stator core have magnetic saturation characteristics, and therefore the magnetic fluxes cannot be calculated without determining a d-axis current and a q-axis current. As a result, there arises a problem that neither Id* nor Iq* can be calculated. In the control device according to the present embodiment, the second magnetic flux calculation unit 135 calculates the previous d-axis magnetic flux Φd_old and the previous q-axis magnetic flux Φq_old from the previous d-axis current and the previous q-axis current.Then, as given in Expression (3), the current amplitude is calculated using the previous d-axis magnetic flux Φd_old and the previous q-axis magnetic flux Φq_old, which allows Id* and Iq* to be calculated.

[0037] Expressions (2) to (5) are expressions derived from the relationship between torque, magnetic flux, current, and current phase. Such expressions indicating the relationship between torque, magnetic flux, current, and current phase can be expressed differently through transformation. Therefore, the expressions used in the current command correction calculation unit 133 can be expressed in other styles as long as the same results are obtained.

[0038] The voltage command generation unit 140 receives the d-axis current command value Id* and the q-axis current command value Iq* from the current command generation unit 130. The voltage command generation unit 140 performs vector control calculation based on Id* and Iq* and outputs three-phase voltage command values ​​Vu*, Vv*, and Vw* to the inverter 3.

[0039] The voltage command generation unit 140 includes, for example, a calculation unit consisting of PID (Proportional Integral Derivative) control elements, a current coordinate transformation unit, and a voltage coordinate transformation unit. Using information about the rotation angle θ of the rotor of the rotating electrical machine 1 detected by the position detector 6, the current coordinate transformation unit performs a coordinate transformation of the three-phase currents (Iu, Iv, and Iw) detected by the current detector 5 into a two-dimensional orthogonal vector coordinate system having a d-axis and a q-axis. Consequently, the current coordinate transformation unit calculates an actual d-axis current Id and an actual q-axis current Iq.The calculation unit calculates a d-axis current command value Vd and a q-axis current command value Vq using the actual d-axis current Id and the actual q-axis current Iq calculated by the current coordinate transformation unit. The voltage coordinate transformation unit transforms the d-axis voltage command value Vd and the q-axis voltage command value Vq calculated by the calculation unit into the three-phase voltage command values ​​(Vu, Vv, and Vw) using the information about the rotation angle θ of the rotor of the rotating electrical machine 1 detected by the position detector 6, and Id* and Iq*.

[0040] The rotation speed calculation unit 150 calculates a rotation speed of the rotor of the rotating electrical machine 1 based on the rotation position information from the position detector 6. The rotation speed calculation unit 150 calculates the rotation speed by, for example, calculating the difference between pieces of the rotation position information detected by the position detector 6 at different times T1 and T2, and dividing this difference by the time difference between T2 and T1. The rotation speed calculation unit 150 outputs the calculated rotation speed to the reference current command generation unit 110, the current phase generation unit 120, and the voltage command generation unit 140.

[0041] As in Fig. As shown in FIG. 1, the control device for the rotating electric machine according to the present embodiment includes: a reference current command generation unit that generates a d-axis reference current command value and a q-axis reference current command value based on a torque command value and a rotation speed of the rotating electric machine; a current phase generation unit that generates a current phase command based on the d-axis reference current command value and the q-axis reference current command value, the torque command value, the rotation speed, and a power supply of the rotating electric machine;a current command generation unit that generates a d-axis current command value and a q-axis current command value based on the d-axis reference current command value and the q-axis reference current command value, and the current phase command generated by the current phase generation unit; and a voltage command generation unit that generates three-phase voltage command values ​​based on the d-axis current command value and the q-axis current command value, the rotation speed, a rotation position of the rotating electrical machine, and three-phase currents, and outputs the three-phase voltage command values ​​to an inverter.

[0042] As in Fig. 4, the current command generation unit includes: a first magnetic flux calculation unit that calculates a d-axis reference magnetic flux and a q-axis reference magnetic flux from the d-axis current command value and the q-axis current command value; a torque command calculation unit that calculates a torque command value based on the d-axis reference magnetic flux and the q-axis reference magnetic flux, the d-axis reference current command value, and the q-axis reference current command value; a second magnetic flux calculation unit that calculates a previous d-axis magnetic flux and a previous q-axis magnetic flux from a previous d-axis current command value and a previous q-axis current command value generated by the current command generation unit;and a current command correction calculation unit that calculates the d-axis current command value and the q-axis current command value based on the previous d-axis magnetic flux and the previous q-axis magnetic flux, the reference torque command value, and the current phase command.;

[0043] In the control device for the rotating electric machine according to the present embodiment, the current command generation unit generates a d-axis current command value and a q-axis current command value using the Id and Iq current command assignments. In addition, the current phase generation unit generates a current phase command based on the d-axis current command value, the q-axis current command value, the torque command value, the rotation speed, and the power supply voltage of the rotating electric machine.Furthermore, in the current instruction generation unit, a reference torque instruction value is generated based on the d-axis reference magnetic flux, the q-axis reference magnetic flux, the d-axis reference current instruction value, and the q-axis reference current instruction value, and a d-axis current instruction value and a q-axis current instruction value are calculated based on the previous d-axis magnetic flux, the previous q-axis magnetic flux, the reference torque instruction value, and the current phase instruction.

[0044] In the rotating electric machine control device configured in this way, the previous magnetic fluxes are calculated using the previous current command values, and the amplitudes of the current command values ​​are calculated using the previous magnetic fluxes, the current phase command, and the reference torque command. Consequently, it is not necessary to prepare different maps for the case of prioritizing efficiency and the case of prioritizing torque ripple minimization. Therefore, only one Id reference current command and one Iq reference current command need to be prepared according to the power supply voltage. Therefore, the memory capacity required for storing maps for performing vector control can be reduced.For example, in a conventional rotating electric machine control device, two types of mappings, namely, one mapping in the case of prioritizing efficiency and one mapping in the case of prioritizing torque ripple minimization, need to be prepared for each of Id and Iq. That is, a total of four types of mappings need to be prepared. Moreover, for each type of mapping, a plurality of mappings are required according to the respective power supply voltages. Meanwhile, in the rotating electric machine control device according to the present embodiment, expressions (2) to (5) are used. Consequently, only one type of mapping needs to be created for Id and Iq. That is, only two types of mappings need to be created instead of the above four types of mappings.In addition, each type of allocation requires a plurality of allocations corresponding to the respective power supply voltages. These are the only allocations required. As a result, in the control device for the rotating electric machine according to the present embodiment, the number of allocations can be set to half that of the conventional control device.

[0045] In the calculation based on expressions (2) to (5), current current command values ​​are calculated using previous current command values, assuming that the current commands change continuously. Therefore, when the reference torque command value T' or the current phase command β changes discontinuously, Id* and Iq* may change discontinuously. To prevent this discontinuous change, a map or a function may be preset so that the torque command value, the reference current command values, and the current phase command become smooth so that they do not change discontinuously. Alternatively, the current command correction calculation unit 133 may perform filtering processing, change rate limiting processing, or the like on Id* and Iq* calculated using expressions (3) to (5) so that Id* and Iq* are prevented from changing discontinuously.

[0046] Additionally, in the control unit for the rotating electrical machine according to the present embodiment, the current phase generation unit 120 can have a plurality of functions or assignments. Consequently, an optimal function or assignment can be selected from the plurality of functions or assignments according to a mode identification signal input from the higher-level external device, which serves to identify the efficiency maximization mode, the torque ripple reduction mode, the noise reduction mode, the heat generation reduction mode, or the like. Therefore, the control device also has the advantageous effect of eliminating the need for a design change of the control device hardware, which is conventionally necessary to adapt to each of the modes.

[0047] An example of the hardware of the control device 100 is shown in Fig.5. The hardware consists of a processor 101 and a storage device 102. Although not shown, the storage device 102 includes a volatile storage device such as a random access memory and a non-volatile auxiliary storage device such as a flash memory. Alternatively, the storage device may include a hard disk as the auxiliary storage device instead of a flash memory. The processor 101 executes a program input from the storage device 102. In this case, the program is input from the auxiliary storage device to the processor 101 via the volatile storage device. In addition, the processor 101 may output data such as a calculation result to the volatile storage device of the storage device 102 or store the data in the auxiliary storage device via the volatile storage device.

[0048] Although the disclosure is described above in terms of an exemplary embodiment, it should be understood that the various features, aspects, and functions described in the embodiment are not limited in their applicability to the particular embodiment with which they are described, but instead may be applied alone or in various combinations to the embodiment of the disclosure.

[0049] Therefore, it is anticipated that numerous modifications not exemplified may be developed without departing from the scope of the specification of the present disclosure. For example, at least one of the components may be modified, added, or removed. DESCRIPTION OF REFERENCE SYMBOLS 1 rotating electrical machine 2 Power supply 3 inverters 4 Voltage detector 5 Current detector 6 Position detector 10 Control system for rotating electrical machine 11 Stator 12 Rotor 13 Stator core 14 coil 15 Core back 16 tooth 17 Rotor core 18 permanent magnet 19 Rotating shaft 20 Magnet insertion hole 100 control device 101 processor 102 Storage device 110 Reference current instruction generation unit 120 current phase generation unit 130 Current instruction generation unit 131 first magnetic flux calculation unit 132 Reference torque command calculation unit 133 Current instruction correction calculation unit 134 Power instruction storage unit 135 second magnetic flux calculation unit 140 Voltage instruction generation unit 150 rotation speed calculation unit QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2021-150966

[0004]

Claims

[1] Control device for a rotating electrical machine to be driven with three-phase currents from an inverter, the control device comprising: a reference current command generation unit that generates a d-axis reference current command value and a q-axis reference current command value based on a torque command value and a rotation speed of the rotating electric machine; a current phase generation unit that generates a current phase instruction based on the d-axis reference current instruction value and the q-axis reference current instruction value generated by the reference current instruction generation unit, the torque instruction value, the rotation speed, and a power supply voltage of the rotating electric machine; a current instruction generation unit that generates a d-axis current instruction value and a q-axis current instruction value based on the d-axis reference current instruction value and the q-axis reference current instruction value generated by the reference current instruction generation unit and the current phase instruction generated by the current phase generation unit; and a voltage command generation unit that generates three-phase voltage command values ​​based on the d-axis current command value and the q-axis current command value generated by the current command generation unit, the rotation speed, a rotation position of the rotating electrical machine, and the three-phase currents, and outputs the three-phase voltage command values ​​to the inverter, wherein the current instruction generation unit comprises: a first magnetic flux calculation unit that calculates a d-axis reference magnetic flux and a q-axis reference magnetic flux from the d-axis reference current command value and the q-axis reference current command value, a reference torque command calculation unit that calculates a reference torque command value based on the d-axis reference magnetic flux and the q-axis reference magnetic flux calculated by the first magnetic flux calculation unit, and the d-axis reference current command value and the q-axis reference current command value, a second magnetic flux calculation unit that calculates a previous d-axis magnetic flux and a previous q-axis magnetic flux from a previous d-axis current instruction value and a previous q-axis current instruction value generated by the current instruction generation unit, and a current command correction calculation unit that calculates the d-axis current command value and the q-axis current command value based on the previous d-axis magnetic flux and the previous q-axis magnetic flux calculated by the second magnetic flux calculation unit, the reference torque command value calculated by the reference torque command calculation unit, and the current phase command. [2] The control device for the rotating electric machine according to claim 1, wherein the current phase generation unit calculates the current phase command using a function having, as parameters, the d-axis reference current command value, the q-axis reference current command value, the rotation speed, and the power supply voltage of the rotating electric machine. [3] The control device for the rotating electric machine according to claim 2, wherein the current phase generation unit includes a plurality of functions and selects one of the plurality of functions according to an input mode identification signal. [4] The control device for the rotating electric machine according to any one of claims 1 to 3, wherein the current command correction calculation unit performs filtering processing or change rate limiting processing on the calculated d-axis current command value and the calculated q-axis current command value. [5] A control method for a rotating electrical machine to be driven with three-phase currents from an inverter, the control method comprising: a reference current command generation step for generating a d-axis reference current command value and a q-axis reference current command value based on a torque command value and a rotation speed of the rotating electrical machine; a current phase generation step of generating a current phase command based on the d-axis reference current command value and the q-axis reference current command value generated in the reference current command generation step, the torque command value, the rotation speed, and a power supply voltage of the rotating electric machine; a current instruction generation step for generating a d-axis current instruction value and a q-axis current instruction value based on the d-axis reference current instruction value and the q-axis reference current instruction value generated in the reference current instruction generation step and the current phase instruction generated in the current phase generation step; and a voltage command generation step for generating three-phase voltage command values ​​based on the d-axis current command value and the q-axis current command value generated in the current command generation step, the rotation speed, a rotation position of the rotating electrical machine, and the three-phase currents, and for outputting the three-phase voltage command values ​​to the inverter, wherein the current instruction generation step includes: a first magnetic flux calculation step for calculating a d-axis reference magnetic flux and a q-axis reference magnetic flux from the d-axis reference current command value and the q-axis reference current command value, a reference torque command calculation step for calculating a reference torque command value based on the d-axis reference magnetic flux and the q-axis reference magnetic flux calculated in the first magnetic flux calculation step, and the d-axis reference current command value and the q-axis reference current command value, a second magnetic flux calculation step for calculating a previous d-axis magnetic flux and a previous q-axis magnetic flux from a previous d-axis current command value and a previous q-axis current command value generated in the current command generation step, and a current command correction calculation step of calculating the d-axis current command value and the q-axis current command value based on the previous d-axis magnetic flux and the previous q-axis magnetic flux calculated in the second magnetic flux calculation step, the reference torque command value calculated in the reference torque command calculation step, and the current phase command. [6] The control method for the rotating electric machine according to claim 5, wherein the current phase generating step includes calculating the current phase command using a function having as parameters the d-axis reference current command value, the q-axis reference current command value, the rotation speed, and the power supply voltage of the rotating electric machine. [7] The control method for the rotating electric machine according to claim 6, wherein, when there are a plurality of functions, the current phase generating step comprises selecting one of the plurality of functions according to an inputted mode identification signal. [8] The control method for the rotating electric machine according to any one of claims 5 to 7, wherein the current command correction calculation step comprises performing filtering processing or change rate limiting processing on the calculated d-axis current command value and the q-axis current command value.

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