Motor Control Device

Abstract

To improve responsiveness of current control of a motor by reducing influence of interference components generated in a specified rotation range of the motor on control in a motor controller for performing vector control.SOLUTION: In a motor controller, a vector control unit 15 includes: a current control unit 50 for calculating a pre-compensation d-axis voltage command value on the basis of a d-axis current command value and a d-axis current detection value, and a pre-compensation q-axis voltage command value on the basis of a q-axis current command value and a q-axis current detection value; a first non-interference control unit 60 for calculating a d-axis first non-interference compensation value on the basis of the q-axis current command value, compensating the pre-compensation d-axis voltage command value, calculating a q-axis first non-interference compensation value on the basis of the d-axis current command value and compensating the pre-compensation q-axis voltage command value; and a second non-interference control unit 70 for cancelling an interference component to q-axis current by d-axis current, which is generated in a specified rotation range of a motor M, and an interference component to d-axis current by the q-axis current, which is generated in the specified rotation range, by using a variable integral gain which varies according to motor rotation speed.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a motor control device. [Background technology]

[0002] There is known a motor control device that performs vector control of an AC motor based on the d-axis and the q-axis. For example, Patent Document 1 discloses a motor control device that calculates a current command value based on a torque command value input from an external source and a load reflection value that reflects the running load of the vehicle. Furthermore, the motor control device disclosed in Patent Document 1 calculates a voltage command value by performing a feedback calculation based on the deviation between the calculated current command value and the actual current value. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4400389 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the relationship between the d-axis current value and the d-axis voltage value is influenced by the q-axis current value. In addition, the relationship between the q-axis current value and the q-axis voltage value is influenced by the d-axis current value. In other words, the d-axis and q-axis interfere with each other. In order to suppress the influence of such mutual interference components, non-interference control may be performed in which a compensation value is added to or subtracted from the voltage command value to cancel out the interference components. However, some interference components have a large influence in the high-speed rotation range of the motor. In other words, there are interference components that occur when the motor is in a specific rotation range. It has been difficult to reduce the influence of such interference components that occur in the specific rotation range of the motor. If the influence of the interference components cannot be reduced, the responsiveness of the motor current control will deteriorate.

[0005] The present invention has been made in consideration of the above-mentioned problems, and aims to improve the responsiveness of motor current control in a motor control device that performs vector control by reducing the effect on control of interference components that occur in specific rotation ranges of the motor. [Means for solving the problem]

[0006] The present invention employs the following configuration as a means for solving the above problems.

[0007] A first aspect is a motor control device including a vector control unit that calculates a d-axis voltage command value and a q-axis voltage command value based on a d-axis current command value and a q-axis current command value, wherein the vector control unit includes a current control unit that calculates a pre-compensation d-axis voltage command value based on the d-axis current command value and the d-axis current detection value, and a pre-compensation q-axis voltage command value based on the q-axis current command value and the q-axis current detection value, a first de-interference control unit that calculates a d-axis first de-interference compensation value based on the q-axis current command value to compensate for the pre-compensation d-axis voltage command value and calculates a q-axis first de-interference compensation value based on the d-axis current command value to compensate for the pre-compensation q-axis voltage command value, and a second de-interference control unit that cancels, by using a variable integral gain that varies according to the motor speed, an interference component on the q-axis current caused by the d-axis current generated in a specific rotation range of the motor and an interference component on the d-axis current caused by the q-axis current generated in the specific rotation range.

[0008] The second aspect is the first aspect, wherein the current control unit has a d-axis integral gain multiplication unit that multiplies the deviation between the d-axis current command value and the d-axis current detection value by an integral gain, a d-axis integrator that integrates the output from the d-axis integral gain multiplication unit, a q-axis integral gain multiplication unit that multiplies the deviation between the q-axis current command value and the q-axis current detection value by an integral gain, and a q-axis integrator that integrates the output from the q-axis integral gain multiplication unit, and the second non-interference control unit adds or subtracts a calculation result based on the variable integral gain to or from the output of the d-axis integral gain multiplication unit and the output of the q-axis integral gain multiplication unit.

[0009] A third aspect is a configuration in which, in the first or second aspect, the second non-interference control unit sets the variable integral gain based on a variable integral gain adjustment coefficient map in which the motor rotation speed and a variable integral gain adjustment coefficient are associated with each other.

[0010] A fourth invention, in any one of the first to third aspects, employs a configuration in which the first non-interference control unit calculates the d-axis first non-interference compensation value and the q-axis first non-interference compensation value using a first non-interference gain that varies according to the motor rotation speed.

[0011] A fifth invention, in the fourth aspect, adopts a configuration in which the first de-interference control unit sets the first de-interference gain based on a first de-interference gain map in which the motor rotation speed and the first de-interference gain are associated with each other. Effect of the Invention

[0012] In the present invention, the variable integral gain is varied according to the motor rotation speed, and this variable integral gain is used to cancel out interference components occurring in a specific rotation range of the motor. That is, in the present invention, the variable integral gain changes according to the current rotation speed of the motor, and a variable integral gain suitable for the motor rotation speed can be selected to cancel out interference components. Therefore, according to the present invention, in a motor control device that performs vector control, it is possible to improve the responsiveness of motor current control by reducing the effect on control of interference components occurring in a specific rotation range of the motor. [Brief description of the drawings]

[0013] [Figure 1] 1 is a circuit diagram showing a schematic configuration of a control device that functions as a motor control device in one embodiment of the present invention. [Diagram 2] 3 is a block diagram showing a functional configuration of a power converter control unit as a motor control device. FIG. [Diagram 3] 2 is a block diagram of a vector control unit included in the motor control device according to the embodiment of the present invention. FIG. [Figure 4] FIG. 11 is a block diagram for explaining a method of calculating a d-axis first non-interference gain, a q-axis first non-interference gain, a d-axis variable integral gain, and a q-axis variable integral gain. [Diagram 5] 13 is a graph showing an example of the relationship between the motor rotation speed and the d-axis variable integral gain adjustment coefficient. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a motor control device according to the present invention will be described with reference to the drawings.

[0015] 1 is a circuit diagram showing a schematic configuration of a control device 1 that functions as a motor control device of the present embodiment. As shown in this figure, the control device 1 includes a power converter 2 and a power converter control unit 3.

[0016] As shown in Fig. 1, the power converter 2 includes a step-up / step-down converter 2a, a drive inverter 2b, and a power generation inverter 2c. The step-up / step-down converter 2a steps up the DC voltage output from the battery P at a predetermined step-up ratio. The step-up / step-down converter 2a steps down the DC voltage output from the drive inverter 2b or the power generation inverter 2c at a predetermined step-down ratio. As shown in Fig. 1, the step-up / step-down converter 2a includes, for example, a plurality of capacitors, a transformer, and a plurality of transforming IGBTs (Insulated Gate Bipolar Transistors).

[0017] Such a step-up / step-down converter 2a is a power circuit known as a magnetically coupled interleaved chopper circuit. The step-up / step-down converter 2a selectively performs a step-up operation in which the DC power input from the battery P via a pair of battery terminals is boosted and output to the drive inverter 2b, and a step-down operation in which the DC power input from the drive inverter 2b or the power generation inverter 2c is stepped down and output to the battery P via a pair of battery terminals. In other words, the step-up / step-down converter 2a is a power conversion circuit that inputs and outputs DC power in both directions between the battery P and the drive inverter 2b or the power generation inverter 2c.

[0018] Based on a PWM (Pulse Width Modulation) signal from the power converter control unit 3, the drive inverter 2b converts the DC power output from the battery P into AC power and supplies it to the motor M. Based on the PWM signal from the power converter control unit 3, the drive inverter 2b also converts the AC power output from the motor M into DC power and supplies it to the step-up / step-down converter 2a. As shown in FIG. 1, the drive inverter 2b has three switching legs and is equipped with a total of six drive IGBTs.

[0019] Such a driving inverter 2b has three (a plurality of) switching legs corresponding to the number of phases of the motor M. This driving inverter 2b is a power conversion circuit that selectively performs a power running operation and a regenerative operation. That is, the driving inverter 2b selectively performs a power running operation in which the DC power input from the step-up / step-down converter 2a is converted into three-phase AC power and output to the motor M via three motor terminals, and a regenerative operation in which the three-phase AC power input from the motor M is converted into DC power via the three motor terminals and output to the step-up / step-down converter 2a. That is, the driving inverter 2b is a power circuit that converts DC power and three-phase AC power between the step-up / step-down converter 2a and the motor M.

[0020] The power generation inverter 2c converts the AC power output from the generator G into DC power and supplies it to the step-up / step-down converter 2a based on a PWM signal from the power converter control unit 3. Like the drive inverter 2b, the power generation inverter 2c also has three switching legs and is equipped with a total of six drive IGBTs.

[0021] Such a power generation inverter 2c includes three (multiple) switching legs corresponding to the number of phases of the generator G. This power generation inverter 2c is a power conversion circuit that converts three-phase AC power input from the generator G via three generator terminals into DC power and outputs it to the step-up / step-down converter 2a. In other words, this power generation inverter 2c is a power circuit that converts DC power and three-phase AC power between the step-up / step-down converter 2a and the generator G.

[0022] As shown in the figure, a battery P, a motor M, and a generator G are connected to the power converter 2. The power converter 2 has a pair of battery terminals (positive battery terminal E1 and negative battery terminal E2) to which the battery P is connected as terminals for external connection. The power converter 2 also has three motor terminals (U-phase motor terminal Fu, V-phase motor terminal Fv, and W-phase motor terminal Fw) to which the motor M is connected. The power converter 2 also has three generator terminals (U-phase generator terminal Hu, V-phase generator terminal Hv, and W-phase generator terminal Hw) to which the generator G is connected.

[0023] A control device 1 equipped with such a power converter 2 is an electric device provided in an electrically powered vehicle such as a hybrid vehicle or an electric car, and controls a motor M, which is a rotating electric machine, and also controls charging of a battery P with AC power generated by a generator G. In other words, this control device 1 performs drive control of the motor M based on the output of the battery P (battery power) and charging control of the battery P based on the output power of the generator G (generated power).

[0024] The control device 1 may be configured such that the power converter 2 does not include the power generation inverter 2c, and the generator G is not connected to the power converter 2. In this case, the control device 1 does not control the charging of the battery P based on the output power (generated power) of the generator G, but controls the driving of the motor M based on the output of the battery P (battery power).

[0025] As shown in the figure, the positive electrode of the battery P is connected to the positive battery terminal E1, and the negative electrode of the battery P is connected to the negative battery terminal E2. The battery P is a secondary battery such as a lithium ion battery, and discharges DC power to the control device 1 and charges DC power via the control device 1.

[0026] Motor M is a three-phase motor with three phases, and is a load of drive inverter 2b. This motor M has a U-phase input terminal connected to U-phase motor terminal Fu, a V-phase input terminal connected to V-phase motor terminal Fv, and a W-phase input terminal connected to W-phase motor terminal Fw. The rotating shaft (drive shaft) of this motor M is connected to the wheels of an electric vehicle, and drives the wheels to rotate by applying rotational power to the wheels.

[0027] The generator G is a three-phase generator with a U-phase output terminal connected to a U-phase generator terminal Hu, a V-phase output terminal connected to a V-phase generator terminal Hv, and a W-phase output terminal connected to a W-phase generator terminal Hw. The generator G is connected to the output shaft of a power source such as an engine mounted on an electric vehicle, and outputs three-phase AC power to the control device 1.

[0028] The power converter control unit 3 includes a gate driver and an ECU (Electronic Control Unit). The gate driver is a circuit that generates a gate signal based on various duty command values ​​(a duty command value for voltage transformation, a duty command value for driving, and a duty command value for power generation) input from the ECU. For example, the gate driver generates a gate signal to be supplied to the step-up / step-down converter 2a based on the duty command value for voltage transformation input from the ECU. The gate driver also generates a gate signal to be supplied to the driving inverter 2b based on the duty command value for driving input from the ECU. The gate driver also generates a gate signal to be supplied to the power generation inverter 2c based on the duty command value for power generation input from the ECU.

[0029] The ECU is a control circuit that performs a predetermined control process based on a control program stored in advance. The ECU outputs various duty command values ​​(a duty command value for voltage transformation, a duty command value for driving, and a duty command value for power generation) generated based on the above control process to a gate driver. Such an ECU performs drive control of the motor M and charge control of the battery P via the power converter 2 and the gate driver. That is, the ECU generates various duty command values ​​(a duty command value for voltage transformation, a duty command value for driving, and a duty command value for power generation) related to the step-up / step-down converter 2a, the drive inverter 2b, and the power generation inverter 2c based on detection values ​​(voltage detection values) of voltage sensors and detection values ​​(current detection values) of current sensors annexed to the step-up / step-down converter 2a, the drive inverter 2b, and the power generation inverter 2c, as well as operation information of the electric vehicle, etc.

[0030] 2 is a block diagram showing a functional configuration of the power converter control unit 3 as a motor control device. In addition to the power converter 2 and the power converter control unit 3, the control device 1 includes a current sensor 4 and a rotation angle sensor 5 as shown in FIG.

[0031] The current sensor 4 detects each phase current between the motor M and the power converter 2, and outputs the detection result to the power converter control unit 3. Note that the multiple current sensors 4 may be provided between the power converter 2 and the motor M, or may be provided inside the power converter 2. The current sensor 4 is not particularly limited as long as it is configured to detect the phase current of each phase, and may include, for example, a current transformer (CT) with a transformer or a Hall element. Also, the current sensor 4 may be a shunt resistor.

[0032] The rotation angle sensor 5 detects the rotation angle of the motor M. The rotation angle of the motor M is the electrical angle of the rotor from a predetermined reference rotation position. The rotation angle sensor 5 outputs a detection signal indicating the detected rotation angle to the power converter control unit 3. For example, the rotation angle sensor 5 may include a resolver. The rotation speed of the motor M (motor rotation speed) can be calculated based on the detection signal output from the rotation angle sensor 5. That is, the rotation angle sensor 5 outputs a detection signal including the motor rotation speed as information.

[0033] The power converter control unit 3 includes, as functional units embodied by, for example, the above-mentioned gate driver and ECU, a torque control unit 11, a current detection unit 12, a three-phase / dq conversion unit 13, an angular velocity calculation unit 14, a vector control unit 15, a dq / three-phase conversion unit 16, and a PWM control unit 17. As shown in Fig. 2, the torque control unit 11, the vector control unit 15, the dq / three-phase conversion unit 16, and the PWM control unit 17 receive the DC voltage Vdcf of the battery.

[0034] The torque control unit 11 receives a torque command value T * The torque control unit 11 obtains the torque command value T * Based on this, the d-axis current command value i d * and the q-axis current command value i q * The torque control unit 11 generates the d-axis current command value i d * and q-axis current command value i q * is output to the vector control unit 15.

[0035] The current detection unit 12 detects the current value flowing through the U-phase coil of the motor M (hereinafter, “U-phase current value i u "), the current value flowing through the V-phase coil of the motor M (hereinafter referred to as "V-phase current value i v "), the current value flowing through the W-phase coil of the motor M (hereinafter referred to as "W-phase current value i wThe current detection unit 12 detects the U-phase current value i u , V-phase current value i v and W-phase current value i w to the three-phase / dq conversion unit 13.

[0036] The three-phase / dq conversion unit 13 converts the U-phase current value i u , V-phase current value i v and W-phase current value i w Using the electrical angle θ obtained from the rotation angle sensor 5, the d-axis current detection value i d and q-axis current detection value i q The three-phase / dq conversion unit 13 converts the d-axis current detection value i d and q-axis current detection value i q is output to the vector control unit 15.

[0037] The angular velocity calculation unit 14 calculates the angular velocity ω based on the electrical angle θ of the motor M output from the rotation angle sensor 5. The angular velocity calculation unit 14 outputs the calculated angular velocity ω to the vector control unit 15.

[0038] The vector control unit 15 calculates the d-axis current command value i d * Based on this, the d-axis voltage command value v d * The vector control unit 15 calculates the q-axis current command value i q * Based on this, the q-axis voltage command value v q * The vector control unit 15 calculates the d-axis voltage command value v d * and the q-axis voltage command value v q * to the dq / three-phase conversion unit 16. The details of this vector control unit 15 will be described later.

[0039] The dq / three-phase conversion unit 16 obtains the electrical angle θ from the rotation angle sensor 5. The dq / three-phase conversion unit 16 converts the d-axis voltage command value v d * and the q-axis voltage command value v q *from the vector control unit 15. The dq / three-phase conversion unit 16 converts the d-axis voltage command value v d * and the q-axis voltage command value v q * The U-phase voltage command value V u * , V-phase voltage command value V v * and W-phase voltage command value V w * Then, the dq / three-phase conversion unit 16 converts the U-phase voltage command value V u * , V-phase voltage command value V v * and W-phase voltage command value V w * to the PWM control unit 17. The U-phase voltage command value V u * , V-phase voltage command value V v * and W-phase voltage command value V w * are modulated waves, and when there is no need to distinguish between them, they may be called "voltage command signals."

[0040] The PWM control unit 17 compares a carrier wave of a predetermined carrier frequency with the voltage command signal. Then, as a result of the comparison, the PWM control unit 17 outputs a Hi level signal during a period in which the amplitude of the voltage command signal is greater than that of the carrier wave, and outputs a Lo level signal during a period in which the amplitude of the voltage command signal is smaller than that of the carrier wave, thereby outputting a PWM signal to the power converter 2. The PWM control unit 17 compares the carrier wave with the U-phase voltage command value V u * The PWM control unit 17 compares the carrier wave with the V-phase voltage command value V v * The PWM control unit 17 compares the carrier wave with the W-phase voltage command value V w * By comparing the two, a PWM signal Dw is generated and output to the power converter 2.

[0041] The power converter 2 is driven based on the PWM signals (the above-mentioned PWM signals Du, Dv, and Dw) input from the PWM control unit 17, whereby the rotation of the motor M is controlled.

[0042] Next, the vector control unit 15 will be described in detail. Here, first, the concept of vector control performed by the vector control unit 15 will be described. When decoupling control is performed in addition to current control in the vector control, the voltage equations can be expressed as the following equations (1) to (7). In addition, in the equations (1) to (7), vd represents the d-axis voltage, vq represents the q-axis voltage, Ra represents the armature resistance, Ld represents the d-axis inductance, Lq represents the q-axis inductance, id represents the d-axis current, iq represents the q-axis current, ωe represents the angular velocity, Φa represents the flux linkage, Φodd represents the d-axis variable flux which is a flux generated according to the d-axis current, Φoq represents the q-axis flux linkage, and Φod represents the d-axis flux linkage.

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[0050] Furthermore, disturbance components that occur in the power converter 2 when the motor M is in a specific rotation range, such as a high rotation range, are considered. Here, the disturbance components that occur in the specific rotation range are included in the inductance (d-axis inductance and q-axis inductance). These disturbance components are divided into steady-state fluctuations (ΔLd and ΔLq) and time-dependent fluctuations (pΔLd and pΔLq), and are defined as in the following equations (8) and (9).

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[0053] Then, based on equations (1) to (9), the following equations (10) to (15) hold.

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[0060] Here, as shown in the following equations (16) to (21), it is assumed that the amounts of fluctuation of the terms shown in equations (16) to (21) are minute.

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[0067] By deleting the terms shown in these equations (16) to (21), the voltage equations can be expressed as the following equations (22) and (23).

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[0070] Furthermore, by defining the following equations (24) to (26), equation (22) can be expressed as the following equation (27).

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[0075] In equation (22), the first term on the left side is a term indicating a component that makes the d-axis current follow the d-axis current command value. Therefore, vdcur in equation (24) indicates a component for performing d-axis current follow-up control. Hereinafter, vdcur is referred to as the d-axis current follow-up component. Also, in equation (22), the second term on the left side is a term indicating an interference component caused by the influence of the q-axis current. Also, in equation (22), the third term on the left side is a term indicating an interference component caused by the influence of the q-axis current in a specific rotation range (e.g., a high-speed rotation range) of the motor M. Therefore, vddcp and Δvddcp in equations (25) and (26) indicate noise components included in the d-axis voltage due to the interference of the q-axis current with the d-axis current. Hereinafter, vddcp is referred to as the d-axis first interference component. Also, Δvddcp is referred to as the d-axis second interference component.

[0076] Furthermore, by defining the following equations (28) to (30), equation (23) can be expressed as the following equation (31).

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[0081] In equation (23), the first term on the left side is a term indicating a component that makes the q-axis current follow the q-axis current command value. Therefore, vqcur in equation (28) indicates a component for performing q-axis current follow-up control. Hereinafter, vqcur will be referred to as the q-axis current follow-up component. Also, in equation (23), the second term on the left side is a term indicating an interference component caused by the influence of the d-axis current. Also, in equation (23), the third term on the left side is a term indicating an interference component caused by the influence of the d-axis current in a specific rotation range (e.g., high-speed rotation range) of the motor M. Therefore, vqdcp and Δvqdcp in equations (29) and (30) indicate noise components included in the q-axis voltage due to the interference of the d-axis current with the q-axis current. Hereinafter, vqdcp will be referred to as the q-axis first interference component. Also, Δvqdcp will be referred to as the q-axis second interference component.

[0082] In this embodiment, the vector control unit 15 calculates the current tracking component (d-axis current tracking component v dcur and the q-axis current tracking component v qcur The vector control unit 15 is provided with a current control unit 50 that controls the first interference component (d-axis first interference component v ddcp and the q-axis first interference component v qdcpThe vector control unit 15 is provided with a first decoupling control unit 60 that controls the second interference component (d-axis second interference component Δv ddcp and the q-axis second interference component Δv qdcp ) as a control target.

[0083] 3 is a block diagram showing a schematic configuration of the vector control unit 15. As shown in this figure, the vector control unit 15 includes a first subtractor 20, a second subtractor 30, a calculation unit 40, a current control unit 50, a first decoupling control unit 60, and a second decoupling control unit 70.

[0084] The first subtractor 20 subtracts the d-axis current command value i d * The first subtractor 20 obtains the d-axis current detection value i d Then, the first subtractor 20 obtains the d-axis current command value i d * to d-axis current detection value i d The first subtractor 20 then outputs the deviation thus obtained to the current control unit 50.

[0085] The second subtractor 30 subtracts the q-axis current command value i q * The second subtractor 30 obtains the q-axis current detection value i q Then, the second subtractor 30 obtains the q-axis current command value i q * to q-axis current detection value i q The second subtractor 30 then outputs the deviation thus obtained to the current control unit 50.

[0086] The calculation unit 40 receives the d-axis current command value i d * and q-axis current command value i q * Then, the calculation unit 40 obtains the d-axis current command value i d * and q-axis current command value iq * Based on this, the motor current i m The amplitude of i a The current amplitude command value i a * and the motor current i m The current phase command value β is a command value for the current phase β, which is the phase of * Here, the motor current i m is the d-axis current command value i d * and the q-axis current command value i q * This is also called the motor current vector. Therefore, the amplitude i a is the absolute value of the motor current vector. The current phase β is the phase of the motor current i m (the phase of the motor current vector).

[0087] The current control unit 50 determines the d-axis current command value i d * and d-axis current detection value i d The uncompensated d-axis voltage command value v based on dcur * , and the q-axis current command value i q * and the q-axis current detection value i q The uncompensated q-axis voltage command value v based on qcur * This current control unit 50 performs PI control to calculate the current tracking component (d-axis current tracking component v dcur and the q-axis current tracking component v qcur ) is the uncompensated d-axis voltage command value v dcur * and the uncompensated q-axis voltage command value v qcur * Calculate.

[0088] As shown in Fig. 3, the current control unit 50 includes a d-axis current control unit 51 and a q-axis current control unit 52. The d-axis current control unit 51 controls a d-axis current command value i d * and d-axis current detection value i dThe uncompensated d-axis voltage command value v based on dcur * The q-axis current control unit 52 calculates the q-axis current command value i q * and the q-axis current detection value i q The uncompensated q-axis voltage command value v based on qcur * Calculate.

[0089] The d-axis current control unit 51 performs PI control to obtain the uncompensated d-axis voltage command value v dcur * The d-axis integral gain multiplication unit 51a, the d-axis integrator 51b, the d-axis proportional gain multiplication unit 51c, and an adder 51d are provided.

[0090] The d-axis integral gain multiplication unit 51a multiplies the deviation (d-axis current command value i d * and d-axis current detection value i d deviation) to integral gain k idcur and outputs the result to the d-axis integrator 51b.

[0091] The d-axis integrator 51b integrates the output from the d-axis integral gain multiplication unit 51a. In this embodiment, a subtractor 71c of the second non-interference control unit 70, which will be described later, is provided between the d-axis integral gain multiplication unit 51a and the d-axis integrator 51b. The subtractor 71c subtracts the output from the d-axis variable integral gain multiplication unit 71b, which will be described later, from the output from the d-axis integral gain multiplication unit 51a. Therefore, the d-axis integrator 51b integrates a value (output from the subtractor 71c) obtained by subtracting the output from the d-axis variable integral gain multiplication unit 71b from the output from the d-axis integral gain multiplication unit 51a.

[0092] The d-axis proportional gain multiplier 51c multiplies the deviation output from the first subtractor 20 by a proportional gain k pdcur The adder 51d adds the integral value from the d-axis integrator 51b and the output from the d-axis proportional gain multiplier 51c to obtain the uncompensated d-axis voltage command value v dcur * Calculate.

[0093] The q-axis current control unit 52 performs PI control to obtain the uncompensated q-axis voltage command value v qcur * and includes a q-axis integral gain multiplication unit 52a, a q-axis integrator 52b, a q-axis proportional gain multiplication unit 52c, and an adder 52d.

[0094] The q-axis integral gain multiplication unit 52a multiplies the deviation (q-axis current command value i q * and the q-axis current detection value i q deviation) to integral gain k iqcur and outputs the result to the q-axis integrator 52b.

[0095] The q-axis integrator 52b integrates the output from the q-axis integral gain multiplication unit 52a. In this embodiment, an adder 72c of the second decoupling control unit 70, which will be described later, is provided between the q-axis integral gain multiplication unit 52a and the q-axis integrator 52b. The adder 72c adds the output from the q-axis variable integral gain multiplication unit 72b, which will be described later, to the output from the q-axis integral gain multiplication unit 52a. Therefore, the q-axis integrator 52b integrates a value (output from the adder 72c) obtained by adding the output from the q-axis variable integral gain multiplication unit 72b to the output from the q-axis integral gain multiplication unit 52a.

[0096] The q-axis proportional gain multiplier 52c multiplies the deviation output from the second subtractor 30 by a proportional gain k pqcur The adder 52d adds the integral value from the q-axis integrator 52b and the output from the q-axis proportional gain multiplier 52c to obtain the uncompensated q-axis voltage command value v qcur * Calculate.

[0097] The first decoupling control unit 60 calculates the q-axis current command value i q * Based on the d-axis first decoupling compensation value v ddcp * Calculate the uncompensated d-axis voltage command value v dcur * and the d-axis current command value id * Based on the q-axis first decoupling compensation value v qdcp * Calculate the uncompensated q-axis voltage command value v qcur * The first decoupling control unit 60 also controls a first decoupling gain (d-axis first decoupling gain k dff and q-axis first decoupling gain k qff ) to calculate the d-axis first decoupling compensation value v ddcp * and the q-axis first decoupling compensation value v qdcp * The first non-interference control unit 60 also calculates the motor rotation speed N f (i.e., angular velocity ω) and the first decoupling gain are associated with a first decoupling gain map (d-axis first decoupling gain map k dff map and q-axis first decoupling gain map k qff map ) based on which a first decoupling gain is set.

[0098] The first decoupling control unit 60 calculates the uncompensated d-axis voltage command value v dcur * to d-axis first decoupling compensation value v ddcp * By subtracting the first interference component (d-axis first interference component v ddcp The component that cancels out the d-axis voltage command value v d * The first decoupling control unit 60 also controls the uncompensated q-axis voltage command value v qcur * to q-axis first decoupling compensation value v qdcp * By subtracting the first interference component (q-axis first interference component v qdcp The component that cancels out the q-axis voltage command value v q * Put it on.

[0099] As shown in Fig. 3, the first decoupling control unit 60 includes a d-axis first decoupling control unit 61 and a q-axis first decoupling control unit 62. The d-axis first decoupling control unit 61 controls the q-axis current command value iq * Based on the d-axis first decoupling compensation value v ddcp * Calculate the uncompensated d-axis voltage command value v dcur * In addition, the q-axis first decoupling control unit 62 compensates for the d-axis current command value i d * Based on the q-axis first decoupling compensation value v qdcp * Calculate the uncompensated q-axis voltage command value v qcur * Compensate.

[0100] The d-axis first decoupling control unit 61 includes a q-axis inductance calculation unit 61a, a multiplier 61b, a low-pass filter 61c, a d-axis first decoupling gain multiplication unit 61d, a multiplier 61e, and a subtractor 61f.

[0101] The q-axis inductance calculation unit 61a calculates the current amplitude command value i a * and current phase command value β * The q-axis inductance L according to q Calculate the q-axis inductance L q is the inductance on the q-axis side of the motor M. Specifically, the q-axis inductance calculation unit 61a calculates the motor current i m The amplitude of i a And current phase β and q-axis inductance L q The q-axis inductance map L q map is stored in advance. q-axis inductance map L q map is the amplitude i a Based on the current phase β, the q-axis inductance L q For example, the q-axis inductance map L q map is the amplitude of each a and each current phase β and its amplitude i a and the q-axis inductance L associated with each combination of current phase β. qHowever, the present invention is not limited to this, and may be a table having the q-axis inductance map L q map is the motor current i m The amplitude of i a And current phase β and q-axis inductance L q Any information showing the correspondence between and may be used, and is not limited to the above table and may be a mathematical formula.

[0102] The q-axis inductance calculation unit 61a receives the current amplitude command value i a * and current phase command value β * Then, the q-axis inductance calculation unit 61a obtains the q-axis inductance map L q map and the current amplitude command value i a * The amplitude i corresponding to a and the current phase command value β * The q-axis inductance L corresponding to the current phase β q The q-axis inductance map L q map Then, the q-axis inductance calculation unit 61a obtains the q-axis inductance map L q map The q-axis inductance L obtained from q is output to the multiplier 61b.

[0103] The multiplier 61b multiplies the q-axis inductance L output from the q-axis inductance calculation unit 61a by q For the q-axis current command value i q * The low-pass filter 61c attenuates the high-frequency components of the signal output from the multiplier 61b and outputs the signal to a d-axis first non-interference gain multiplier 61d. Note that ωlqc shown in FIG. 3 indicates the center frequency of the low-pass filter 61c.

[0104] The d-axis first decoupling gain multiplier 61d multiplies the d-axis first decoupling gain k dffThis d-axis first decoupling gain k dff is the motor rotation speed N f (i.e., the angular velocity ω) is changed. FIG. 4 shows the d-axis first decoupling gain k dff As shown in the figure, the d-axis first non-interference gain multiplication unit 61d calculates the motor rotation speed N f (or angular velocity ω) and d-axis first decoupling gain k dff The d-axis first decoupling gain map k dff map is stored in advance, and this d-axis first decoupling gain map k dff map Based on the d-axis first decoupling gain k dff Set.

[0105] The multiplier 61e multiplies the output from the d-axis first non-interference gain multiplication unit 61d by the input value from the angular velocity calculation unit (input angular velocity ω e ) to obtain the d-axis first decoupling compensation value v ddcp * Calculate and output.

[0106] The subtractor 61f subtracts the d-axis first non-interference compensation value v output from the multiplier 61e. ddcp * The uncompensated d-axis voltage command value v dcur * By subtracting from the d-axis voltage command value v d * Calculate and output.

[0107] The q-axis first decoupling control unit 62 includes a d-axis inductance calculation unit 62a, a multiplier 62b, a low-pass filter 62c, a q-axis first decoupling gain multiplication unit 62d, a multiplier 62e, an adder 62f, and a flux linkage calculation unit 62g.

[0108] The d-axis inductance calculation unit 62a calculates the current amplitude command value i a * and current phase command value β * D-axis inductance L according to dCalculate the d-axis inductance L d is the inductance on the d-axis side of the motor M. Specifically, the d-axis inductance calculation unit 62a calculates the motor current i m The amplitude of i a and current phase β and d-axis inductance L d The d-axis inductance map L d map is stored in advance. d-axis inductance map L d map is the amplitude i a Based on the current phase β, the d-axis inductance L d For example, the d-axis inductance map L d map is the amplitude of each a and each current phase β and its amplitude i a and the d-axis inductance L associated with each combination of current phase β d However, the present invention is not limited to this, and may be a table having the d-axis inductance map L d map is the motor current i m The amplitude of i a and current phase β and d-axis inductance L d Any information showing the correspondence between and may be used, and is not limited to the above table and may be a mathematical formula.

[0109] The d-axis inductance calculation unit 62a receives the current amplitude command value i a * and current phase command value β * Then, the d-axis inductance calculation unit 62a obtains the d-axis inductance map L d map and the current amplitude command value i a * The amplitude i corresponding to a and the current phase command value β * The d-axis inductance L corresponding to the current phase β d The d-axis inductance map L d mapThen, the d-axis inductance calculation unit 62a obtains the d-axis inductance map L d map The d-axis inductance L obtained from d is output to the multiplier 62b.

[0110] The multiplier 62b multiplies the d-axis inductance L output from the d-axis inductance calculation unit 62a by d For the d-axis current command value i d * The low-pass filter 62c attenuates the high-frequency components of the signal output from the multiplier 62b and outputs the signal to the q-axis first non-interference gain multiplier 62d. Note that ωldc shown in FIG. 3 indicates the center frequency of the low-pass filter 62c.

[0111] The d-axis first decoupling gain multiplier 62d multiplies the output of the low-pass filter 62c by a q-axis first decoupling gain k qff This q-axis first decoupling gain k qff is the motor rotation speed N f As shown in FIG. 4, the q-axis first non-interference gain multiplication unit 62d is f (or angular velocity ω) and q-axis first decoupling gain k qff The q-axis first decoupling gain map k qff map is stored in advance, and this q-axis first decoupling gain map k qff map Based on the q-axis first decoupling gain k qff Set.

[0112] The multiplier 62e multiplies the output from the q-axis first non-interference gain multiplier 62d by the input value from the angular velocity calculator (input angular velocity ω e ) to obtain the q-axis first decoupling compensation value v qdcp * Calculate and output.

[0113] The adder 62f multiplies the q-axis first decoupling compensation value v qdcp *and the interlinkage magnetic flux Φ output from the interlinkage magnetic flux calculation unit 62g. a and the uncompensated q-axis voltage command value v qcur * By adding to the q-axis voltage command value v q * Calculate and output.

[0114] The flux linkage calculation unit 62g calculates the flux linkage Φ a For example, the flux linkage calculation unit 62g calculates the flux linkage Φ by calculating the square root of the sum of the square of the q-axis flux linkage and the square of the d-axis flux linkage. a The flux linkage calculation unit 62g calculates the flux linkage Φ a is output to the adder 62f.

[0115] The second decoupling control unit 70 detects an interference component (d-axis second interference component Δv ddcp ), and the interference component to the d-axis current due to the q-axis current occurring in a specific rotation range of the motor M (q-axis second interference component Δv qdcp ) at motor speed N f (i.e., the variable integral gain (d-axis variable integral gain k iddcp and q-axis variable integral gain k iqdcp The second decoupling control unit 70 adds or subtracts a variable integral gain to the output of the d-axis integral gain multiplication unit 51a and the output of the q-axis integral gain multiplication unit 52a. The second decoupling control unit 70 also cancels out the motor rotation speed N f and variable integral gain adjustment coefficient (d-axis variable integral gain adjustment coefficient k iddcpadj and q-axis variable integral gain adjustment coefficient k iqdcpadj ) and the associated variable integral gain map (d-axis variable integral gain adjustment coefficient map k iddcpadj map and q-axis variable integral gain adjustment coefficient map k iqdcpadj map ) to set a variable integral gain.

[0116] As shown in FIG. 3, the second decoupling control section 70 includes a d-axis second decoupling control section 71 and a q-axis second decoupling control section 72. The d-axis second decoupling control section 71 controls the d-axis current to interfere with the q-axis current in a specific rotation range of the motor M (the d-axis second interference component Δv ddcp ) at motor speed N f (i.e., the angular velocity ω) iddcp In addition, the q-axis second decoupling control section 72 cancels out the interference component (q-axis second interference component Δv qdcp ) at motor speed N f (i.e., the q-axis variable integral gain k varies depending on the angular velocity ω) iqdcp Cancel it using.

[0117] The d-axis second decoupling control section 71 includes a multiplier 71a, a d-axis variable integral gain multiplier 71b, and a subtractor 71c.

[0118] The multiplier 71a multiplies the q-axis current command value i q * With respect to the input angular velocity ω e The d-axis variable integral gain multiplier 71b multiplies the output from the multiplier 71a by the d-axis variable integral gain k iddcp As shown in FIG. 4, for example, the d-axis variable integral gain multiplier 71b multiplies the motor rotation speed N f (or the input angular velocity ω e ) and d-axis variable integral gain adjustment coefficient k iddcpadj The d-axis variable integral gain adjustment coefficient map k iddcpadj map The d-axis variable integral gain multiplication unit 71b stores the motor rotation speed N f (or the input angular velocity ω e ) to d-axis variable integral gain adjustment coefficient k iddcpadj Set the d-axis variable integral gain adjustment coefficient k iddcpadj The d-axis variable integral gain k iddcp base By multiplying this, the d-axis variable integral gain k iddcp Adjust.

[0119] FIG. 5 is a graph showing an example of the relationship between the motor rotation speed and the d-axis variable integral gain adjustment coefficient. As shown in this figure, the relationship between the motor rotation speed and the d-axis variable integral gain adjustment coefficient is specified so that the d-axis variable integral gain adjustment coefficient can be uniquely derived according to the motor rotation speed. In order to suppress a sudden change in the d-axis variable integral gain adjustment coefficient due to a change in the motor rotation speed, the amount of change in the d-axis variable integral gain adjustment coefficient per unit change in the motor rotation speed (i.e., the slope of the graph in FIG. 5) is set so as not to exceed a predetermined threshold value. The motor rotation speed and the d-axis variable integral gain adjustment coefficient are determined by determining whether the d-axis second interference component Δv ddcp are related in such a way that they cancel each other out.

[0120] The subtractor 71c is disposed between the d-axis integral gain multiplier 51a and the d-axis integrator 51b of the d-axis current control unit 51. The subtractor 71c subtracts the output from the d-axis variable integral gain multiplier 71b from the output of the d-axis current control unit 51. As a result, the uncompensated d-axis voltage command value v dcur * is the d-axis second interference component Δv ddcp It will contain ingredients to counteract this.

[0121] In this embodiment, the output from the d-axis variable integral gain multiplication unit 71b is input between the d-axis integral gain multiplication unit 51a and the d-axis integrator 51b of the d-axis current control unit 51. However, if the output from the d-axis variable integral gain multiplication unit 71b is integrated by an integrator, the uncompensated d-axis voltage command value v output from the d-axis current control unit 51 is dcur * It is also possible to subtract from

[0122] The q-axis second decoupling control section 72 includes a multiplier 72a, a q-axis variable integral gain multiplier 72b, and an adder 72c.

[0123] The multiplier 72a multiplies the d-axis current command value i d * With respect to the input angular velocity ω eThe q-axis variable integral gain multiplier 72b multiplies the output from the multiplier 72a by the q-axis variable integral gain k iqdcp As shown in FIG. 4, for example, the q-axis variable integral gain multiplier 72b multiplies the motor rotation speed N f (or the input angular velocity ω e ) and q-axis variable integral gain adjustment coefficient k iqdcpadj The q-axis variable integral gain adjustment coefficient map k iqdcpadj map The q-axis variable integral gain multiplication unit 72b stores the motor rotation speed N f (or the input angular velocity ω e ) to the q-axis variable integral gain adjustment coefficient k iqdcpadj Set the q-axis variable integral gain adjustment coefficient k iqdcpadj The q-axis variable integral gain k iqdcp base By multiplying this, the q-axis variable integral gain k iqdcp Adjust.

[0124] The relationship between the motor speed and the q-axis variable integral gain adjustment coefficient is defined so that the q-axis variable integral gain adjustment coefficient can be uniquely derived according to the motor speed, similar to the relationship between the motor speed and the d-axis variable integral gain adjustment coefficient. In order to prevent the q-axis variable integral gain adjustment coefficient from changing suddenly due to a change in the motor speed, the change in the q-axis variable integral gain adjustment coefficient per unit change in the motor speed is set so as not to exceed a predetermined threshold value. The relationship between the motor speed and the q-axis variable integral gain adjustment coefficient is determined by the q-axis second interference component Δv qdcp are related in such a way that they cancel each other out.

[0125] The adder 72c is disposed between the q-axis integral gain multiplication unit 52a and the q-axis integrator 52b of the q-axis current control unit 52. The adder 72c adds the output from the q-axis variable integral gain multiplication unit 72b to the output of the q-axis current control unit 52. As a result, the uncompensated q-axis voltage command value v qcur * is the q-axis second interference component Δv qdcpIt will contain ingredients to counteract this.

[0126] In this embodiment, the output from the q-axis variable integral gain multiplication unit 72b is input between the q-axis integral gain multiplication unit 52a and the q-axis integrator 52b of the q-axis current control unit 52. However, if the output from the q-axis variable integral gain multiplication unit 72b is integrated by an integrator, the uncompensated q-axis voltage command value v output from the q-axis current control unit 52 is qcur * It is also possible to add it to the above.

[0127] In the vector control unit 15, the d-axis current control unit 51 receives the deviation (d-axis current command value i d * and d-axis current detection value i d When the output from the d-axis variable integral gain multiplication unit 71b of the d-axis second non-interference control unit 71 is input, the d-axis current control unit 51 calculates the uncompensated d-axis voltage command value v dcur * This uncompensated d-axis voltage command value v dcur * The d-axis first decoupling compensation value v ddcp * By subtracting, the d-axis first interference component v ddcp The component to cancel out the second interference component Δv ddcp and the d-axis voltage command value v d * is generated.

[0128] In addition, in the vector control unit 15, the deviation (q-axis current command value i q * and the q-axis current detection value i q When the output from the q-axis variable integral gain multiplication unit 72b of the q-axis second decoupling control unit 72 is input, the q-axis current control unit 52 calculates the pre-compensation q-axis voltage command value v qcur * This uncompensated q-axis voltage command value v qcur *In response to the q-axis first decoupling compensation value v qdcp * By adding, the q-axis first interference component v qdcp The component to cancel out the second interference component on the q axis, Δv qdcp The q-axis voltage command value v q * is generated.

[0129] The motor control device (control device 1) of this embodiment described above has a d-axis current command value i d * and q-axis current command value i q * Based on the d-axis voltage command value v d * and the q-axis voltage command value v q * The vector control unit 15 calculates the d-axis current command value i d * and d-axis current detection value i d The uncompensated d-axis voltage command value v based on dcur * , and the q-axis current command value i q * and the q-axis current detection value i q The uncompensated q-axis voltage command value v based on qcur * The vector control unit 15 is provided with a current control unit 50 that calculates the q-axis current command value i q * Based on the d-axis first decoupling compensation value v ddcp * Calculate the uncompensated d-axis voltage command value v dcur * and at the same time, the d-axis current command value i d * Based on the q-axis first decoupling compensation value v qdcp * Calculate the uncompensated q-axis voltage command value v qcur *The vector control unit 15 also includes a first decoupling control unit 60 that compensates for the interference component of the d-axis current generated in a specific rotation range of the motor M with the q-axis current and the interference component of the q-axis current generated in a specific rotation range with the d-axis current by adjusting a variable integral gain (d-axis variable integral gain k iddcp and q-axis variable integral gain k iqdcp ) to cancel the interference.

[0130] In the motor control device of this embodiment, the variable integral gain is varied according to the motor rotation speed, and this variable integral gain is used to cancel out interference components occurring in a specific rotation range of the motor. That is, in the motor control device of this embodiment, the variable integral gain changes according to the current rotation speed of the motor M, and the variable integral gain suitable for the rotation speed of the motor M can be selected to cancel out the interference components. Therefore, according to the motor control device of this embodiment, it is possible to improve the responsiveness of the motor current control by reducing the effect on control of interference components occurring in a specific rotation range of the motor.

[0131] In the motor control device of this embodiment, the current control unit 50 controls the d-axis current command value i d * and d-axis current detection value i d The deviation of the integral gain k idcur and a d-axis integrator 51b that integrates the output from the d-axis integral gain multiplication unit 51a. The current control unit 50 also includes a q-axis current command value i q * and the q-axis current detection value i q The deviation of the integral gain k iqcur and a q-axis integrator 52b that integrates the output from the q-axis integral gain multiplication unit 52a. The second decoupling control unit 70 adds or subtracts the calculation result based on the variable integral gain to or from the output of the d-axis integral gain multiplication unit 51a and the output of the q-axis integral gain multiplication unit 52a.

[0132] According to the motor control device of this embodiment, the calculation result based on the variable integral gain is added to or subtracted from the output of the d-axis integral gain multiplication unit 51a and the output of the q-axis integral gain multiplication unit 52a. Therefore, there is no need to provide a separate integrator that integrates the calculation result based on the variable integral gain, making it possible to simplify the calculation.

[0133] In the motor control device of this embodiment, the second decoupling control unit 70 sets the variable integral gain based on a variable integral gain adjustment coefficient map in which the motor rotation speed and the variable integral gain adjustment coefficient are associated with each other. This makes it possible to set the variable integral gain through simple processing.

[0134] In the motor control device of this embodiment, the first decoupling control unit 60 controls a first decoupling gain (d-axis first decoupling gain k dff and the q-axis first decoupling gain k qff ) to calculate the d-axis first decoupling compensation value v ddcp * and the q-axis first decoupling compensation value v qdcp * Therefore, the d-axis first decoupling compensation value v suitable for the rotation speed of the motor M is calculated. ddcp * and the q-axis first decoupling compensation value v qdcp * It becomes possible to calculate the following.

[0135] In the motor control device of this embodiment, the first decoupling control unit 60 generates a first decoupling gain map (d-axis first decoupling gain map k dff map and the q-axis first decoupling gain map k qff map ) based on the first decoupling gain. This makes it possible to set the first decoupling gain through simple processing.

[0136] Although the preferred embodiment of the present invention has been described above with reference to the attached drawings, it goes without saying that the present invention is not limited to the above embodiment. The shapes and combinations of the components shown in the above embodiment are merely examples, and various modifications can be made based on design requirements, etc., without departing from the spirit of the present invention.

[0137] In the above embodiment, the step-up / step-down converter 2a is a power circuit known as a magnetically coupled interleaved chopper circuit. However, the present invention is not limited to this. For example, a single chopper type or other step-up type converter may be used.

[0138] In the above embodiment, the configuration has been described in which the motor M and the generator G are connected to the power converter 2. However, the present invention is not limited to this. For example, the configuration may be such that the generator G is not connected to the power converter 2, or that two or more motors M are connected to the power converter 2. [Explanation of symbols]

[0139] 1...Control device (motor control device), 2...Power converter, 3...Power converter control unit, 4...Current sensor, 5...Rotation angle sensor, 11...Torque control unit, 12...Current detection unit, 13...Three-phase / dq conversion unit, 14...Angular velocity calculation unit, 15...Vector control unit, 16...dq / three-phase conversion unit, 17...PWM control unit, 20...First subtractor, 30...Second subtractor, 40...Calculation unit, 50...Current control unit, 51...d-axis current control unit, 51a...d-axis integral gain multiplication unit, 51b...d-axis integrator, 51c...d-axis proportional gain multiplication unit, 51d...Adder, 52...q-axis current control unit, 52a...q-axis integral gain multiplication unit, 52b...q-axis integrator, 52c...q-axis proportional gain multiplication unit, 52d...Adder, 60...First decoupling control unit, 6 1: d-axis first non-interference control unit, 61a: q-axis inductance calculation unit, 61b: multiplier, 61c: low-pass filter, 61d: d-axis first non-interference gain multiplication unit, 61e: multiplier, 61f: subtractor, 62: q-axis first non-interference control unit, 62a: d-axis inductance calculation unit, 62b: multiplier, 62c: low-pass filter, 62d: q-axis first non-interference gain multiplication unit, 62e: multiplier, 62f: adder, 62g: flux linkage calculation unit, 70: second non-interference control unit, 71: d-axis second non-interference control unit, 71a: multiplier, 71b: d-axis variable integral gain multiplication unit, 71c: subtractor, 72: q-axis second non-interference control unit, 72a: multiplier, 72b: q-axis variable integral gain multiplication unit, 72c: adder, M: motor

Claims

1. A motor control device including a vector control unit that calculates a d-axis voltage command value and a q-axis voltage command value based on a d-axis current command value and a q-axis current command value, The vector control unit includes: a current control unit that calculates a pre-compensation d-axis voltage command value based on the d-axis current command value and the d-axis current detection value, and a pre-compensation q-axis voltage command value based on the q-axis current command value and the q-axis current detection value; a first decoupling control unit that calculates a d-axis first decoupling compensation value based on the q-axis current command value to compensate for the pre-compensation d-axis voltage command value and calculates a q-axis first decoupling compensation value based on the d-axis current command value to compensate for the pre-compensation q-axis voltage command value; a second decoupling control unit that cancels an interference component of a d-axis current generated in a specific rotation range of the motor to a q-axis current and an interference component of a q-axis current generated in the specific rotation range of the motor by using a variable integral gain that varies according to the motor rotation speed; A motor control device comprising:

2. the current control unit includes a d-axis integral gain multiplication unit that multiplies a deviation between the d-axis current command value and the d-axis current detection value by an integral gain, a d-axis integrator that integrates an output from the d-axis integral gain multiplication unit, a q-axis integral gain multiplication unit that multiplies a deviation between the q-axis current command value and the q-axis current detection value by an integral gain, and a q-axis integrator that integrates an output from the q-axis integral gain multiplication unit, The second non-interference control unit adds or subtracts a calculation result based on the variable integral gain to or from an output of the d-axis integral gain multiplication unit and an output of the q-axis integral gain multiplication unit.

2. The motor control device according to claim 1.

3. 3. The motor control device according to claim 1, wherein the second non-interference control unit sets the variable integral gain based on a variable integral gain adjustment coefficient map in which the motor rotation speed and a variable integral gain adjustment coefficient are associated with each other.

4. The motor control device according to any one of claims 1 to 3, characterized in that the first non-interference control unit calculates the d-axis first non-interference compensation value and the q-axis first non-interference compensation value using a first non-interference gain that varies according to a motor rotation speed.

5. 5. The motor control device according to claim 4, wherein the first decoupling control unit sets the first decoupling gain based on a first decoupling gain map in which the motor rotation speed and the first decoupling gain are associated with each other.

Images