Rotating electric machine control method and rotating electric machine control system

Abstract

To provide a rotary machine control method and a rotary machine control system that, when using a position detection signal of a rotor as a carrier signal for PWM control, can reduce the harmonics and ripple of current caused by an error in position detection of the rotor.SOLUTION: A rotary electric machine 101 is controlled by a rotary electric machine control system 100 having a first controller 102 and a second controller 103. In the second controller 103, a position detection signal θ of a rotor is acquired, and a carrier signal in synchronous PWM control is generated based on the position detection signal θ. On the other hand, in the first controller 102, a position dependent error ΔθL is acquired. In the first controller 103, a basic comparison value Th'[n] to be compared with the carrier signal is corrected by using the position dependent error ΔθL, thereby a corrected comparison value Th[n] is calculated. In the second controller 103, a PWM signal is generated through comparison between the carrier signal and the corrected comparison value Th[n].SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a rotating electrical machine control method and a rotating electrical machine control system. [Background technology]

[0002] Patent Document 1 describes a motor control device that corrects the rotor position detected by a resolver and uses it for motor control. This motor control device corrects rotor position detection errors by software processing. More specifically, the motor control device of Patent Document 1 predicts a detection value based on an average value of the time required for a value detected by the resolver to change by a predetermined value, and corrects the actual detection value based on this prediction. In addition, the corrected rotor position information is used for coordinate transformation that converts three-phase motor currents (Iv, Iv, Iw) into d-axis and q-axis currents (Id, Iq), and for coordinate transformation that converts d-axis and q-axis voltage control variables (Vd, Vq) into three-phase voltage control variables (Vu, Vv, Vw). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-283925 A Summary of the Invention [Problem to be solved by the invention]

[0004] One of the synchronous control methods for rotating electrical machines is phase-reference synchronous PWM (Pulse Width Modulation) control, which uses the rotor position detection signal as a carrier signal. However, the rotor position detection signal contains detection errors. For this reason, in phase-reference synchronous PWM control, errors in the rotor position detection signal used as the carrier signal can cause non-negligible harmonics and ripples in the rotating electrical machine current.

[0005] In addition, when performing phase-reference synchronous PWM control, the position detection signal obtained from a position detector such as a resolver is directly input to the PWM signal generator without software processing, so the position detection signal used as the carrier signal is not corrected by software processing. Therefore, when the rotor position detection signal is used as the carrier signal for PWM control, even if the carrier signal contains a rotor position detection error, it is usually not possible to correct this. As a result, phase-reference synchronous PWM control has the problem that it is not possible to reduce harmonics and ripples caused by rotor position detection errors, and it is not possible to completely eliminate the risk of overcurrent and overheating in the rotating electric machine.

[0006] The present invention aims to provide a rotating electric machine control method and a rotating electric machine control system that can reduce current harmonics and ripples caused by rotor position detection errors when a rotor position detection signal is used as a carrier signal for PWM control. [Means for solving the problem]

[0007] One aspect of the present invention is a method for controlling a rotating electric machine by a rotating electric machine control system including a first control device that calculates parameters for controlling the driving of the rotating electric machine in response to a drive request for the rotating electric machine, and a second control device that executes synchronous PWM control to generate a PWM signal corresponding to a drive frequency of the rotating electric machine using the parameters and a rotor position detection signal of the rotating electric machine. In this rotating electric machine control method, the second control device acquires a rotor position detection signal, and the second control device generates a carrier signal for synchronous PWM control based on the position detection signal. Meanwhile, the first control device acquires a position-dependent error that is an error in rotor position detection and is determined according to the rotor position. In addition, the first control device acquires a basic comparison value to be compared with the carrier signal, and the first control device calculates a corrected comparison value by correcting the basic comparison value using the position-dependent error. Then, the second control device generates a PWM signal by comparing the carrier signal with the corrected comparison value. Moreover, the calculation of the correction comparison value and the generation of the PWM signal using the correction comparison value are executed when the modulation rate of the PWM signal is greater than a predetermined threshold value. Effect of the Invention

[0008] According to the rotating motor control method and rotating motor control device of the present invention, when a rotor position detection signal is used as a carrier signal for PWM control, current harmonics and ripples caused by rotor position detection errors can be reduced. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram showing the configuration of a rotating electrical machine control system. [Diagram 2] FIG. 2 is a block diagram showing the configuration of the synchronous PWM control unit. [Diagram 3] FIG. 3 is a block diagram showing the configuration of the modulation switching determination unit. [Figure 4] FIG. 4 is a flowchart showing the operation of the rotating electrical machine control system. [Diagram 5] FIG. 5 is a timing chart showing the changes over time of the basic carrier signal and PWM signal in asynchronous PWM control and synchronous PWM control. [Figure 6] FIG. 6 is an explanatory diagram showing the influence of the position-dependent error contained in the position detection signal and the effect of the correction comparison value Th[n]. [Figure 7] FIG. 7 is a block diagram showing the configuration of a rotating electrical machine control system according to the second embodiment. [Figure 8] FIG. 8 is a block diagram showing a configuration of the synchronous PWM control unit 15 in the second embodiment. [Figure 9] FIG. 9 is a timing chart showing changes over time of the carrier signal and the synchronous PWM signal in the second embodiment. [Figure 10] FIG. 10 is an explanatory diagram showing the operation of the rotating electrical machine control system according to the second embodiment. [Figure 11] FIG. 11 is a block diagram showing the configuration of a rotating electrical machine control system according to the third embodiment. [Figure 12]FIG. 12 is a block diagram showing a configuration of a synchronous PWM control unit in the third embodiment. [Figure 13] FIG. 13 is a block diagram showing a configuration for an error correction unit of the fourth embodiment to calculate errors relating to position detection. [Figure 14] FIG. 14 is a graph illustrating the relationship between the rotor position indicator array and the position dependent error array. [Figure 15] FIG. 15 is a graph showing the relationship between the true rotor position and the position-dependent error obtained by directly referring to the rotor position index array and the position-dependent error array based on the position detection signal. [Figure 16] FIG. 16 is a graph showing the relationship between the difference array and the error array. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] [First embodiment] Fig. 1 is a block diagram showing a configuration of a rotating electric machine control system 100. As shown in Fig. 1, the rotating electric machine control system 100 is a system for controlling a rotating electric machine 101, and includes a first control device 102, a second control device 103, an inverter 104, and the like.

[0012] The rotating electric machine 101, which is the object of control of the rotating electric machine control system 100, is a motor (electric motor) and / or a generator (electric generator). In either case, the rotating electric machine 101 is composed of a stator, a rotor, etc., not shown. The rotating electric machine control system 100 is mounted on a vehicle such as a hybrid vehicle or an electric vehicle. In this embodiment, the rotating electric machine control system 100 is mounted on an electric vehicle (not shown), and the rotating electric machine 101 is a drive motor for driving the electric vehicle. The rotating electric machine 101 is, for example, an IPM (Interior Permanent Magnet) type three-phase AC motor.

[0013] The first control device 102 is a so-called vehicle controller, and is configured by one or more computers that calculate parameters for controlling the driving of the rotating electric machine 101 in response to a drive request for the rotating electric machine 101. The computer that constitutes the first control device 102 is configured by a CPU (Central Processing Unit), a memory, and the like. The first control device 102 is programmed to calculate parameters for controlling the driving of the rotating electric machine 101 at a predetermined control period τ in response to a drive request for the rotating electric machine 101. That is, the first control device 102 is a calculation device that calculates parameters used for PWM control of the rotating electric machine 101 according to software consisting of one or more programs. The drive request for the rotating electric machine 101 is a request regarding the driving state of the rotating electric machine 101, and is a command that determines the torque of the rotating electric machine 101, or a set of these. The predetermined control period τ in the rotating electric machine control system 100 is, for example, 100 μs.

[0014] The first control device 102 controls the rotating electric machine 101 to output a torque command value T * , and a rotor position detection signal θ of the rotating electric machine 101, etc., parameters for controlling the rotating electric machine 101 by PWM control are calculated. * is calculated by a higher-level vehicle controller or control block (not shown) in accordance with the accelerator opening degree of the electric vehicle, etc. The rotor position detection signal θ is an electrical angle indicating the rotational position of the rotor, is acquired by the second control device 103, and is input to the first control device 102 as appropriate.

[0015] The parameters of the PWM control calculated by the first control device 102 are, for example, three-phase duty command values ​​Duty_u, Duty_v, and Duty_w in asynchronous PWM control, a correction comparison value Th[n] in synchronous PWM control, and a modulation mode signal Sm for switching between asynchronous PWM control and synchronous PWM control. Details of these various parameters will be described later. The various parameters of the PWM control calculated by the first control device 102 are input to the second control device 103.

[0016] The asynchronous PWM control is a PWM control that uses a PWM signal (hereinafter, referred to as an asynchronous PWM signal) of a predetermined frequency that does not depend on the drive frequency of the rotating electric machine 101. In this embodiment, a triangular wave having a frequency of 1 / 200 μs is used as a carrier signal for the asynchronous PWM control.

[0017] The synchronous PWM control is a PWM control that uses a PWM signal (hereinafter, referred to as a synchronous PWM signal) that corresponds to the drive frequency of the rotating electric machine 101. In the synchronous PWM control, for example, a synchronous PWM signal is generated so as to be proportional to the drive frequency of the rotating electric machine 101. The drive frequency of the rotating electric machine 101 is represented, for example, by a rotor position detection signal θ or other parameters that have a certain correlation with the rotor position detection signal θ. Therefore, the rotor position detection signal θ, the rotor position detection signal θ and the voltage phase α * Sum of (θ+α * ), or a signal obtained by folding back these signals at a predetermined period, is used as a carrier signal for synchronous PWM control. In this embodiment, the rotor position detection signal θ and the voltage phase α * The sum of these is used as the carrier signal for synchronous PWM control.

[0018] The second control device 103 generates a drive signal D for driving the switching element in accordance with the PWM control parameters calculated by the first control device 102. uu * ~D wl * to the inverter 104, thereby executing PWM control of the rotating electric machine 101. Specifically, the second control device 103 generates a drive signal D based on duty command values ​​Duty_u, Duty_v, and Duty_w, which are parameters for asynchronous PWM control. uu * ~D wl * to the inverter 104 to execute asynchronous PWM control. The second control device 103 also generates a drive signal D by comparing a correction comparison value Th[n], which is a parameter for synchronous PWM control, with a carrier signal for synchronous PWM control.uu * ~D wl * is input to an inverter 104 to perform synchronous PWM control.

[0019] In addition, the second control device 103 executes signal processing and the like required for performing asynchronous PWM control and synchronous PWM control. For example, the second control device 103 generates a carrier signal used for these PWM controls.

[0020] The second control device 103 is, for example, a controller configured with a microcomputer or other signal processing circuit device that performs signal processing specialized for executing PWM control. The second control device 103 is, for example, configured separately from the first control device 102. In the rotating electric machine control system 100, the second control device 103 is a sub-control device that performs specific signal processing according to parameters designated by the first control device 102, which is the main control device. In addition, when the rotating electric machine control system 100 is viewed as a whole, the first control device 102 is a general-purpose calculation area that performs various calculations according to software, and the second control device 103 is a circuit for PWM control (so-called PWM timer, etc.) connected to the first control device 102. Therefore, it can be said that the first control device 102 is the CPU area of ​​the rotating electric machine control system 100, and the second control device 103 is the peripheral area (peripheral device) of the rotating electric machine control system 100.

[0021] In this way, since the second control device 103 is a peripheral (peripheral device) domain, the calculations of the first control device 102, which is a CPU domain, do not affect the signal processing in the second control device 103. For example, since the carrier signal used for PWM control is generated in the second control device 103 and used in the second control device 103, the first control device 102 cannot modulate or correct the carrier signal used for PWM control.

[0022] The inverter 104 is driven by the drive signal D outputted from the second control device 103. uu * ~D wl* In this way, the inverter 104 drives the built-in switching element in accordance with the DC voltage of the battery 105 (hereinafter, the battery voltage V dc ) into three-phase AC voltage v u ,v v ,v w As a result, the rotating electric machine 101 receives the torque command value T * The battery 105 is driven to output a torque that is equal to the battery voltage V dc is detected by the DC voltage sensor 106 at any timing.

[0023] <Specific Configuration of First Control Device> The first control device 102 includes a torque control unit 11, a coordinate conversion unit 12, an asynchronous PWM control unit 13, a vector conversion unit 14, a synchronous PWM control unit 15, and a modulation switching determination unit 16.

[0024] The torque control unit 11 determines the torque command value T * , the rotation speed N of the rotating electric machine 101, and the battery voltage V dc , and the d-axis current detection value i of the rotating electric machine 101 d and q-axis current detection value i q Based on this, the d-axis voltage command value v d * and the q-axis voltage command value v q * Calculate the d-axis voltage command value v d * and the q-axis voltage command value v q * is calculated by current vector control (CVC) or voltage phase control (VPC). The calculated d-axis voltage command value v d * and the q-axis voltage command value v q * are input to the coordinate conversion unit 12 and the vector conversion unit 14.

[0025] The coordinate conversion unit 12 converts the read-ahead position θ L Based on this, the d-axis voltage command value v d * and the q-axis voltage command value v q * The three-phase voltage command value v u * ,v v * ,v w * This conversion is performed according to the following formula (1).

[0026]

number

[0027] The asynchronous PWM control unit 13 outputs a three-phase voltage command value v u * ,v v * ,v w * and the battery voltage V dc Based on these, the second control device 103 calculates duty command values ​​Duty_u, Duty_v, and Duty_w, which are parameters for asynchronous PWM control. The duty command value Duty_u for the U phase is calculated according to the following equation (2). The same applies to the duty command values ​​Duty_v and Duty_w for the V and W phases. The duty command values ​​Duty_u, Duty_v, and Duty_w are expressed in units of percentages (%). The duty command values ​​Duty_u, Duty_v, and Duty_w for each phase calculated by the asynchronous PWM control device 13 are input to the second control device 103.

[0028]

number

[0029] The vector conversion unit 14 converts the d-axis voltage command value v d * and the q-axis voltage command value v q * Based on this, the voltage norm V, which is a parameter of the synchronous PWM control, a* and voltage phase α * Calculate the voltage norm V a * and voltage phase α * is calculated according to the following formula (3). Note that the voltage norm V a * represents the norm of the voltage to be applied to the rotating electric machine 101 in response to a drive request. Similarly, the voltage phase α * represents the phase of the voltage to be applied to the rotating electric machine 101 in response to a drive request.

[0030]

number

[0031] The synchronous PWM control unit 15 controls the voltage norm V a * , position-dependent error Δθ L , and battery voltage V dc Based on this, the correction comparison value Th[n], which is a parameter of the synchronous PWM control, is calculated. L is an error in rotor position detection and depends on the rotor position. L is acquired by the error generating unit 20, which will be described later. The correction comparison value Th[n] is one or more threshold values ​​that are compared with the carrier signal in order to set the on / off timing of the synchronous PWM signal in the synchronous PWM control. That is, in the synchronous PWM control, the on / off of the PWM signal is set by a compare match between the correction comparison value Th[n] and the carrier signal. The correction comparison value Th[n] calculated by the synchronous PWM control unit 15 is input to the second control device 103. Note that "n" is an integer, and is an even number in the normal case where there is no folding back of the carrier signal, etc.

[0032] Fig. 2 is a block diagram showing the configuration of the synchronous PWM control unit 15. More specifically, as shown in Fig. 2, the synchronous PWM control unit 15 includes a modulation factor calculation unit 31, a basic comparison value table 32, and a comparison value correction unit 33.

[0033] The modulation factor calculation unit 31 calculates the voltage norm V a * and the battery voltage V dc That is, the modulation factor M is set according to a drive request for the rotating electric machine 101. Specifically, the modulation factor M is calculated according to the following formula (4).

[0034]

number

[0035] The basic comparison value table 32 is a table that stores a basic comparison value Th'[n] in association with each modulation factor M. Therefore, the synchronous PWM control unit 15 functions as a comparison value acquisition unit that acquires a basic comparison value Th'[n] corresponding to the modulation factor M by referring to the basic comparison value table 32. The basic comparison value Th'[n] is determined in advance for each modulation factor M by an experiment or a numerical calculation using SHE (specified harmonic elimination method) so as to suppress harmonic currents and ripples of the rotating electric machine 101. However, the basic comparison value Th'[n] is a basic comparison value on the premise that the rotor position detection signal θ is compared with a carrier signal in an ideal state in which no error is substantially included. In other words, the basic comparison value Th'[n] determines the on / off phase of the synchronous PWM signal with respect to the carrier signal in the ideal state.

[0036] In this embodiment, the basic comparison value table 32 stores 10 basic comparison values ​​Th'[1] to Th'

[10] for each modulation factor M. Therefore, the synchronous PWM control of this embodiment can generate a synchronous PWM signal including up to five pulses per one period of the electrical angle (position detection signal θ) that is the carrier signal.

[0037] The comparison value correction unit 33 corrects the position-dependent error Δθ LIn this embodiment, the comparison value correction unit 33 includes an adder 34 and a mask processor 35. The adder 34 adds a position-dependent error Δθ to the basic comparison value Th′[n]. L The mask processing unit 35 adds the position-dependent error Δθ L The basic comparison value Th'[n] to which is added is used as the input (in), and the position-dependent error Δθ is calculated by using the remainder operation (MOD) with 2π as the divisor. L A mask process is performed to allocate the basic comparison value Th′[n] to the range of 0 to 2π. L The corrected comparison value Th[n] is output based on the above.

[0038] In this embodiment, the comparison value correction unit 33 calculates the position-dependent error Δθ L The correction comparison value Th[n] is calculated by adding L Depending on the setting of, the corrected comparison value Th[n] can be calculated by other calculation methods. For example, the comparison value corrector 33 calculates the basic comparison value Th′[n] by subtracting the position-dependent error Δθ L The corrected comparison value Th[n] can be calculated by subtracting, multiplying, dividing, or calculating according to other functions.

[0039] In addition, in this embodiment, the basic comparison value Th'[n] and the corrected comparison value Th[n] are common to each of the UVW phases.

[0040] The modulation switching determination unit 16 (see FIG. 1) determines the voltage norm V a * and the battery voltage V dc Based on this, it is determined whether the rotating electric machine 101 should be driven by asynchronous PWM control or synchronous PWM control. The determination result of the modulation switching determination unit 16 is input to the second control device 103 as a modulation mode signal Sm. The modulation mode signal Sm is a command that specifies the modulation method of the PWM signal to be either asynchronous PWM control or synchronous PWM control.

[0041] 3 is a block diagram showing the configuration of the modulation switching determination unit 16. As shown in FIG. 3, the modulation switching determination unit 16 includes a modulation factor calculation unit 36 ​​and a modulation method selection unit 37.

[0042] The modulation factor calculation unit 36 ​​is configured similarly to the modulation factor calculation unit 31 included in the synchronous PWM control unit 15. That is, the modulation factor calculation unit 36 ​​calculates the voltage norm V a * and the battery voltage V dc Based on this, the modulation factor M of the synchronous PWM signal is calculated according to the above-mentioned equation (4).

[0043] The modulation method selection unit 37 selects the modulation method of the PWM signal from either asynchronous PWM control or synchronous PWM control by comparing the modulation rate M with a predetermined threshold. In this embodiment, the modulation method selection unit 37 selects the modulation method by providing hysteresis to the switching between the asynchronous PWM control and the synchronous PWM control as shown in Table 1 below. Specifically, when the asynchronous PWM control is being performed, if the modulation rate M exceeds 1.0 and control in the so-called overmodulation region or square wave region is required, the modulation method selection unit 37 selects the synchronous PWM control. On the other hand, when the synchronous PWM control is being performed, if the modulation rate M falls below 0.9 and control in the so-called normal modulation region is sufficient, the modulation method selection unit 37 selects the asynchronous PWM control. Therefore, when switching from the asynchronous PWM control to the synchronous PWM control, "1.0" is the predetermined threshold to be compared with the modulation rate M. Also, when switching from the synchronous PWM control to the asynchronous PWM control, "0.9" is the predetermined threshold to be compared with the modulation rate M. That is, the rotating electrical machine control system 100 has an asynchronous PWM control mode in which asynchronous PWM control is performed and a synchronous PWM control mode in which synchronous PWM control is performed, and the asynchronous PWM control mode and the synchronous PWM control mode are switched depending on whether or not the modulation factor M exceeds a predetermined threshold. In this embodiment, the synchronous PWM control mode is performed when the modulation factor M is greater than the predetermined threshold.

[0044] [Table 1]

[0045] In addition to the above, the first control device 102 includes an error correction unit 17, a coordinate conversion unit 18, a look-ahead compensation unit 19, an error generation unit 20, and a rotation speed calculation unit 21 (see FIG. 1).

[0046] The error correction unit 17 acquires the rotor position detection signal θ from the second control device 103. Then, the error correction unit 17 corrects the error included in the position detection signal θ to obtain a corrected position detection signal θ c Calculate the following.

[0047] The errors included in the position detection signal θ include a first-order error, a second-order error, and a structure-related order error. The first-order error is an error that varies first with respect to the electrical angle (position detection signal θ). The second-order error is an error that varies second with respect to the electrical angle (position detection signal θ). The structure-related order error is an error caused by the structure of the rotating electric machine 101 and the structure of the resolver 22 that detects the position of the rotor of the rotating electric machine 101. More specifically, the structure-related order error is an error that varies with respect to the electrical angle (position detection signal θ) at an order depending on the number of pole pairs of the rotating electric machine 101 and the number of teeth of the stator of the resolver 22 (hereinafter referred to as the resolver stator). All of these errors included in the position detection signal θ vary depending on the position (electrical angle) of the rotor of the rotating electric machine 101. Therefore, some or all of these errors are, in a broad sense, position-dependent errors.

[0048] The position-dependent error Δθ calculated by the error correction unit 17 and the position-dependent error Δθ used in the synchronous PWM control unit 15, etc. L are common in that they vary according to the position of the rotor of the rotating electrical machine 101, but they are different. Specifically, the position-dependent error Δθ calculated by the error correction unit 17 is calculated based on the position detection signal θ. On the other hand, the position-dependent error Δθ used in the synchronous PWM control unit 15, etc. L As will be described later, the look-ahead position θ LTherefore, in the following, the position-dependent error Δθ calculated by the error correction unit 17 is simply referred to as the "error Δθ", and the position-dependent error Δθ used in the synchronous PWM control unit 15, etc. is simply referred to as the "error Δθ". L This is distinguished from the above.

[0049] In this embodiment, the error correction unit 17 calculates the error Δθ according to the following equation (5). Then, the error correction unit 17 subtracts the error Δθ from the position detection signal θ as shown in the following equation (6) to obtain a corrected position detection signal θ c Calculate the following.

[0050]

number

[0051] The first term on the right side of equation (5) is a first-order error. That is, the first-order error can be expressed as a sine wave of amplitude A1 and reference phase δ1 with respect to the electrical angle (position detection signal θ). However, the first-order error may be expressed in a form in which the phase is offset based on the rotation speed N and the control period τ. The first-order error may also be expressed as a cosine wave.

[0052] The second term on the right side of equation (5) is a second-order error. That is, the second-order error can be expressed as a sine wave with amplitude A2 and reference phase δ2 with respect to the electrical angle (position detection signal θ). The second-order error may be expressed in a form in which the phase is offset based on the rotation speed N and the control period τ, or may be expressed as a cosine wave.

[0053] The third term on the right-hand side of equation (5) is the structural order error. If the number of pole pairs of the rotating electric machine 101 is "p" and the number of teeth of the resolver stator is "m", the structural order error appears at the order of m / p with respect to the electrical angle (position detection signal θ). In this embodiment, the number of pole pairs of the rotating electric machine 101 is 4, and the number of teeth of the resolver stator is 10. Therefore, the structural order error in this embodiment varies at the order of 2.5 with respect to the electrical angle (position detection signal θ). Therefore, the structural order error appears at the order of m / p with respect to the electrical angle (position detection signal θ). 2.5 and the reference phase δ2.5 The structure-related order error may be expressed in a form in which the phase is offset based on the rotation speed N and the control period τ, or may be expressed as a cosine wave.

[0054] Therefore, as shown in the formula (5), the error Δθ in this embodiment is the amplitudes A1, A2, and A3 of the first-order error, the second-order error, and the structure-related order error. 2.5 and reference phases δ1, δ2, δ 2.5 The signal is obtained by a calculation of synthesizing a sine wave or a cosine wave based on

[0055] Amplitudes of first-order error, second-order error, and structure-induced order error A1, A2, A 2.5 and reference phases δ1, δ2, δ 2.5 can be obtained in advance at the time of manufacturing or shipping the rotating electrical machine control system 100. For example, the amplitudes A1, A2, A 2.5 and each reference phase δ1, δ2, δ 2.5 can be obtained for each rotation speed N of the rotating electrical machine 101 by performing fast Fourier transform processing (FFT processing) on ​​the position detection signal θ.

[0056] In this embodiment, as in the above formula (5), the sum of the first-order error, the second-order error, and the structure-related order error is taken as the error Δθ, but any one of the first-order error, the second-order error, and the structure-related order error may be taken as the error Δθ. Also, the error Δθ may be calculated by a partial combination of the first-order error, the second-order error, and the structure-related order error. In addition, similar to the first-order error and the second-order error, an error that varies at the third or higher order with respect to the electrical angle (position detection signal θ) may be taken into consideration.

[0057] The coordinate conversion unit 18 converts the corrected position detection signal θ c Based on this, the three-phase current detection value is converted into the d-axis current detection value i d and q-axis current detection value i qThe current sensor 23 detects at least two-phase currents at the output terminal of the inverter 104. In this embodiment, the current sensor 23 detects a U-phase current and a V-phase current. Therefore, in this embodiment, the coordinate conversion unit 18 converts the U-phase current detection value i u and V-phase current detection value i v , the d-axis current detection value i d and q-axis current detection value i q Convert the d-axis current detection value i d and q-axis current detection value i q is used in the torque control section 11 as described above.

[0058]

number

[0059] The look-ahead compensation unit 19 takes into consideration the control period τ and the like, and calculates a corrected position detection signal θ based on the rotation speed N. c By further compensating for this, the compensated position detection signal θ c (Hereinafter, look-ahead position θ L In this embodiment, since the control period τ is 100 μs, the d-axis voltage command value v calculated by the torque control unit 11 is calculated as d * and the q-axis voltage command value v q * The voltage based on the above is applied to the rotating electric machine 101 from about 100 μs to about 200 μs later. Therefore, the look-ahead compensation unit 19 estimates the rotor position 150 μs later, which is the intermediate value between these two. Specifically, the look-ahead compensation unit 19 calculates the corrected position detection signal θ c Compensate for the look-ahead position θ L In the formula (8), “p” is the number of pole pairs of the rotating electrical machine 101. L is used in the coordinate conversion unit 12 and the error generation unit 20 described above.

[0060]

number

[0061] The error generator 20 detects the read-ahead position θ L The position-dependent error Δθ L Specifically, the error generator 20 performs a calculation to generate a position-dependent error Δθ L That is, the error generator 20 generates a position-dependent error Δθ L It functions as a position-dependent error acquisition unit that acquires

[0062]

number

[0063] Equation (9) uses the read-ahead position θ instead of the position detection signal θ. L The point where the look-ahead position θ L The position-dependent error Δθ L This is the same as the above formula (5), except that the first term on the right side is the look-ahead position θ L The second term on the right hand side is the look-ahead position θ L Similarly, the third term on the right-hand side is the second-order error corresponding to the look-ahead position θ L Therefore, each term in the formula (9) may be expressed in a form in which the phase is offset based on the rotation speed N and the control period τ, or may be expressed as a cosine wave. In addition, the amplitudes A1, A2, and A3 of the first-order error, second-order error, and structure-related order error are 2.5 and reference phases δ1, δ2, δ 2.5 is the same as that used in equation (5).

[0064] The position-dependent error Δθ generated by the error generating unit 20 L As described above, this is used in the comparison value correcting unit 33 of the synchronous PWM control unit 15 to correct the basic comparison value Th'[n] and calculate the corrected comparison value Th[n].

[0065] The rotation speed calculation unit 21 calculates the corrected position detection signal θ cSpecifically, the rotation speed calculation unit 21 calculates the rotation speed N [rpm] of the rotating electrical machine 101 based on the corrected position detection signal θ c The amount of change per unit time of the corrected position detection signal θ c is converted into the rotation speed N. The rotation speed N is used by the torque control unit 11, the coordinate conversion unit 18, and the look-ahead compensation unit 19, as described above.

[0066]

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[0067] <Specific Configuration of the Second Control Device> The second control device 103 includes an asynchronous PWM signal generator 41, a synchronous PWM signal generator 42, a PWM output switch 43, and an ABZ counter 44 (see FIG. 1).

[0068] The asynchronous PWM signal generator 41 uses the three-phase duty command values ​​Duty_u, Duty_v, and Duty_w input from the asynchronous PWM control unit 13 of the first control device 102 to generate an asynchronous PWM signal D by a so-called triangular wave comparison method. uua * ~D wla * In the triangular wave comparison method, a triangular wave having a predetermined frequency independent of the drive frequency (position detection signal θ) of the rotating electric machine 101 is used as a carrier signal. More specifically, the asynchronous PWM signal generator 41 generates a triangular wave carrier signal C based on three-phase duty command values ​​Duty_u, Duty_v, and Duty_w. a Asynchronous PWM signal D uua * ~D wla * Generate.

[0069] In asynchronous PWM control, the arrangement interval of the pulses in the asynchronous PWM signal is limited to the control period τ. uua * ~D wla *The first subscript "u", "v", or "w" represents each phase, UVW. The second subscript "u" or "l" represents the upper arm element ("u") or the lower arm element ("l") of the inverter 104. The third subscript "a" represents an asynchronous PWM signal.

[0070] The synchronous PWM signal generator 42 generates a carrier signal used in the synchronous PWM control based on the drive frequency (position detection signal θ) of the rotating electric machine 101. That is, the synchronous PWM signal generator 42 functions as a carrier signal generator that generates a carrier signal in the synchronous PWM control based on the position detection signal θ and the like. The synchronous PWM signal generator 42 also generates a synchronous PWM signal D by comparing and matching a correction comparison value Th[n] input from the synchronous PWM control unit 15 of the first control device 102 with the generated carrier signal. uus * ~D wls * Generate.

[0071] In this embodiment, the synchronous PWM signal generator 42 generates a voltage phase α * Using the above, the carrier signal C of each UVW phase is calculated according to the following equation (11). us ,C vs ,C ws Generate.

[0072]

number

[0073] In the synchronous PWM control, the arrangement interval of the pulses in the synchronous PWM signal is almost independent of the control period τ and can be adjusted substantially arbitrarily. Therefore, when the rotating electric machine 101 is driven in the overmodulation region and the rectangular wave region where the number of pulses is limited, the synchronous PWM control has an advantage over the asynchronous PWM control in that it is easier to reduce harmonics and ripples in the current. In addition, the synchronous PWM signal D uus * ~D wls *The first subscript "u", "v", or "w" represents each phase, UVW. The second subscript "u" or "l" represents the upper arm element ("u") or the lower arm element ("l") of the inverter 104. The third subscript "s" represents a synchronous PWM signal.

[0074] The PWM output switch 43 switches the asynchronous PWM signal D according to the modulation mode signal Sm input from the modulation switching determination unit 16. uua * ~D wla * or synchronous PWM signal D uus * ~D wls * Then, the PWM output switch 43 outputs the selected PWM signal as a driving signal D for the switching element. uu * ~D wl * to the inverter 104.

[0075] The ABZ counter 44 samples the up counter pulse A, the down counter pulse B, and the origin signal pulse Z input from the resolver digital converter integrated circuit (RDIC) 24 every control period τ. In this way, the ABZ counter 44 measures the electrical angle of the rotor, i.e., the position detection signal θ. Therefore, the ABZ counter 44 is a position detection signal acquirer that acquires the rotor position detection signal θ. The position detection signal θ is directly input to the synchronous PWM signal generator 42 in the second control device 103 to generate a carrier signal for synchronous PWM control. In addition, the position detection signal θ is input to the error correction unit 17 of the first control device 102.

[0076] The resolver digital conversion circuit 24 outputs an excitation signal to the resolver 22, and receives a modulation signal from the resolver 22. The resolver digital conversion circuit 24 outputs an up counter pulse A, a down counter pulse B, and an origin signal pulse Z to the ABZ counter 44 based on the excitation signal and the modulation signal. In addition, in the rotating electric machine control system 100, an encoder other than the resolver 22 can be used to detect the position of the rotor. When an encoder other than the resolver 22 is used, the specific configuration for measuring the position detection signal θ can be appropriately changed depending on the encoder to be used.

[0077] <effect> The operation of the rotating electrical machine control system 100 configured as above will now be described.

[0078] 4 is a flowchart showing the operation of the rotating electric machine control system 100. As shown in FIG. 4, in step S101, the ABZ counter 44 of the second control device 103 acquires a position detection signal θ indicating the position of the rotor of the rotating electric machine 101. At this time, when the rotating electric machine 101 is controlled by synchronous PWM control, the position detection signal θ is directly input from the ABZ counter 44 to the synchronous PWM signal generator 42 in the second control device 103, and the carrier signal C for synchronous PWM control is generated. us ,C vs ,C ws is generated.

[0079] In step S102, the current detection value i u ,i v Then, in step S103, the error correction unit 17 of the first control device 102 corrects the position detection signal θ based on the error Δθ to obtain a corrected position detection signal θ c In step S104, the rotation speed calculation unit 21 of the first control device 102 calculates the corrected position detection signal θ c In step S105, the coordinate conversion unit 18 of the first control device 102 calculates the rotation speed N based on the corrected position detection signal θ c Based on this, the current detection value i u ,iv The d-axis current detection value i d and q-axis current detection value i q Furthermore, in step S106, the look-ahead compensation unit 19 of the first control device 102 converts the corrected position detection signal θ c Further compensate for the look-ahead position θ L Calculate.

[0080] After that, in step S107, the torque control unit 11 of the first control device 102 calculates the torque command value T * , the rotation speed N of the rotating electric machine 101, and the battery voltage V dc , and the d-axis current detection value i of the rotating electric machine 101 d and q-axis current detection value i q This executes torque control calculation based on the d-axis voltage command value v d * and the q-axis voltage command value v q * In step S108, the modulation switching determination unit 16 of the first control device 102 determines whether the rotating electric machine 101 is to be controlled by asynchronous PWM control or synchronous PWM control, and outputs a modulation mode signal Sm indicating the determination result to the PWM output switch 43 of the second control device 103.

[0081] In order to control the rotating electric machine 101 by synchronous PWM control (step S109: YES), in step S110, the vector conversion unit 14 of the first control device 102 converts the voltage norm V a * and voltage phase α * Furthermore, the synchronous PWM control unit 15 of the first control device 102 calculates the basic comparison value Th′[n] in step S111 and calculates the position-dependent error Δθ L Furthermore, in step S113, the synchronous PWM control unit 15 of the first control device 102 calculates the position dependent error Δθ by the comparison value correction unit 33. L The basic comparison value Th'[n] is corrected using the above formula, whereby the corrected comparison value Th[n], which is a parameter used in the synchronous PWM control of this embodiment, is calculated.

[0082] In addition, in order to control the rotating electric machine 101 by asynchronous PWM control (step S109: NO), in step S115, the coordinate conversion unit 12 of the first control device 102 converts the d-axis voltage command value v d * and the q-axis voltage command value v q * The three-phase voltage command value v u * ,v v * ,v w * Then, in step S116, the asynchronous PWM control section 13 of the first control device 102 calculates the duty command values ​​Duty_u, Duty_v, and Duty_w, which are parameters for asynchronous PWM control.

[0083] Therefore, when the synchronous PWM control is set by the modulation mode signal Sm, in step S114, the second control unit 103 calculates the correction comparison value Th[n] and the carrier signal C us ,C vs ,C ws When the modulation mode signal Sm is set to execute asynchronous PWM control, the second control device 103 controls the duty command values ​​Duty_u, Duty_v, and Duty_w and the triangular wave carrier signal C in step S117. a Asynchronous PWM control is performed based on the compare match.

[0084] 5 is a timing chart showing the change over time of the basic carrier signal and PWM signal in asynchronous PWM control and synchronous PWM control. FIG. 5(A) shows an example of the asynchronous PWM control according to this embodiment, in which a triangular wave carrier signal C a The amplitude of the duty command value Duty_u and the asynchronous PWM signal D uua * The same applies to the V-phase and W-phase. FIG. 5B shows an example of the synchronous PWM control according to this embodiment, in which the carrier signal C of the U-phase is us, the correction comparison value Th[n] common to each phase, and the synchronous PWM signal D of the U phase uus * The same is true for the V and W phases.

[0085] As shown in Figure 5(A), the asynchronous PWM control carrier signal C a is a triangular wave that repeats peaks and valleys with a period of twice the control period τ (2τ) and does not depend on the drive frequency (position detection signal θ) of the rotating electric machine 101. Furthermore, interrupts to control calculations such as torque control calculations and updates of parameters according to the results of these control calculations are performed every control period τ. For this reason, for example, the duty command value Duty_u determined as a result of the torque control calculation at time T1 shown by hatching is reflected at time T2. Similarly, the duty command value Duty_u determined as a result of the torque control calculation at time T2 is reflected at time T3. Then, the carrier signal C a When the duty command value Duty_u or more is reached, the asynchronous PWM signal D uua * is turned on ("1"), and the carrier signal C a When the duty command value Duty_u or less is reached, the asynchronous PWM signal D uua * will be off ("0").

[0086] As shown in FIG. 5(B), the carrier signal C us is a so-called sawtooth wave, and in this embodiment, the position detection signal θ and the voltage phase α * The carrier signal C of the synchronous PWM control us is determined by the position detection signal θ, so the carrier signal C of the synchronous PWM control usIn principle, the phase of does not coincide with the control period τ. However, the interruption of control calculations such as torque control calculations and the updating of parameters according to the results of these control calculations are performed every control period τ, so the correction comparison value Th[n] is updated every control period τ. For example, the correction comparison value Th[n] determined as a result of the torque control calculation at time T1, shown by hatching, is reflected at time T2. Similarly, the correction comparison value Th[n] determined as a result of the torque control calculation at time T2 is reflected at time T3. In synchronous PWM control, the carrier signal C us When the odd-numbered correction comparison value Th[n] shown by the solid line is reached, the synchronous PWM signal D uus * is on ("1"). Also, the carrier signal C us When the even-numbered correction comparison value Th[n] shown by the dashed line is reached, the synchronous PWM signal D uus * will be off ("0").

[0087] In FIG. 5B, the correction comparison value Th[n] is depicted as being approximately linear for the sake of convenience. However, the correction comparison value Th[n] varies with the fluctuation of the drive request for the rotating electrical machine 101 and the position-dependent error Δθ L In this embodiment, for simplicity, it is assumed that the drive request to the rotating electric machine 101 does not fluctuate and is constant.

[0088] FIG. 6 shows the position-dependent error Δθ included in the position detection signal θ. L 6A is an explanatory diagram showing the influence of the position-dependent error Δθ and the action of the correction comparison value Th[n]. L A carrier signal C based on an ideal position detection signal θ that does not include us (Hereinafter, ideal carrier signal C us A synchronous PWM signal D is generated by a compare match between the basic comparison value Th′[n] and the uus * FIG. 6(B) shows the position-dependent error Δθ L A carrier signal C based on a realistic position detection signal θ including us (The following is the actual carrier signal C usor simply the carrier signal C us The synchronous PWM signal D is generated by a compare match between the basic comparison value Th′[n] and the uus * FIG. 6(C) shows the carrier signal C us A synchronous PWM signal D generated by a compare match between the correction comparison value Th[n] and uus * 6 shows the U-phase as an example, but the same applies to the V-phase and W-phase.

[0089] As shown in FIG. 6(A), the carrier signal in synchronous PWM control is the ideal carrier signal C us When ^, the basic comparison value Th′[n] shown by the white circle and the ideal carrier signal C us At the intersection of ^, the synchronous PWM signal D uus * This is the drive state that should be achieved in response to a drive request for the rotating electrical machine 101.

[0090] However, the actual carrier signal C us is the position-dependent error Δθ L In addition, the real carrier signal C us is directly used to generate a carrier signal in the second control device 103 that acquires the position detection signal θ, without going through the first control device 102 that executes arithmetic processing by software. Therefore, the rotating electrical machine control system 100 directly calculates the position dependent error Δθ L No correction can be made to correct the problem.

[0091] Therefore, as shown in Figure 6(B), the actual carrier signal C us is the ideal carrier signal C us ^ is distorted. And, as shown by the black circle, the actual carrier signal C us The intersection of the basic comparison value Th′[n] and the carrier signal C shifts in the horizontal direction along the time axis with respect to the intersection (white circle) in the ideal state. usA synchronous PWM signal D generated by a compare match between the basic comparison value Th′[n] and uus * is the synchronous PWM signal D to be realized in FIG. uus * Therefore, the driving state corresponding to the driving request for the rotating electric machine 101 is not accurately realized, and the harmonics and ripples of the current flowing through the rotating electric machine 101 may not be sufficiently reduced. us For simplicity, let us use the ideal carrier signal C us ^ is shown with only the first-order error superimposed.

[0092] Therefore, in this embodiment, as shown in FIG. 6(C), the actual carrier signal C us and the position-dependent error Δθ L The compensated comparison value Th[n] compensated based on the comparison match of uus * The correction comparison value Th[n] includes a position-dependent error Δθ L Since the correction comparison value Th[n] reflects the position-dependent error Δθ L In particular, the position-dependent error Δθ L Since the acquisition of and the calculation of the correction comparison value Th[n] are performed every control period τ, the correction comparison value Th[n] is calculated based on the position-dependent error Δθ L The corrected comparison value Th[n] shown here changes smoothly in response to the fluctuation of the first-order error.

[0093] When the correction comparison value Th[n] is used in this way, as shown by the black circle, the actual carrier signal C us The intersection of the corrected comparison value Th[n] and the carrier signal C is shifted in the phase direction on the vertical axis with respect to the intersection (white circle) in the ideal state. us The time when the intersection occurs between the corrected comparison value Th[n] and the carrier signal C usA synchronous PWM signal D generated by a compare match between the correction comparison value Th[n] and uus * is the synchronous PWM signal D to be realized in FIG. uus * As a result, the software calculation does not correct the position detection signal θ, and the carrier signal C us is the position-dependent error Δθ L Even if the rotational speed is distorted due to the rotational speed change, the rotating electric machine 101 is controlled in a substantially ideal driving state in response to a driving request.

[0094] As described above, the rotating electric machine control method according to this embodiment is a rotating electric machine control method that controls the rotating electric machine 101 by the rotating electric machine control system 100 having the first control device 102 that calculates parameters for controlling the drive of the rotating electric machine 101 in response to a drive request for the rotating electric machine 101, and the second control device 103 that executes synchronous PWM control to generate a PWM signal corresponding to the drive frequency of the rotating electric machine 101 using the parameters and a position detection signal θ of the rotor of the rotating electric machine 101. In this rotating electric machine control method, the second control device 103 acquires the rotor position detection signal θ, and the second control device 103 calculates a carrier signal C in the synchronous PWM control based on the position detection signal θ. us ,C vs ,C ws On the other hand, in the first control device 102, a position-dependent error Δθ L Also, in the first control device 102, a carrier signal C us ,C vs ,C ws A basic comparison value Th′[n] is obtained for comparison with the position-dependent error Δθ L The second control device 103 calculates the corrected comparison value Th[n] by correcting the basic comparison value Th′[n] using the carrier signal C us ,C vs ,C ws By comparing with the correction comparison value Th[n], the synchronous PWM signal D uus* ~D wls * is generated.

[0095] The position detection signal θ is directly converted into the synchronous PWM control carrier signal C without going through software correction or the like of the first control device 102. us ,C vs ,C ws When used for us ,C vs ,C ws However, in the rotating electric machine control method according to the present embodiment, the synchronous PWM signal D uus * ~D wls * To generate the carrier signal C us ,C vs ,C ws The basic comparison value Th'[n] to be compared with is the position-dependent error Δθ L As a result, the carrier signal C us ,C vs ,C ws A synchronous PWM signal D generated by a compare match between the correction comparison value Th[n] and uus * ~D wls * is a synchronous PWM signal D generated by a compare match between an ideal carrier signal with no detection error in the position detection signal θ and the basic comparison value Th′[n]. uus * ~D wls * Therefore, according to the rotating electrical machine control method according to the present embodiment, the position detection signal θ is adjusted to include an error (position-dependent error Δθ L ), the rotating electrical machine 101 is driven in an ideal driving state that should be realized in response to a drive request, and current harmonics and ripples are reduced.

[0096] In particular, the calculation of the correction comparison value Th[n] and the synchronous PWM signal D using the correction comparison value Th[n] uus * ~D wls* The generation of the synchronous PWM signal D uus * ~D wls * The method is executed when the modulation factor M of the position detection signal θ is greater than a predetermined threshold value. That is, the method of controlling a rotating electric machine according to this embodiment is executed when the modulation factor M is large and control is performed particularly in the overmodulation region or square wave region. Synchronous PWM control in the overmodulation region or square wave region where the modulation factor M is large has the advantage that it is easier to reduce harmonics and ripples in the current than asynchronous PWM control. However, when the position detection signal θ contains a position-dependent error Δθ L If the synchronous PWM control is performed in the overmodulation region or the rectangular wave region, the harmonics and ripples of the current may not be sufficiently reduced. Therefore, as described above, when the synchronous PWM control is performed in at least the overmodulation region or the rectangular wave region, the harmonics and ripples of the current can be more reliably reduced by adopting the rotating electric machine control method according to the present embodiment.

[0097] In the rotating electrical machine control method according to the present embodiment, the position-dependent error Δθ L and the calculation of the correction comparison value Th[n] are performed at every predetermined control period τ, thereby correcting the correction comparison value Th[n] by the position-dependent error Δθ L In this way, the position-dependent error Δθ L and the correction comparison value Th[n] is updated to reduce the position-dependent error Δθ L Current harmonics and ripples caused by

[0098] In the rotating electrical machine control method according to the present embodiment, the position-dependent error Δθ L The position detection signal θ is corrected based on the c and a position-dependent error Δθ L is the corrected position detection signal θ c That is, the first control device 102 can perform calculation processing according to software, so the position-dependent error Δθ L is not obtained based on the original position detection signal θ, but based on the corrected position detection signal θ cIn this way, in the rotating electrical machine control method according to the present embodiment, the position-dependent error Δθ L , the correction position detection signal θ c Based on this, a particularly accurate position-dependent error Δθ L Therefore, the accuracy of the calculation of the corrected comparison value Th[n] is improved, and the harmonics and ripples of the current are reduced with particularly high precision.

[0099] Furthermore, in the rotating electrical machine control method according to the present embodiment, a corrected position detection signal θ c Further compensate for the position-dependent error Δθ L is the compensated position detection signal θ c The look-ahead position θ L In this way, the look-ahead position θ L Based on the position dependent error Δθ L By acquiring the above, a deviation caused by a delay time until the result of the torque control calculation or the like is actually reflected in the rotating electric machine 101 is compensated in advance. Therefore, at the time when the result of the torque control calculation or the like is actually reflected in the rotating electric machine 101, the harmonics and ripples of the current are reduced with particularly high precision.

[0100] In addition, in the rotating electrical machine control method according to the present embodiment, the position-dependent error Δθ L are the amplitudes A1, A2, and A3 of the first-order error, which varies with the rotor electrical angle (position detection signal θ), the second-order error, which varies with the rotor electrical angle, and / or the structural order error, which varies with the rotor electrical angle at an order according to the number of teeth of the resolver stator. 2.5 and reference phases δ1, δ2, δ 2.5 And the position dependent error Δθ L As shown in equation (9), these amplitudes A1, A2, A 2.5 and reference phases δ1, δ2, δ 2.5 The signal is obtained by a calculation of synthesizing a sine wave or a cosine wave based on

[0101] Thus, the amplitudes A1, A2, A 2.5and reference phases δ1, δ2, δ 2.5 The position-dependent error Δθ L Then, the position-dependent error Δθ L In particular, the position-dependent error Δθ L As a result, harmonics and ripples in the current are reduced with particularly high accuracy. In particular, when the structural order error is included in the above calculation, the position-dependent error Δθ due to the installation accuracy of the resolver 22 (for example, the axial eccentricity of the resolver 22, the offset in the axial direction, the deviation in flatness with respect to the axial end face, the number of teeth of the resolver stator, etc.) L This allows for efficient compensation of the effects of the components.

[0102] [Second embodiment] In the first embodiment, the carrier signal C used in the synchronous PWM control us ,C vs ,C ws is a sawtooth wave, but other types of carrier signals can be used in synchronous PWM control. In the second embodiment described below, the carrier signal C of the synchronous PWM control in the first embodiment is us ,C vs ,C ws Carrier signal C folded back at a specified phase (π) us ′,C vs ′,C ws Note that parts not mentioned below are configured in the same manner as in the first embodiment.

[0103] 7 is a block diagram showing a configuration of a rotating electrical machine control system 200 according to the second embodiment. In the rotating electrical machine control system 200, a synchronous PWM signal generator 42 of a second control device 103 receives a position detection signal θ and a voltage phase α * Based on this, the carrier signal C is folded back with a phase of π according to the following equation (12). us ′,C vs ′,C ws ' is generated.

[0104]

number

[0105] That is, the carrier signal C us ′,C vs ′,C ws ' is the carrier signal C used in the first embodiment. us ,C vs ,C ws The carrier signal C has a triangular waveform that is folded back at the midpoint of the phase, "π". us ′,C vs ′,C ws The signal ' has a first section where the signal increases or decreases in proportion to the fluctuation in the rotor position during one period of the rotor electrical angle (position detection signal θ), and a second section where the signal increases or decreases in inverse proportion to the fluctuation in the rotor position. The first section is a section where the electrical angle (position detection signal θ) is equal to or greater than zero and less than π, and the second section is a section where the electrical angle (position detection signal θ) is equal to or greater than π and less than 2π.

[0106] As shown in FIG. 7, in the rotating electrical machine control system 200, the synchronous PWM control unit 15 of the first control device 102 is provided with a voltage norm V a * , position-dependent error Δθ L , and battery voltage V dc In addition to the above, the look-ahead position θ L and voltage phase α * The synchronous PWM control unit 15 then calculates the corrected comparison values ​​Th_u[n], Th_v[n], and Th_w[n] for each of the UVW phases based on these.

[0107] Fig. 8 is a block diagram showing the configuration of the synchronous PWM control unit 15 in the second embodiment. As shown in Fig. 8, in addition to the modulation factor calculation unit 31 and basic comparison value table 32 similar to those in the first embodiment, a carrier signal estimation unit 51, a correction direction determination unit 52, and a comparison value correction unit 53 are provided.

[0108] The carrier signal estimation unit 51 detects the read-ahead position θ L and voltage phase α * Based on this, the unfolded carrier signal C us ,C vs ,Cws Specifically, the carrier signal estimation unit 51 includes an adder 61, a first mask processing unit 62u, a second mask processing unit 62v, and a third mask processing unit 62w.

[0109] The adder 61 calculates the look-ahead position θ L and voltage phase α * The first mask processing unit 62u adds the pre-read position θ L and voltage phase α * The sum of (θ L +α * ) by modulo arithmetic with 2π as the divisor. As a result, for the U phase, a carrier signal before folding back at the time when the rotating electric machine 101 is controlled in accordance with the calculation result of the control period τ (hereinafter, referred to as an estimated basic carrier signal C_est_u) is estimated. Similarly, the second mask processing unit 62v performs mask processing on the read-ahead position θ L and voltage phase α * The third mask processing unit 62w performs mask processing by performing a remainder operation with 2π as the divisor on the value obtained by subtracting 2π / 3 from the sum of the above. As a result, the estimated basic carrier signal C_est_v is estimated for the V phase. L and voltage phase α * A masking process is performed on the value obtained by adding 2π / 3 to the sum of these values ​​by a remainder operation using 2π as the divisor. As a result, an estimated fundamental carrier signal C_est_w is estimated for the W phase.

[0110] The correction direction determination unit 52 determines the position-dependent error Δθ based on the estimated basic carrier signals C_est_u, C_est_v, and C_est_w of the UVW phases. L That is, the correction direction determination unit 52 determines the correction direction of the position-dependent error Δθ with respect to the basic comparison value Th′[n] based on the estimated basic carrier signals C_est_u, C_est_v, and C_est_w of the UVW phases. L The result of the determination by the correction direction determination unit 52 is the position dependent error Δθ L In this embodiment, as an example, the position-dependent error Δθ Lis a positive value, and the position detection signal θ is greater than the actual position of the rotor.

[0111] More specifically, the correction direction determination unit 52 includes a first correction direction determination unit 63u for the U phase, a second correction direction determination unit 63v for the V phase, and a third correction direction determination unit 63w for the W phase. The first correction direction determination unit 63u is composed of, for example, a switch 64 and a multiplier 65. The switch 64 uses the estimated basic carrier signal C_est_u of the U phase as a reference (ref) and switches the signal transmission path between a path that does not pass through the multiplier 65 and a path that passes through the multiplier 65. Specifically, when the electrical angle (position detection signal θ) is smaller than the phase π of the estimated basic carrier signal C_est_u of the U phase, the position-dependent error Δθ L On the other hand, when the electrical angle (position detection signal θ) is equal to or greater than the phase π of the estimated basic carrier signal C_est_u of the U phase, the position-dependent error Δθ L is multiplied by "-1" by the multiplier 65, and a negative sign is added and output. The same is true for the second correction direction determination unit 63v and the third correction direction determination unit 63w.

[0112] That is, in the second embodiment, the correction direction determination unit 52 determines whether the electrical angle (position detection signal θ) is greater than or equal to the folded carrier signal C_est_u, C_est_v, and C_est_w based on the estimated basic carrier signals C_est_u, C_est_v, and C_est_w. us ′,C vs ′,C ws Then, depending on the result of this determination, the position-dependent error Δθ L The sign of is inverted depending on the electrical angle. In this embodiment, when the electrical angle is less than π, it is a positive value, and when the electrical angle is equal to or greater than π, it is a negative value.

[0113] The comparison value correction unit 53 corrects the basic comparison value Th′[n], which is set based on the modulation factor M, by subtracting the position-dependent error Δθ LThe correction value correction unit 53 calculates corrected comparison values ​​Th_u[n], Th_v[n], and Th_w[n] for each of the UVW phases by performing correction based on the above. Specifically, the comparison value correction unit 53 is composed of a first adder 66u for the U phase, a second adder 66v for the V phase, and a third adder 66w for the W phase. The first adder 66u corrects the basic comparison value Th'[n] based on the position-dependent error Δθ L The first correction direction determining unit 63u calculates the U-phase correction comparison value Th_u[n] by adding the position-dependent error Δθ L Since the sign of the phase is switched according to the phase, the position-dependent error Δθ L The value to which is added or subtracted becomes the U-phase corrected comparison value Th_u[n].

[0114] Therefore, the folded carrier signal C of the U phase us When ' is in the first interval (0 to π), the position-dependent error Δθ L The basic comparison value Th'[n] is changed in a predetermined direction in response to the U-phase correction comparison value Th_u[n]. On the other hand, when the folded carrier signal Cus' of the U-phase is in the second section (the section from π to 2π before folding), the position-dependent error Δθ L The basic comparison value Th'[n] is changed in the opposite direction to the predetermined direction in response to the position-dependent error Δθ, and the U-phase corrected comparison value Th_u[n] is calculated. The "predetermined direction" refers to a direction in which the basic comparison value Th'[n] is increased or decreased, and is determined based on whether the basic comparison value Th'[n] is in the first or second section and the position-dependent error Δθ L In this embodiment, when in the first section, the basic comparison value Th'[n] is increased, and when in the second section, the basic comparison value Th'[n] is decreased.

[0115] Similarly, the second adder 66v multiplies the basic comparison value Th′[n] by the position-dependent error Δθ LThe third adder 662 calculates a V-phase corrected comparison value Th_v[n] by adding the position-dependent error Δθ L The V-phase corrected comparison value Th_w[n] is calculated by adding:

[0116] The synchronous PWM signal generator 42 of the second control device 103 generates a U-phase carrier signal C us A synchronous PWM signal D for the switching element of the U phase is generated by a compare match between the U phase correction comparison value Th_u[n] and the U phase correction comparison value Th_u[n]. uus * ,D uls * Generate.

[0117] Similarly, the synchronous PWM signal generator 42 generates a V-phase carrier signal C vs A synchronous PWM signal D for the V-phase switching element is generated by a compare match between the V-phase correction comparison value Th_v[n] and the V-phase correction comparison value Th_v[n]. vus * ,D vls * The synchronous PWM signal generator 42 also generates a W-phase carrier signal C ws A synchronous PWM signal D for the W-phase switching element is generated by a compare match between the V-phase correction comparison value Th_w[n] and the V-phase correction comparison value Th_w[n]. wus * ,D wls * Generate.

[0118] 9 is a timing chart showing the change over time of the carrier signal and the synchronous PWM signal in the second embodiment. As shown in FIG. 9, in the second embodiment, the carrier signal C us ' is the carrier signal C of the U phase us Therefore, the basic comparison value Th'[n] and the corrected comparison value Th_u[n] are approximately half the number (n=1 to 6) of the first embodiment, and the synchronous PWM signal D uus *Here, the U phase is taken as an example, but the same applies to the V phase and the W phase.

[0119] 10A and 10B are explanatory diagrams showing the operation of the rotating electrical machine control system 200 according to the second embodiment. For comparison, FIG. 10A shows an ideal carrier signal C us ^ and the actual carrier signal C with error us 10B is a graph showing the relationship between the ideal carrier signal C of the folded U phase and the correction comparison values ​​Th[1] and Th[2] of the first embodiment. us ^′ and the actual carrier signal C us 10(C) is a graph showing the relationship between the ideal carrier signal C′ of the folded U phase and the correction comparison value Th[1] of the first embodiment in which the correction direction does not change depending on the phase. us ^' and the folded real carrier signal C us 13 is a graph showing the relationship between the phase difference φ′ and the correction comparison value Th_u[1] in which the correction direction is changed depending on the phase.

[0120] In FIG. 10, at time t1, when the rotating electric machine 101 is driven in response to a drive request, the synchronous PWM signal D uus * The time t2 is the time when the carrier signal C us ^,C us At time t3, the phase of the synchronous PWM signal D uus * The black dots are the intersections of each correction comparison value and each carrier signal, and the white dots are the intersections of the ideal carrier signal C us ^ or C us The intersection of ^′ and basic comparison values ​​Th′[1] and Th′[2] is shown. Here, the U phase is used as an example, but the same applies to the V phase and W phase.

[0121] As shown in FIG. 10(A), in synchronous PWM control, a carrier signal C us When using this carrier signal C usThe corrected comparison values ​​Th[1] and Th[2] intersect at ideal times t1 and t3 according to the drive request. us When using the PWM signal D, the correction comparison values ​​Th[1] and Th[2] are compared and matched, and the synchronous PWM signal D is generated at the ideal timing according to the drive request. uus * turns on / off.

[0122] On the other hand, as shown in FIG. 10(B), in the synchronous PWM control, the folded carrier signal C us When using this carrier signal C us The intersection point of the carrier signal C′ and the correction comparison value Th[1] may shift in the time axis direction. Specifically, in the first section (0 to π section) before the turnaround, us The timing (black circle) where the ideal carrier signal C us This coincides with the timing (white circle) where ^′ and the basic comparison value Th′[1] cross each other. However, in the second section after the turnaround (the section from π to 2π before the turnaround), the position-dependent error Δθ L Although the correction comparison value Th[1] reflecting the carrier signal C us The timing (black circle) where the ideal carrier signal C us The timing at which the reference comparison value Th' crosses the reference comparison value Th'[1] (white circle) is shifted in the time axis direction. Therefore, the synchronous PWM signal D uus * will not turn off.

[0123] Therefore, in the second embodiment, in the synchronous PWM control, the folded carrier signal C us When using the carrier signal C us Then, determine whether the carrier signal C' is in the first section or the second section. us Depending on whether ' is in the first or second interval, the position-dependent error Δθ LThe correction direction is adjusted by changing the sign of the correction comparison value Th_u[1]. This corresponds to inverting the correction comparison value Th_u[1] in the vertical axis direction in the second section from time t2 to time t3, as shown in FIG. 10(C). As a result, the carrier signal C us The timing (black circle) where the ideal carrier signal C us This coincides with the timing (white circle) where ^′ and the basic comparison value Th′[1] cross. As a result, in synchronous PWM control, the folded carrier signal C us Even when using the synchronous PWM signal D uus * turns on / off.

[0124] As described above, in the second embodiment, a carrier signal C has a first section that increases or decreases in proportion to the fluctuation in the rotor position during one period of the rotor electrical angle (position detection signal θ) and a second section that increases or decreases in inverse proportion to the fluctuation in the rotor position, and has a waveform that is folded back between the first section and the second section. us ′,C vs ′,C ws Therefore, in the rotating electric machine control method according to the second embodiment, the electrical angle (position detection signal θ) is generated based on the carrier signal C us ′,C vs ′,C ws Then, it is determined whether the electrical angle (position detection signal θ) is in the first section or the second section of the carrier signal C′. us ′,C vs ′,C ws When the position is in the first interval of L The basic comparison value Th'[n] is changed in a predetermined direction in response to the carrier signal C, thereby calculating the corrected comparison values ​​Th_u[n], Th_v[n], and Th_w[n]. us ′,C vs ′,C ws When the position is in the second interval, the position-dependent error Δθ LThe basic comparison value Th'[n] is changed in a direction opposite to the predetermined direction in response to the change, whereby the corrected comparison values ​​Th_u[n], Th_v[n], and Th_w[n] are calculated.

[0125] In this way, the folded carrier signal C in synchronous PWM control us ′,C vs ′,C ws When using the ', the first and second sections are judged and the correction direction is adjusted according to the result. us ′,C vs ′,C ws Even when using the synchronous PWM signal D uus * is turned on and off, reducing current harmonics and ripple.

[0126] In the second embodiment, the position-dependent error Δθ L is a positive value and the position detection signal θ is greater than the actual position of the rotor. Therefore, in the first section, the basic comparison value Th′[n] is increased, and in the second section, the basic comparison value Th′[n] is decreased. Therefore, in practice, the position-dependent error Δθ L When is a negative value, the basic comparison value Th'[n] is decreased in the first section, and the basic comparison value Th'[n] is increased in the second section.

[0127] In addition, in the rotating electric control method of the second embodiment, since the correction comparison value Th_u[n] is calculated for each UVW phase, the rotating electric control method of the second embodiment has the advantage of improving the degree of freedom of dead time compensation related to the switching of the inverter 104 during synchronous PWM control. In this way, the degree of freedom of dead time compensation is improved, which enables highly accurate dead time compensation, and therefore current harmonics and ripples are particularly reduced.

[0128] Also, as in the second embodiment, the folded carrier signal C us ′,C vs ′,C ws When using the ', the unfolded carrier signal Cus ,C vs ,C ws The number of the basic comparison value Th'[n] and the corrected comparison values ​​Th_u[n], Th_v[n], and Th_w[n] of each phase is smaller than when using the above-mentioned. Therefore, the storage area for storing the basic comparison value Th'[n] is saved, and the calculation load for obtaining the corrected comparison values ​​Th_u[n], Th_v[n], and Th_w[n] is also reduced. In the second embodiment, the carrier signal is folded once at the phase π, but the carrier signal may be folded, for example, every 2π / 3 or every 2π / 4. The effect of saving the storage area and reducing the calculation load becomes more noticeable as the number of times the carrier signal is folded is increased.

[0129] In the second embodiment, in the synchronous PWM control unit 15 of the first control device 102, the carrier signal estimation unit 51 estimates the carrier signal C before folding back. us ,C vs ,C ws However, the first control device 102 (synchronous PWM control unit 15) receives the carrier signal C of the synchronous PWM control from the second control device 103 (synchronous PWM signal generator 42). us ′,C vs ′,C ws When the carrier signal can be monitored by acquiring the carrier signal C', the carrier signal estimation unit 51 is omitted and the carrier signal C us ′,C vs ′,C ws The correction direction may be adjusted according to

[0130] [Third embodiment] In the first embodiment, the position detection signal θ and the voltage phase α * Sum of (θ+α * ) is the synchronous PWM controlled carrier signal C us ,C vs ,C ws In the second embodiment, the folded carrier signal C us ′,C vs ′,C wsThat is, in the first and second embodiments, apart from the presence or absence of folding, the position detection signal θ is used in the voltage phase α * In the third embodiment, the offset signal is used as the carrier signal for synchronous PWM control. However, in synchronous PWM control, the position detection signal θ can be used as the carrier signal as it is. In the third embodiment, a form in which the position detection signal θ is used as the carrier signal as it is will be described below. Note that parts not mentioned below are configured in the same way as in the first embodiment.

[0131] 11 is a block diagram showing a configuration of a rotating electrical machine control system 300 according to a third embodiment. In the rotating electrical machine control system 300, a synchronous PWM signal generator 42 of a second control device 103 generates a carrier signal C based on a position detection signal θ according to the following equation (13): us ,C vs ,C ws Generate.

[0132]

number

[0133] As shown in FIG. 11, in the rotating electrical machine control system 300, the synchronous PWM signal generator 42 of the second control device 103 has a voltage phase α * is not input, and the voltage phase α * is input to the synchronous PWM control unit 15.

[0134] 12 is a block diagram showing the configuration of the synchronous PWM control unit 15 in the third embodiment. As shown in FIG. 12, the synchronous PWM control unit 15 further includes an adder 71 in addition to the adder 34 and mask processing unit 35 in the comparison value correction unit 33. The adder 71 calculates the position-dependent error Δθ L Voltage phase α * Therefore, in the third embodiment, the voltage phase α * The change in is reflected in the corrected comparison value Th[n].

[0135] As in the above rotating electrical machine control system 300, the position detection signal θ is directly converted into a carrier signal C us ,C vs ,C ws and the voltage phase α * is reflected in the corrected comparison value Th[n], the same advantageous effects as those of the rotating electrical machine control system 100 of the first embodiment are achieved.

[0136] In the third embodiment, the position detection signal θ is directly converted into the carrier signal C us ,C vs ,C ws The position detection signal θ is used as the carrier signal C us ,C vs ,C ws While using the carrier signal for the synchronous PWM control, the carrier signal folded back as necessary may be used for synchronous PWM control as in the second embodiment.

[0137] [Fourth embodiment] In the first to third embodiments, the error Δθ relating to the detection of the position detection signal θ is obtained by calculation according to the formula (5) and the formula (6), but this is not limiting. As in the fourth embodiment described below, the error Δθ relating to the detection of the position detection signal θ may be obtained by referring to a lookup table.

[0138] Fig. 13 is a block diagram showing a configuration for error correction unit 17 of the fourth embodiment to calculate error Δθ related to position detection. As shown in Fig. 13, in the fourth embodiment, first control device 102 stores rotor position index array x[n] and error array y[n] in advance in a memory or the like. Then, error correction unit 17 obtains error Δθ related to detection of position detection signal θ using the position detection signal θ, rotor position index array x[n], and error array y[n].

[0139] The rotor position index array x[n] is a one-dimensional array data that defines the position index by the rotor electrical angle. The error array y[n] is a one-dimensional array data that defines the position detection errors y1 to y nThe error array y[n] is a one-dimensional array data that stores the error in correspondence with the rotor position index array x[n]. More specifically, the error array y[n] represents the first-order error, the second-order error, and / or the structure-related order error. The data of the error array y[n] (errors y1 to y n ) is determined in advance by experiments, numerical calculations, etc.

[0140] Fig. 14 is a graph showing the relationship between the rotor position index array x[n] and the error array y[n]. For simplicity, Fig. 14 shows the relationship between the rotor position index array x[n] and the error array y[n] when only a first-order error occurs in the rotor position detection. When a first-order error occurs in the rotor position detection, as shown in Fig. 14, the relationship between the rotor position index array x[n] and the error array y[n] becomes, for example, a sine wave.

[0141] FIG. 15 is a graph showing the relationship between the true rotor position and the error Δθ obtained by directly referring to the rotor position index array x[n] and the error array y[n] based on the position detection signal θ. As shown by the solid line in FIG. 15, if only a first-order error occurs in rotor position detection, the error Δθ should be, for example, a sine wave with respect to the true rotor position. However, as shown by the dashed line in FIG. 15, if the error Δθ is obtained by directly referring to the rotor position index array x[n] and the error array y[n] based on the position detection signal θ, which is the actual detection value, the obtained error Δθ will have a distorted waveform from the original sine wave waveform with respect to the true rotor position. This is because the actual position detection signal θ contains the error Δθ, and a shift occurs in the reference position of the rotor position index array x[n] by the amount of the error Δθ.

[0142] Therefore, the error correction unit 17 in the fourth embodiment is configured to obtain a correct error Δθ with respect to the true rotor position by using the position detection signal θ, the rotor position index array x[n], and the error array y[n]. Specifically, the error correction unit 17 includes a subtraction unit 81 and an LUT 82 which is a one-dimensional lookup table (see FIG. 13).

[0143] The subtraction unit 81 calculates a difference array (x[n]-y[n]), which is a new one-dimensional array, by subtracting the error array y[n] from the rotor position index array x[n]. The LUT 82 is configured to use the difference array (x[n]-y[n]) as an input reference array and the error array y[n] as an output reference array.

[0144] FIG. 16 is a graph showing the relationship between the difference array (x[n]-y[n]) and the error array y[n]. As shown in FIG. 16, the LUT 82 produces an error array y[n], which is an output reference array, that has a waveform distorted from a sine wave for the difference array (x[n]-y[n]), which is an input reference array. This waveform distortion corresponds to the deviation between the solid line and the dashed line in FIG. 15. Therefore, when an error Δθ relating to the detection of the position detection signal θ is obtained by referring to the LUT 82 based on the position detection signal θ, this error Δθ becomes a correct value with respect to the true rotor position.

[0145] In the fourth embodiment, the error correction unit 17 corrects the position detection signal θ c When calculating the position-dependent error Δθ, the error Δθ associated with the detection of the position detection signal θ is obtained by the LUT 82. Similarly, the error generating unit 20 also refers to the LUT 82 to calculate the position-dependent error Δθ L The information may be configured to obtain

[0146] Specifically, in the first to third embodiments, the look-ahead compensation unit 19 calculates the corrected position detection signal θ c Using the look-ahead position θ L The error generator 20 calculates the look-ahead position θ L Based on this, the position-dependent error Δθ is calculated according to equation (9). L However, the look-ahead compensation unit 19 may be configured so that the pre-correction position detection signal θ is input. In this case, the error generation unit 20 calculates the look-ahead position θ calculated based on the pre-correction position detection signal θ. L That is, the read-ahead position θ including the error Δθ related to the position detection L Based on this, the position-dependent error Δθ LTherefore, the error generator 20 directly references the rotor position index array x[n] and the error array y[n] to obtain the position-dependent error Δθ L , the exact position-dependent error Δθ L may not be able to be obtained.

[0147] Therefore, the pre-read position θ calculated based on the position detection signal θ before correction L Based on the position dependent error Δθ L When calculating the position-dependent error Δθ, the error generator 20 calculates the position-dependent error Δθ in the same manner as in the fourth embodiment, instead of calculating the equation (9). L That is, similarly to the fourth embodiment, the error generator 20 uses the rotor position index array x[n] and the error array y[n] to calculate the read-ahead position θ L from the position-dependent error Δθ L In this way, it is preferable to calculate the position-dependent error Δθ L By obtaining the above, the pre-read position θ calculated based on the position detection signal θ before correction is obtained. L Based on the position dependent error Δθ L Even when calculating the position-dependent error Δθ L can be obtained.

[0148] In the fourth embodiment, the error Δθ and the position-dependent error Δθ L Although an example in which only a first-order error is included is shown, the case in which a second-order error and a structure-attributable order error are included is also similar to the fourth embodiment.

[0149] In the fourth embodiment, the LUT 82 is configured to use the difference array (x[n]-y[n]) obtained by correcting the rotor position index array x[n] with the error array y[n] as the input reference array, and the error array y[n] as the output reference array, but this is not limited to the above. The LUT 82 may be configured to use the rotor position index array x[n] as the input reference array, and to use the array (e.g., y[n]-x[n]) obtained by correcting the rotor position index array x[n] with the error array y[n] as the output reference array. In this case, as in the fourth embodiment, the accurate error Δθ and the position-dependent error Δθ with respect to the true rotor position are calculated. L is obtained.

[0150] As described above, in the rotating electric machine control method according to the fourth embodiment, the first array data (rotor position index array x[n]) that determines the position index based on the electrical angle of the rotor and the error Δθ or the position-dependent error Δθ L is determined in advance by the first-order error that varies linearly with respect to the electrical angle of the rotor (position detection signal θ), the second-order error that varies quadratically with respect to the electrical angle of the rotor, and / or the second array data (error array y[n]) that determines the structural order error that varies with respect to the electrical angle of the rotor, with an order corresponding to the number of teeth in the stator of the resolver 22 that detects the position of the rotor. L is obtained by referring to the LUT 82, which uses the first array data (rotor position index array x[n]) corrected by the second array data (error array y[n]) as an input reference array and the second array data (error array y[n]) as an output reference array. L is obtained by referencing an LUT82 that uses the first array data (rotor position index array x[n]) as an input reference array and the second array data (error array y[n]) corrected by the first array data (rotor position index array x[n]) as an output reference array.

[0151] In this way, the error Δθ or the position-dependent error Δθ L In order to obtain a particularly accurate error Δθ and a position-dependent error Δθ LAs a result, the position detection signal θ is subject to an error (position-dependent error Δθ L ), the rotating electrical machine 101 is driven in an ideal driving state that should be realized in response to a drive request, and current harmonics and ripples are particularly reduced.

[0152] Although the embodiments of the present invention have been described above, the configurations described in the above embodiments and the respective modified examples merely represent some of the application examples of the present invention and are not intended to limit the technical scope of the present invention. [Explanation of symbols]

[0153] 11: torque control unit, 13: asynchronous PWM control unit, 14: vector conversion unit, 15: synchronous PWM control unit, 17: error correction unit, 19: look-ahead compensation unit, 20: error generation unit, 22: resolver, 32: basic comparison value table, 33: comparison value correction unit, 41: asynchronous PWM signal generator, 42: synchronous PWM signal generator, 43: PWM output switch, 51: carrier signal estimation unit, 52: correction direction determination unit, 53: comparison value correction unit, 100: rotating electric machine control system, 101: rotating electric machine, 102: first control device, 103: second control device, 104: inverter, 105: battery, 200: rotating electric machine control system, 300: rotating electric machine control system

Claims

1. A rotating electric machine control method for controlling a rotating electric machine by a rotating electric machine control system having a first control device that calculates parameters for controlling driving of the rotating electric machine in response to a drive request for the rotating electric machine, and a second control device that executes synchronous PWM control to generate a PWM signal according to a drive frequency of the rotating electric machine by using the parameters and a position detection signal of a rotor of the rotating electric machine, the method comprising: The second control device acquires the position detection signal of the rotor; a carrier signal for the synchronous PWM control is generated in the second control device based on the position detection signal; In the first control device, a position-dependent error is obtained, which is an error in detecting the position of the rotor and is determined depending on the position of the rotor; obtaining, in the first control device, a base comparison value for comparing with the carrier signal; calculating a corrected comparison value by correcting the basic comparison value using the position dependent error in the first control device; In the second control device, the carrier signal is compared with the correction comparison value to generate the PWM signal; The calculation of the correction comparison value and the generation of the PWM signal using the correction comparison value are executed when a modulation rate of the PWM signal is greater than a predetermined threshold value. A rotating electrical machine control method.

2. A method for controlling a rotating electric machine according to claim 1, comprising the steps of: the acquisition of the position-dependent error and the calculation of the correction comparison value are performed at every predetermined control period, thereby changing the correction comparison value in accordance with a fluctuation in the position-dependent error. A rotating electrical machine control method.

3. 3. A rotating electric machine control method according to claim 1, further comprising: generating the carrier signal having a waveform that is folded back between a first section that increases or decreases in proportion to a fluctuation in the position of the rotor and a second section that increases or decreases in inverse proportion to a fluctuation in the position of the rotor during one period of the electrical angle of the rotor; determining whether the electrical angle is in the first section or the second section of the folded back carrier signal; when the electrical angle is in the first section of the folded back carrier signal, the basic comparison value is changed in a predetermined direction in response to the position-dependent error to calculate the corrected comparison value; when the electrical angle is in the second section of the folded back carrier signal, the basic comparison value is changed in a direction opposite to the predetermined direction in response to the position dependent error, thereby calculating the corrected comparison value. A rotating electrical machine control method.

4. A rotating electric machine control method according to any one of claims 1 to 3, generating a corrected position detection signal by correcting the position detection signal based on the position dependent error; The position dependent error is obtained based on the corrected position detection signal. A rotating electrical machine control method.

5. A rotating electrical machine control method according to claim 4, comprising: Further compensating the corrected position detection signal based on the rotation speed of the rotor; The position-dependent error is obtained based on the compensated position detection signal. A rotating electrical machine control method.

6. A rotating electric machine control method according to any one of claims 1 to 5, the position-dependent error is determined in advance by an amplitude and a reference phase of an error that varies linearly with respect to the electrical angle of the rotor, an error that varies quadratically with respect to the electrical angle of the rotor, and / or an error that varies with respect to the electrical angle of the rotor with an order corresponding to the number of teeth in a stator of a resolver that detects the position of the rotor; The position-dependent error is obtained by a calculation of synthesizing a sine wave or a cosine wave based on the amplitude and the reference phase. A rotating electrical machine control method.

7. A rotating electric machine control method according to any one of claims 1 to 5, the position-dependent error is predetermined by first array data that defines a position index based on the electrical angle of the rotor, and second array data that defines an error that varies linearly with respect to the electrical angle of the rotor, an error that varies quadratically with respect to the electrical angle of the rotor, and / or an error that varies with respect to the electrical angle of the rotor with an order corresponding to a number of teeth in a stator of a resolver that detects the position of the rotor, The position dependent error is The first array data corrected by the second array data is acquired by referring to a lookup table in which the first array data is an input reference array and the second array data is an output reference array; or The first array data is acquired by referring to a lookup table in which the first array data is an input reference array and the second array data corrected by the first array data is an output reference array. A rotating electrical machine control method.

8. A rotating electric machine control system including: a first control device that calculates parameters for controlling a drive of a rotating electric machine in response to a drive request for the rotating electric machine; and a second control device that executes synchronous PWM control to generate a PWM signal corresponding to a drive frequency of the rotating electric machine by using the parameters and a position detection signal of a rotor of the rotating electric machine, The second control device is a position detection signal acquirer for acquiring the position detection signal of the rotor; a carrier signal generator that generates a carrier signal in the synchronous PWM control based on the position detection signal; Equipped with The first control device is a position-dependent error acquisition unit that acquires a position-dependent error, which is an error in detecting the position of the rotor and is determined depending on the position of the rotor; a comparison value acquisition unit for acquiring a basic comparison value to be compared with the carrier signal; a comparison value correction unit that calculates a corrected comparison value by correcting the basic comparison value using the position dependent error; Equipped with The second control device further includes a PWM signal generator that generates the PWM signal by comparing the carrier signal with the correction comparison value, The calculation of the correction comparison value and the generation of the PWM signal using the correction comparison value are executed when a modulation rate of the PWM signal is greater than a predetermined threshold value. Rotating electric machine control system.

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