Control device, control program, and control method

Abstract

To correct an error in a magnetic pole position of a rotor even in a case where the rotational speed of a rotary electric machine is relatively high.SOLUTION: In a rotary electric machine, a rotary electric machine with a d-axis and a q-axis defined is equipped with a magnetic pole detector for detecting a magnetic pole position of a rotor, includes a stator for generating a magnetic field using a winding wire, and is driven with power supplied from an inverter. The rotary electric machine is provided with: a voltage control unit that controls an inverter to adjust a d-axis direction component of a voltage being applied to the rotary electric machine to be equal to or lower than a prescribed voltage; a data acquisition unit that acquires q-axis current data indicating a q-axis direction component of current flowing through the rotary electric machine in a case where the d-axis direction component of the voltage being applied to the rotary electric machine is equal to or lower than the prescribed voltage; and a magnetic pole position correction unit that determines, on the basis of the q-axis current data, a magnetic pole position correction amount satisfying a condition where the current indicated by the q-axis current is equal to or lower than a prescribed current, and corrects the magnetic pole position on the basis of the correction amount.SELECTED DRAWING: Figure 11

Description

[Technical field]

[0001] The present invention relates to a control device, a control program, and a control method. [Background technology]

[0002] Vehicles using rotating electric machines, which have been conventionally used as electric motors, as their power source, such as electric vehicles (EVs), hybrid vehicles (HVs), and fuel cell vehicles (FCVs), are being developed. The rotating electric machines mounted on these vehicles are equipped with magnetic pole position detectors that are configured using, for example, Hall elements, encoders, etc.

[0003] A magnetic pole position detector provided in a rotating electric machine detects the magnetic pole position of the rotor, and the phase of the voltage applied to the armature is manipulated according to the detected magnetic pole position. However, due to alignment during assembly of the magnetic pole position detector, manufacturing precision of the magnetic pole position detector itself, etc., an error may occur between the magnetic pole position detected by the magnetic pole position detector and the actual magnetic pole position.

[0004] Therefore, there is a need for a technique for correcting errors in the magnetic pole position detected by the magnetic pole position detector. One example of a technique for performing such correction is a control device for a synchronous motor disclosed in Patent Document 1.

[0005] The control device for the synchronous motor corrects a deviation in the rotational position (magnetic pole position) associated with a rotational position detector (magnetic pole position detector) of the synchronous motor that is vector-controlled, and includes a current command generator, a current controller, a phase correction amount detector, an adder, and a voltage converter. When a phase correction command is input, the current command generator ignores the torque command and sets the d-axis current command and the q-axis current command to zero. The current controller outputs d-axis and q-axis voltage commands based on the d-axis and q-axis current commands. When a phase correction command is input, the phase correction amount detector calculates an offset amount for setting the d-axis voltage command to zero if it is not zero. The adder adds the rotor position angle and the offset amount. The voltage converter calculates a three-phase voltage command based on this added value and the d-axis and q-axis voltage commands. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2004-266935 A Summary of the Invention [Problem to be solved by the invention]

[0007] The above-mentioned synchronous motor control device sets the d-axis current command and the q-axis current command to zero in order to correct the magnetic pole position error. However, when the rotation speed of the rotating electric machine is relatively high, the back electromotive force of the armature becomes large, so that it is necessary to flow a negative d-axis current to cancel the back electromotive force, and the d-axis current cannot be set to zero. As a result, with the above-mentioned technology, when the rotation speed of the rotating electric machine is relatively high, there are cases where the magnetic pole position error cannot be corrected.

[0008] The present invention has been made in consideration of the above circumstances, and one of its objects is to provide a control device, a control program, and a control method that can correct errors in the rotor's magnetic pole position even when the rotation speed of a rotating electric machine is relatively high. [Means for solving the problem]

[0009] The control device, the control program, and the control method according to the present invention employ the following configuration. (1): A control device according to one embodiment of the present invention is a control device in which a d-axis is defined as an axis indicating the field direction of a magnet of a rotor having a permanent magnet, and a q-axis is defined as an axis perpendicular to the d-axis, a magnetic pole position detector is attached to detect a magnetic pole position of the rotor, and the control device is equipped with a stator that generates a magnetic field using windings, and the control device is equipped with a voltage control unit that controls a voltage in the d-axis direction and a voltage in the q-axis direction applied to a rotating electric machine driven by power supplied from an inverter, a data acquisition unit that acquires q-axis current data that indicates a component in the q-axis direction of a current flowing through the rotating electric machine when the d-axis direction component of the voltage applied to the rotating electric machine is equal to or lower than the predetermined voltage, and a magnetic pole position correction unit that determines a correction amount of the magnetic pole position based on the q-axis current data that satisfies the condition that the current indicated by the q-axis current data is equal to or lower than a predetermined current, and corrects the magnetic pole position based on the correction amount.

[0010] (2): In the above aspect (1), the voltage control unit controls the inverter so that the component of the voltage applied to the rotating motor in the d-axis direction when the rotor is rotating due to an external force applied from outside the rotating motor is equal to or less than the predetermined voltage.

[0011] (3): In the above aspect (1) or (2), the data acquisition unit acquires angular velocity data indicating the angular velocity of the rotor a plurality of times, and the magnetic pole position correction unit determines whether the state in which the angular velocity of the rotor falls within a predetermined range continues for a predetermined period or more based on the plurality of angular velocity data, and determines the correction amount when it is determined that the state in which the angular velocity of the rotor falls within the predetermined range continues for the predetermined period or more.

[0012] (4): In any one of the above aspects (1) to (3), when the d-axis direction component of the voltage applied to the rotating electric machine is equal to or lower than the predetermined voltage, the data acquisition unit further acquires d-axis current data indicating the d-axis direction component of the current flowing through the rotating electric machine, and the magnetic pole position correction unit determines the correction amount based on the d-axis current data in addition to the q-axis current data.

[0013] (5): In the above aspect (4), the data acquisition unit further acquires angular velocity data indicating the angular velocity of the rotor, d-axis inductance data indicating the component of the inductance of the rotating electric machine in the d-axis direction, q-axis inductance data indicating the component of the inductance of the rotating electric machine in the q-axis direction, and voltage radius data indicating the voltage radius of the rotating electric machine, and the magnetic pole position correction unit determines the correction amount using the following equation (1).

[0014]

number

[0015] θ ofs : Correction amount of magnetic pole position ω: Angular speed of the rotor L d : Component of the rotating machine inductance in the d-axis direction L q : Component of the rotating machine inductance in the q-axis direction i d ´: Current shown by d-axis current data i q ´: Current shown by q-axis current data v: voltage radius

[0016] (6): In any one of the above aspects (1) to (3), the data acquisition unit acquires the q-axis current data at least once, and the magnetic pole position correction unit arbitrarily determines a provisional correction amount for the magnetic pole position. Each time the data acquisition unit acquires the q-axis current data, the data acquisition unit determines whether or not the current indicated by the q-axis current data is equal to or less than a predetermined current. If it is determined that the current indicated by the q-axis current data is equal to or less than the predetermined current, the data acquisition unit determines the provisional correction amount to be the correction amount.

[0017] (7): In the above aspect (6), when the data acquisition unit determines that the current indicated by the q-axis current data is equal to or less than the specified current, the data acquisition unit further acquires d-axis current data indicating a component of the current flowing through the rotating electric machine in the d-axis direction, and the magnetic pole position correction unit corrects the provisional correction amount based on the current indicated by the d-axis current data and the electrical resistance of the winding, and determines the provisional correction amount corrected based on the current indicated by the d-axis current data and the electrical resistance of the winding as the correction amount.

[0018] (8): In the above aspect (7), the magnetic pole position correction unit modifies the provisional correction amount by using the following equation (2).

[0019]

number

[0020] Δθ ofs Contribution to the pole position error due to the product of the current and the winding electrical resistance as shown by the d-axis current data r: Electrical resistance of the stator winding i d ´: Current shown by d-axis current data v: voltage radius

[0021] (9): In any one of the aspects described in (1) to (3) above, the data acquisition unit acquires the q-axis current data at least once, and the magnetic pole position correction unit arbitrarily determines a provisional correction amount for the magnetic pole position. Each time the data acquisition unit acquires the q-axis current data, the data acquisition unit determines whether the current indicated by the q-axis current data is equal to or less than a predetermined current. If it is determined that the current indicated by the q-axis current data exceeds the predetermined current, the provisional correction amount is determined again.

[0022] (10): A control program according to one embodiment of the present invention is a control program that causes a computer to realize the following: a voltage control function that controls a voltage in the d-axis direction and a voltage in the q-axis direction applied to a rotating electric machine that defines a d-axis that is an axis indicating the field direction of a magnet of a rotor having a permanent magnet, and a q-axis that is an axis perpendicular to the d-axis, is attached to detect a magnetic pole position of the rotor, has a stator that generates a magnetic field using windings, and is driven by power supplied from an inverter; a data acquisition function that acquires q-axis current data that indicates a component in the q-axis direction of a current flowing through the rotating electric machine when the component in the d-axis direction of the voltage applied to the rotating electric machine is equal to or lower than the predetermined voltage; and a magnetic pole position correction function that determines a correction amount of the magnetic pole position based on the q-axis current data that satisfies the condition that the current indicated by the q-axis current data is equal to or lower than a predetermined current, and corrects the magnetic pole position based on the correction amount.

[0023] (11): A control method according to one embodiment of the present invention is a control method in which a d-axis, which is an axis indicating a field direction of a magnet of a rotor having a permanent magnet, and a q-axis, which is an axis perpendicular to the d-axis, are defined, a magnetic pole position detector is attached to detect a magnetic pole position of the rotor, the stator generates a magnetic field using windings, and a process of controlling a voltage in the d-axis direction and a voltage in the q-axis direction applied to a rotating electric machine driven by power supplied from an inverter is executed by a voltage control unit or a voltage control function, when a component in the d-axis direction of the voltage applied to the rotating electric machine is equal to or lower than the predetermined voltage, a process of acquiring q-axis current data indicating a component in the q-axis direction of a current flowing through the rotating electric machine is executed by a data acquisition unit or a data acquisition function, a correction amount of the magnetic pole position that satisfies a condition that the current indicated by the q-axis current data is equal to or lower than a predetermined current is determined based on the q-axis current data, and a process of correcting the magnetic pole position based on the correction amount is executed by a magnetic pole position correction unit or a magnetic pole position correction function. Effect of the Invention

[0024] According to (1) to (11), the control device does not need to execute control to make the current flowing in the direction of the q-axis zero. Therefore, the control device can correct the magnetic pole position even when the rotation speed of the rotating electric machine is relatively high.

[0025] According to (2), by correcting the magnetic pole position during idling after the engine is started with the engine and the rotating electric machine connected, it is possible to perform correction of the vehicle system before use.

[0026] According to (3), the control device determines the correction amount of the magnetic pole position when the angular velocity of the rotor is stable to a certain degree or more. Therefore, the control device determines the correction amount when the angular velocity of the rotor, the temperature of the rotating electric machine, and the like, which are necessary for determining the correction amount of the magnetic pole position, are stable, so that it is possible to determine a more suitable correction amount.

[0027] According to (4) or (5), the control device analytically determines the correction amount based on the d-axis component of the current flowing through the rotating electric machine in addition to the q-axis component of the current flowing through the rotating electric machine, etc. Therefore, the control device can more accurately determine the correction amount of the magnetic pole position.

[0028] According to (6), when the control device determines that the component of the current flowing through the rotating electric machine in the q-axis direction is equal to or smaller than a predetermined current, the control device determines the provisional correction amount as the correction amount without further modifying the provisional correction amount. On the other hand, according to (9), when the control device determines that the component of the current flowing through the rotating electric machine in the q-axis direction exceeds a predetermined current, the control device re-determines the provisional correction amount. Therefore, the control device can determine a correction amount with higher accuracy in accordance with the state of the rotating electric machine, such as the temperature, which is determined by the environment in which the rotating electric machine is used.

[0029] According to (7) or (8), the control device determines the correction amount by taking into consideration the influence of the electric resistance of the stator winding and the current flowing in the d-axis direction on the correction amount of the magnetic pole position. Therefore, the control device can determine a correction amount with higher accuracy by taking these influences into consideration. [Brief description of the drawings]

[0030] [Figure 1] FIG. 1 is a diagram illustrating an example of a vehicle according to a first embodiment. [Diagram 2] 4 is a vector diagram showing an example of a back electromotive force generated when an error in a magnetic pole position detected by the magnetic pole position detector according to the first embodiment is zero. [Diagram 3] 4 is a vector diagram showing an example of a current flowing through the rotating electric machine when an error in a magnetic pole position detected by the magnetic pole position detector according to the first embodiment is zero. [Figure 4] 4 is a vector diagram showing an example of a back electromotive force generated when an error in a magnetic pole position detected by the magnetic pole position detector according to the first embodiment is not zero. [Diagram 5] 4 is a vector diagram showing an example of a current flowing through a rotating electric machine when an error in a magnetic pole position detected by a magnetic pole position detector according to the first embodiment is not zero. [Figure 6] 4 is a diagram showing an example of a relationship between the phase of a voltage applied to a rotating electric machine according to the first embodiment and a current flowing through the rotating electric machine; FIG. [Figure 7] 3 is a diagram illustrating an example of a first PDU according to the first embodiment and a configuration around the first PDU. FIG. [Figure 8] FIG. 4 is a diagram showing an example of a waveform of a voltage output by the inverter according to the first embodiment when sine wave pulse width modulation control is executed. [Figure 9] FIG. 4 is a diagram showing an example of a waveform of a voltage output by the inverter according to the first embodiment when overmodulation pulse width modulation control is executed. [Figure 10] FIG. 4 is a diagram showing an example of a waveform of a voltage output by the inverter according to the first embodiment when one-pulse control is executed. [Figure 11] FIG. 2 is a diagram illustrating an example of a software configuration of a control device according to the first embodiment. [Figure 12] FIG. 11 is a diagram showing an example of a change over time in the angular velocity of a rotor in the first embodiment, a period during which the angular velocity of the rotor is equal to or greater than a predetermined angular velocity, a period during which the angular velocity of the rotor is within a predetermined range of angular velocities, a change over time in the torque required of a rotating electric machine, and a period during which processing is performed to correct the magnetic pole position detected by a magnetic pole position detector. [Figure 13] 4 is a flowchart illustrating an example of a process executed by a control device according to the first embodiment. [Figure 14] 4 is a flowchart illustrating an example of a process executed by a control device according to the first embodiment. [Figure 15] 13 is a diagram for explaining an example of a process executed by the control device according to the second embodiment to re-determine a provisional correction amount for the magnetic pole position detected by the magnetic pole position detector; FIG. [Figure 16] 10 is a flowchart illustrating an example of a process executed by a control device according to a second embodiment. [Figure 17] 10 is a flowchart illustrating an example of a process executed by a control device according to a second embodiment. [Figure 18]13 is a vector diagram for explaining an example of a process executed by a control device according to a third embodiment to modify a provisional correction amount of a magnetic pole position detected by a magnetic pole position detector. [Figure 19] 13 is a flowchart illustrating an example of a process executed by a control device according to a third embodiment. [Figure 20] 13 is a flowchart illustrating an example of a process executed by a control device according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a control device, a control program, and a control method according to the present invention will be described with reference to the drawings.

[0032] First Embodiment First, a vehicle according to the first embodiment will be described with reference to Fig. 1 to Fig. 6. Fig. 1 is a diagram showing an example of a vehicle according to the first embodiment. As shown in Fig. 1, the vehicle 1 includes, for example, a rotary electric machine generator 10, an engine 20, a first PDU (Power Drive Unit) 30, a second PDU 40, a battery 50, drive wheels 60A and 60B, a transmission 62, an axle 64, and a control device 80.

[0033] The rotating electric machine generator 10 includes a rotating electric machine 12 , a magnetic pole position detector 14 , and a generator 16 .

[0034] The rotating electric machine 12 includes a rotor that generates a magnetic field using a permanent magnet and a stator that generates a magnetic field using a winding, and functions as an electric motor that supplies power to the vehicle 1. For example, the rotating electric machine 12 is a three-phase synchronous motor that is driven by an AC current supplied from at least one of the first PDU 30 and the generator 16. The power generated by the rotating electric machine 12 is transmitted via a transmission 62 to an axle 64 to which a driving wheel 60A and a driving wheel 60B are attached.

[0035] Further, a d-axis and a q-axis are defined for the rotating electric machine 12. The d-axis is an axis that indicates the field direction of the rotor, and the q-axis is an axis that is electrically and magnetically perpendicular to the d-axis. In other words, the d-axis and the q-axis are coordinate axes of the synchronous rotation coordinate system of the rotor, and rotate together with the rotor.

[0036] The magnetic pole position detector 14 is attached to the rotating electric machine 12 and detects the magnetic pole position of a rotor included in the rotating electric machine 12. The generator 16 generates electricity by rotating upon receiving power generated by the engine 20. The electric power generated by the generator 16 is supplied to the battery 50 via the second PDU 40. Note that the generator 16 may be omitted. In this case, the rotating electric machine 12 generates electric power instead of the generator 16 and supplies the electric power to the battery 50.

[0037] 2 is a vector diagram showing an example of a back electromotive force generated when the error of the magnetic pole position detected by the magnetic pole position detector according to the first embodiment is zero. When the error of the magnetic pole position detected by the magnetic pole position detector 14 is zero, the rotating electric machine 12 is operated with a voltage phase δ=90 degrees, and the phase current of the three-phase AC supplied to the rotating electric machine 12 is zero, a back electromotive force represented by vector E shown in FIG. 2 is generated. In such a case, the d-axis and q-axis recognized by the control device 80 coincide with the d-axis and q-axis shown in FIG. 2, respectively. Therefore, in such a case, the back electromotive force is a predetermined voltage whose d-axis component is zero and whose q-axis component is not zero.

[0038] Fig. 3 is a vector diagram showing an example of a current flowing through the rotating electric machine when the error in the magnetic pole position detected by the magnetic pole position detector according to the first embodiment is zero. When the error in the magnetic pole position detected by the magnetic pole position detector 14 is zero, the rotating electric machine 12 is operated with a voltage phase δ = 90 degrees, and the phase current of the three-phase AC supplied to the rotating electric machine 12 becomes zero, a current represented by vector i shown in Fig. 3 is generated. This current generates a magnetic field in the same direction as the magnetic field generated by the rotor located on the d-axis or in the opposite direction to that direction.

[0039] 4 is a vector diagram showing an example of a back electromotive force generated when the error in the magnetic pole position detected by the magnetic pole position detector according to the first embodiment is not zero. When the error in the magnetic pole position detected by the magnetic pole position detector 14 is not zero, the rotating electric machine 12 is operated with a voltage phase δ=90 degrees, and the phase current of the three-phase AC supplied to the rotating electric machine 12 becomes zero, a back electromotive force represented by vector E shown in FIG. 4 is generated. In such a case, the d-axis and q-axis recognized by the control device 80 are the d'-axis and q'-axis shown in FIG. 4, respectively. The d'-axis corresponds to the magnetic pole position error θ detected by the magnetic pole position detector 14. ofs The q' axis is the axis obtained by rotating the d axis counterclockwise by θ ofs The d'-axis is rotated counterclockwise from the q'-axis by 1. In this case, the back electromotive force is a certain voltage with neither the d'-axis component nor the q'-axis component being zero.

[0040] Fig. 5 is a vector diagram showing an example of a current flowing through a rotating electric machine when the error in the magnetic pole position detected by the magnetic pole position detector according to the first embodiment is not zero. When the error in the magnetic pole position detected by the magnetic pole position detector 14 is zero, the rotating electric machine 12 is operated with a voltage phase δ=90 degrees, and the phase current of the three-phase AC supplied to the rotating electric machine 12 becomes zero, a current represented by vector i shown in Fig. 5 is generated. This current generates a magnetic field that also has a component in the q-axis direction.

[0041] Fig. 6 is a diagram showing an example of the relationship between the phase of the voltage applied to the rotating electric machine according to the first embodiment and the current flowing through the rotating electric machine. In Fig. 6, the horizontal axis represents the voltage phase, and the vertical axis represents the current. Fig. 6 also shows the d-axis direction component i of the current flowing through the rotating electric machine 12 when the error in the magnetic pole position detected by the magnetic pole position detector 14 is zero. d and the component i in the direction of the q axis q This shows that.

[0042] As shown in FIG. 6, when the voltage phase δ=90 degrees and the error in the magnetic pole position detected by the magnetic pole position detector 14 is zero, the component i qOn the other hand, if the error in the magnetic pole position detected by the magnetic pole position detector 14 is not zero, the voltage phase δ is shifted from 90 degrees, so that the component i q will be a non-zero current.

[0043] In other words, based on the contents described with reference to FIGS. 2 to 6, when the error in the magnetic pole position detected by the magnetic pole position detector 14 is zero, the component i q becomes zero and the error in the magnetic pole position detected by the magnetic pole position detector 14 is not zero, the component i q It can be seen that the current is non-zero.

[0044] 1 , the engine 20 supplies power to the vehicle 1. The power generated by the engine 20 is transmitted to an axle 64 via a transmission 62. Alternatively, the power generated by the engine 20 is transmitted to the generator 16.

[0045] Next, the configuration of the first PDU and its periphery according to the first embodiment will be described with reference to Fig. 7. Fig. 7 is a diagram showing an example of the first PDU and the periphery configuration of the first PDU according to the first embodiment. As shown in Fig. 7, the first PDU 30 includes a first voltage sensor 32, a booster 34, a second voltage sensor 36, an inverter 38, and a current sensor 39.

[0046] The first voltage sensor 32 is connected between the battery 50 and the booster 34, and measures the voltage of the DC power input to the booster 34. The booster 34 amplifies the voltage and supplies it to the inverter 38. The second voltage sensor 36 measures the DC voltage amplified by the booster 34. The inverter 38 converts the DC power supplied from the booster 34 into AC power and supplies it to the rotating electric machine 12. The current sensor 39 detects each of the U-phase, V-phase, and W-phase currents supplied to the rotating electric machine 12.

[0047] Next, a control method for the inverter according to the first embodiment will be described with reference to Fig. 8 to Fig. 10. Examples of the control method for the inverter 38 include pulse width modulation control and one-pulse control. Examples of the pulse width modulation control include sinusoidal pulse width modulation control and overmodulation pulse width modulation control. The sinusoidal pulse width modulation control, the overmodulation pulse width modulation control, and the one-pulse control are all controls for switching between a conductive state and a non-conductive state of a switching element included in the inverter 38.

[0048] 8 is a diagram showing an example of a waveform of a voltage output by the inverter according to the first embodiment when sine wave pulse width modulation control is executed, in which the vertical axis represents voltage and the horizontal axis represents time.

[0049] The sinusoidal pulse width modulation control is a control method for supplying the rotating electric machine 12 with an AC voltage equivalent to the AC voltage represented by the sine wave W1 shown in FIG. 8 by adjusting the duty ratio of a voltage pulse. The sinusoidal pulse width modulation control controls the amplitude and phase of the AC voltage by feedback control of the AC current supplied to the rotating electric machine 12. The sinusoidal pulse width modulation control maintains the linearity between the voltage and the pulse width modulation control signal by performing pulse width modulation with the amplitude of the AC voltage represented by the sine wave W1 set to a state equal to or less than the amplitude of the voltage applied between the lines of the rotating electric machine 12. The sinusoidal pulse width modulation control maintains the linearity, and therefore, the number of times that the switching element of the inverter 38 is switched between a conductive state and a non-conductive state is performed is greater than that of the overmodulation pulse width modulation control and the one-pulse control.

[0050] 9 is a diagram showing an example of a waveform of a voltage output by the inverter according to the first embodiment when overmodulation pulse width modulation control is executed, in which the vertical axis represents voltage and the horizontal axis represents time.

[0051] The overmodulation pulse width modulation control controls the amplitude and phase of the AC voltage by feedback control of the AC current supplied to the rotating electric machine 12. Moreover, the overmodulation pulse width modulation control allows for nonlinearity between the voltage and the pulse width modulation signal by performing pulse width modulation in a state in which the amplitude of the AC voltage represented by the sine wave W2 shown in Fig. 9 is larger than the amplitude of the voltage applied between the lines of the rotating electric machine 12. As a result, the overmodulation pulse width modulation control distorts the line voltage of the rotating electric machine 12, which is a pseudo sine wave, so as to approach a square wave, making it possible to increase the voltage utilization rate compared to when the line voltage is a pseudo sine wave.

[0052] As shown in Figure 9, at time t 1 From time t 2 and time t 3 From time t 4 In the nonlinear period, the absolute value of the voltage represented by the sine wave W2 is greater than the absolute value of the voltage actually applied. In other words, in these two nonlinear periods, the line voltage of the rotating electric machine 12 approaches a rectangular wave from a sine wave, and the voltage utilization rate increases. In addition, the overmodulation pulse width modulation control does not maintain the linearity between the voltage and the pulse width modulation control signal, so the number of times switching is executed is less than that in the sinusoidal pulse width modulation control.

[0053] Fig. 10 is a diagram showing an example of a waveform of a voltage output by the inverter according to the first embodiment when one-pulse control is executed, in which the vertical axis represents voltage and the horizontal axis represents time.

[0054] In the one-pulse control, switching is performed twice per period. For example, as shown in FIG. 10, at a time t 1 From time t 3 During the period, at time t 1 and time t 2Switching is performed at two points in time. As a result, the single-pulse control controls the amplitude and phase of the AC voltage by feedback control of the AC voltage supplied to the rotating electric machine 12. Also, comparing Fig. 9 with Fig. 10, it can be seen that the single-pulse control makes it possible to increase the voltage utilization rate even more than the overmodulation pulse width modulation control. Furthermore, the single-pulse control executes switching less times than the overmodulation pulse width modulation control.

[0055] Next, the control device according to the first embodiment will be described with reference to Fig. 11. Fig. 11 is a diagram showing an example of the software configuration of the control device according to the first embodiment. As shown in Fig. 11, the control device 80 includes a voltage control unit 83, a data acquisition unit 81, and a magnetic pole position correction unit 82.

[0056] At least some of the functions of the control device 80 are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a control program realized as software. At least some of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware.

[0057] The data acquisition unit 81 acquires angular velocity data and required torque data at least once. The angular velocity data is data indicating the angular velocity of the rotor, and is generated by measuring the angular velocity of the rotor by the magnetic pole position detector 14. The required torque data is data indicating the torque required of the rotating electric machine 12, and is generated by, for example, the control device 80.

[0058] The magnetic pole position correction unit 82 judges whether the state in which the angular velocity indicated by the angular velocity data falls within a predetermined range continues for a predetermined period or more. In addition, it is preferable that the magnetic pole position correction unit 82 obtains the angular velocity data multiple times and performs the judgment based on the multiple angular velocity data.

[0059] The magnetic pole position correction unit 82 judges whether the torque indicated by the torque data can be regarded as zero. In addition, it is preferable that the magnetic pole position correction unit 82 obtains the torque data multiple times and performs the judgment based on the multiple torque data.

[0060] FIG. 12 is a diagram showing an example of the change over time in the angular velocity of the rotor in the first embodiment, the period during which the angular velocity of the rotor is equal to or greater than a predetermined angular velocity, the period during which the angular velocity of the rotor is within a predetermined range of angular velocities, the change over time in the torque required of the rotating motor, and the period during which processing is performed to correct the magnetic pole position detected by the magnetic pole position detector.

[0061] In FIG. 12(a), the horizontal axis indicates time, and the vertical axis indicates the change over time in the angular velocity ω of the rotor. In FIG. 12(b), the horizontal axis indicates time, and the vertical axis indicates the relationship between the angular velocity ω of the rotor and a predetermined angular velocity. In FIG. 12(c), the horizontal axis indicates time, and the vertical axis indicates the relationship between the angular velocity ω of the rotor and a predetermined angular velocity range. In FIG. 12(d), the horizontal axis indicates time, and the vertical axis indicates the torque required of the rotating electric machine 12. In FIG. 12(e), the horizontal axis indicates time, and indicates the on / off of the process for correcting the magnetic pole position detected by the magnetic pole position detector. The horizontal axis in FIG. 12(a) to FIG. 12(e) indicates a common time.

[0062] For example, as shown in FIG. 12(a), the angular velocity ω of the rotor becomes equal to or greater than a predetermined angular velocity at time t10, and falls within a predetermined range Δω after time t20. FIG. 12(b) shows that the signal is switched from low to high at time t10, thereby indicating that the angular velocity ω of the rotor becomes equal to or greater than the predetermined angular velocity. FIG. 12(c) shows that the signal is switched from low to high at time t30, thereby indicating that the angular velocity ω of the rotor falls within the predetermined range Δω. For example, at time t30, a predetermined period of time after time t20, the magnetic pole position correction unit 82 determines that the state in which the angular velocity indicated by the angular velocity data falls within the predetermined range has continued for more than the predetermined period of time.

[0063] 12(d) shows that the torque required of the rotating electric machine 12 starts to increase slightly before time t10, becomes constant slightly after time t10, starts to decrease slightly before time t20, and becomes a torque that can be considered to be zero at time t20. This is because the rotating electric machine 12 that received the torque request drives the engine 20 as a motor, and after time t20 when the start-up of the engine 20 is completed, the rotating electric machine 12 is rotated by the engine 20 in an idling state, so that the torque request to the rotating electric machine 12 can be considered to be zero. At time t30 when a predetermined period has elapsed from time t20, the magnetic pole position correction unit 82 determines that the torque indicated by the torque data can be considered to be zero.

[0064] 12(e) shows that a process for correcting the magnetic pole position detected by the magnetic pole position detector 14 is executed between time t30 and time t40 when the rotor angular velocity ω is equal to or greater than a predetermined angular velocity, the rotor angular velocity ω is within a predetermined Δω, and the torque required for the rotating electric machine 12 can be considered to be zero. Details of this process will be described later.

[0065] The voltage control unit 83 executes a process of controlling the d-axis direction component and the q-axis direction component of the voltage applied to the rotating electric machine 12. For example, the voltage control unit 83 executes a process of controlling the inverter 38 so that the d-axis direction component of the voltage applied to the rotating electric machine 12 becomes zero. In addition, the voltage control unit 83 preferably executes the process when the rotor is rotating due to an external force applied from outside the rotating electric machine 12. Examples of the time when the rotor is rotating due to an external force applied from outside the rotating electric machine 12 include, for example, when the engine 20 is in an idling state without generating torque in the rotating electric machine 12, when the rotor is rotated by the engine 20 connected to the rotating electric machine 12, and when the vehicle 1 is descending a downhill slope only by gravity and the rotor is rotated by the drive wheels 60A and 60B.

[0066] The data acquisition unit 81 determines whether a predetermined time has elapsed since the completion of the process of controlling the inverter 38 so that the d-axis direction component of the voltage applied to the rotating electric machine 12 becomes zero. This process is executed to wait until the state of the rotating electric machine 12 generated by the process becomes stable.

[0067] Then, when the d-axis direction component of the voltage applied to the rotating electric machine 12 is equal to or lower than a predetermined voltage, the data acquiring unit 81 acquires q-axis current data indicating the q-axis direction component of the current flowing through the rotating electric machine 12. Also, when the d-axis direction component of the voltage applied to the rotating electric machine 12 is equal to or lower than a predetermined voltage, the data acquiring unit 81 acquires d-axis current data indicating the d-axis direction component of the current flowing through the rotating electric machine 12.

[0068] Furthermore, the data acquisition unit 81 acquires angular velocity data indicating the angular velocity of the rotor, d-axis inductance data indicating the d-axis component of the inductance of the rotating motor 12, q-axis inductance data indicating the q-axis component of the inductance of the rotating motor 12, and voltage radius data indicating the voltage radius of the rotating motor 12.

[0069] The magnetic pole position correction unit 82 determines the correction amount of the magnetic pole position detected by the magnetic pole position detector 14, which satisfies the condition that the current indicated by the q-axis current data is equal to or less than a predetermined current, based on the q-axis current data and the d-axis current data. For example, the magnetic pole position correction unit 82 determines the correction amount using the following formula (3). Formula (3) expresses the correction amount θ of the magnetic pole position detected by the magnetic pole position detector 14. ofs , the rotor angular velocity ω, and the component L of the inductance of the rotating electric machine 12 in the d-axis direction. d , the component L of the inductance of the rotating electric machine 12 in the q-axis direction q , current i shown by d-axis current data d ´, current i shown by q-axis current data q ' and voltage radius v. These physical quantities are also shown in FIG. 4. Equation (3) is an equation derived from the geometrical relationship shown in FIG.

[0070]

number

[0071] Based on the above-mentioned correction amount, the magnetic pole position correction unit 82 corrects the magnetic pole position detected by the magnetic pole position detector 14. For example, the magnetic pole position correction unit 82 corrects the magnetic pole position detected by the magnetic pole position detector 14 based on the amount determined using equation (3).

[0072] Next, a process executed by the control device 80 according to the first embodiment will be described with reference to Fig. 13 and Fig. 14. Fig. 13 and Fig. 14 are flowcharts showing an example of a process executed by the control device according to the first embodiment. Note that the flowchart shown in Fig. 13 and the flowchart shown in Fig. 14 are connected by connectors A and B.

[0073] In step S101, the control device 80 determines whether or not the correction amount of the magnetic pole position detected by the magnetic pole position detector 14 has been recorded. If the control device 80 determines that the correction amount of the magnetic pole position detected by the magnetic pole position detector 14 has not been recorded (step S101: NO), the control device 80 proceeds to step S102. On the other hand, if the control device 80 determines that the correction amount of the magnetic pole position detected by the magnetic pole position detector 14 has been recorded (step S101: YES), the control device 80 ends the process.

[0074] In step S102, the data acquisition unit 81 acquires angular velocity data indicating the angular velocity of the rotor.

[0075] In step S103 , the data acquisition unit 81 acquires required torque data indicating the torque required of the rotating electric machine 12 .

[0076] In step S104, the magnetic pole position correction unit 82 determines whether the state in which the angular velocity indicated by the angular velocity data falls within a predetermined range continues for a predetermined period or more. If the magnetic pole position correction unit 82 determines that the state in which the angular velocity indicated by the angular velocity data falls within a predetermined range continues for a predetermined period or more (step S104: YES), the magnetic pole position correction unit 82 proceeds to step S105. On the other hand, if the magnetic pole position correction unit 82 determines that the state in which the angular velocity indicated by the angular velocity data falls within a predetermined range does not continue for a predetermined period or more (step S104: NO), the magnetic pole position correction unit 82 ends the process.

[0077] In step S105, the magnetic pole position correction unit 82 determines whether the torque indicated by the torque data can be regarded as zero. If the magnetic pole position correction unit 82 determines that the torque indicated by the torque data can be regarded as zero (step S105: YES), the process proceeds to step S106. On the other hand, if the magnetic pole position correction unit 82 determines that the torque indicated by the torque data cannot be regarded as zero (step S105: NO), the process ends.

[0078] In step S106, voltage control unit 83 controls inverter 38 so that the d-axis component of the voltage applied to rotating electric machine 12 at voltage phase δ=90 degrees is equal to or lower than a predetermined voltage and the q-axis component is at a predetermined value.

[0079] In step S107, the data acquisition unit 81 determines whether or not a predetermined time has passed since the process of step S106 is completed. If the data acquisition unit 81 determines that the predetermined time has passed since the process of step S106 is completed (step S107: YES), the process proceeds to step S108. On the other hand, if the data acquisition unit 81 determines that the predetermined time has not passed since the process of step S106 is completed (step S107: NO), the data acquisition unit 81 waits until it determines that the predetermined time has passed since the process of step S106 is completed.

[0080] In step S108, the data acquisition unit 81 acquires the q-axis current data and the d-axis current data.

[0081] In step S109, the magnetic pole position correction unit 82 determines the amount of correction for the magnetic pole position detected by the magnetic pole position detector 14, which satisfies the condition that the current indicated by the q-axis current data is equal to or less than a predetermined current, based on the q-axis current data and the d-axis current data.

[0082] In step S110, the magnetic pole position correction unit 82 corrects the magnetic pole position detected by the magnetic pole position detector 14 based on the correction amount determined in step S109.

[0083] In step S111, the controller 80 records the correction amount determined in step S109.

[0084] The control device 80 according to the first embodiment has been described above. The control device 80 includes a data acquisition unit 81, a magnetic pole position correction unit 82, and a voltage control unit 83. The voltage control unit 83 controls the inverter 38 so that the d-axis component of the voltage applied to the rotating electric machine 12 is equal to or lower than a predetermined voltage. When the d-axis component of the voltage applied to the rotating electric machine 12 is equal to or lower than a predetermined voltage, the data acquisition unit 81 acquires q-axis current data indicating the q-axis component of the current flowing through the rotating electric machine 12 and d-axis current data indicating the d-axis component of the current flowing through the rotating electric machine 12. The magnetic pole position correction unit 82 determines the correction amount of the magnetic pole position detected by the magnetic pole position detector 14 that satisfies the condition that the current indicated by the q-axis current data is equal to or lower than the predetermined current, based on the q-axis current data and the q-axis current data, and corrects the magnetic pole position detected by the magnetic pole position detector 14 based on the correction amount.

[0085] This allows the control device 80 to determine the correction amount of the magnetic pole position detected by the magnetic pole position detector 14 without executing control to make the current flowing in the q-axis direction zero. Therefore, the control device 80 can correct the magnetic pole position detected by the magnetic pole position detector 14 even when the rotation speed of the rotating electric machine 12 is relatively high.

[0086] Furthermore, the control device 80 obtains angular velocity data indicating the angular velocity of the rotor multiple times. Then, the control device 80 determines whether the state in which the angular velocity of the rotor falls within a predetermined range continues for a predetermined period or more based on the multiple angular velocity data, and determines a correction amount when it determines that the state in which the angular velocity of the rotor falls within the predetermined range continues for a predetermined period or more.

[0087] Thereby, the control device 80 determines the correction amount of the magnetic pole position detected by the magnetic pole position detector 14 in a state where the angular velocity of the rotor is stable to a certain extent or more. Therefore, the control device 80 determines the correction amount in a state where the angular velocity of the rotor required for determining the correction amount of the magnetic pole position detected by the magnetic pole position detector 14, the temperature of the rotating electric machine 12, etc. are stable, and therefore it is possible to determine a more suitable correction amount.

[0088] Furthermore, the control device 80 analytically determines the correction amount using the above-mentioned formula (3) based on the d-axis direction component of the current flowing through the rotating electric machine 12 in addition to the q-axis direction component of the current flowing through the rotating electric machine 12. Therefore, the control device 80 can more accurately determine the correction amount of the magnetic pole position detected by the magnetic pole position detector 14.

[0089] Second Embodiment A control device according to the second embodiment will be described with reference to Fig. 15. In the second embodiment, descriptions of contents that overlap with the first embodiment will be omitted as appropriate, and the same reference numerals as in the first embodiment will be used.

[0090] When the data acquisition unit 81 determines that the angular velocity indicated by the angular velocity data has remained within a predetermined range for a predetermined period of time or more, and that the torque indicated by the torque data can be considered to be zero, the magnetic pole position correction unit 82 arbitrarily determines a provisional correction amount α of the magnetic pole position detected by the magnetic pole position detector 14. Next, the voltage control unit 83 controls the inverter 38 so that the component of the voltage applied to the rotating electric machine 12 in the d-axis direction becomes equal to or less than a predetermined voltage. For example, the voltage control unit 83 executes a process of controlling the inverter 38 so that the component of the voltage applied to the rotating electric machine 12 in the d-axis direction becomes zero.

[0091] The data acquiring unit 81 determines whether a predetermined time has elapsed since the completion of the process of controlling the inverter 38 so that the d-axis direction component of the voltage applied to the rotating electric machine 12 becomes zero. Then, when the d-axis direction component of the voltage applied to the rotating electric machine 12 becomes equal to or lower than a predetermined voltage, the data acquiring unit 81 acquires q-axis current data indicating the q-axis direction component of the current flowing through the rotating electric machine 12.

[0092] The magnetic pole position correction unit 82 determines whether the current indicated by the q-axis current data is equal to or less than a predetermined current each time the data acquisition unit 81 acquires q-axis current data. For example, the magnetic pole position correction unit 82 determines whether the current indicated by the q-axis current data is zero each time the data acquisition unit 81 acquires q-axis current data.

[0093] When the magnetic pole position correction unit 82 determines that the current indicated by the q-axis current data is equal to or less than a predetermined current, it determines that the correction amount is the provisional correction amount α of the magnetic pole position detected by the magnetic pole position detector 14. For example, when the magnetic pole position correction unit 82 determines that the current indicated by the q-axis current data is zero, it determines that the provisional correction amount α of the magnetic pole position detected by the magnetic pole position detector 14 is the correction amount.

[0094] On the other hand, when the magnetic pole position correction unit 82 determines that the current indicated by the q-axis current data is not equal to or less than the predetermined current, it re-determines the provisional correction amount α of the magnetic pole position detected by the magnetic pole position detector 14. For example, when the magnetic pole position correction unit 82 determines that the current indicated by the q-axis current data is not zero, it re-determines the provisional correction amount α of the magnetic pole position detected by the magnetic pole position detector 14.

[0095] 15 is a diagram for explaining an example of a process executed by the control device according to the second embodiment to re-determine the provisional correction amount of the magnetic pole position detected by the magnetic pole position detector. First, the magnetic pole position correction unit 82 calculates the current i q Next, the magnetic pole position correction unit 82 measures the current i q ´ target value and current i q The phase of the voltage applied to the rotating electric machine 12 is controlled so that the deviation from the measured value of the current i′ becomes zero. q The phase when ´ is zero and the measured current i q The minute value Δα, which is the difference between the phase of the current i and the phase of the current i , is added to the provisional correction amount α determined arbitrarily to obtain a provisional correction amount α+Δα. The magnetic pole position is corrected based on the provisional correction amount α+Δα, and the current iq The magnetic pole position correction unit 82 repeats the process of measuring the current i q The provisional correction amount α+Δα when ´=0A is determined as the final correction amount.

[0096] Then, the magnetic pole position correction unit 82 corrects the magnetic pole position detected by the magnetic pole position detector 14 based on the finally determined correction amount.

[0097] Next, a process executed by the control device 80 according to the second embodiment will be described with reference to Fig. 16 and Fig. 17. Fig. 16 and Fig. 17 are flowcharts showing an example of a process executed by the control device according to the second embodiment. Note that the flowchart shown in Fig. 16 and the flowchart shown in Fig. 17 are connected by connectors C and D.

[0098] In step S201, the control device 80 determines whether or not the correction amount of the magnetic pole position detected by the magnetic pole position detector 14 has been recorded. If the control device 80 determines that the correction amount of the magnetic pole position detected by the magnetic pole position detector 14 has not been recorded (step S201: NO), the control device 80 proceeds to step S202. On the other hand, if the control device 80 determines that the correction amount of the magnetic pole position detected by the magnetic pole position detector 14 has been recorded (step S201: YES), the control device 80 ends the process.

[0099] In step S202, the data acquisition unit 81 acquires angular velocity data indicating the angular velocity of the rotor.

[0100] In step S203, the data acquisition unit 81 acquires required torque data indicating the torque required for the rotating electric machine 12.

[0101] In step S204, the magnetic pole position correction unit 82 determines whether the state in which the angular velocity indicated by the angular velocity data is within a predetermined range continues for a predetermined period or more. If the magnetic pole position correction unit 82 determines that the state in which the angular velocity indicated by the angular velocity data is within a predetermined range continues for a predetermined period or more (step S204: YES), the magnetic pole position correction unit 82 proceeds to step S205. On the other hand, if the magnetic pole position correction unit 82 determines that the state in which the angular velocity indicated by the angular velocity data is within a predetermined range has not continued for a predetermined period or more (step S204: NO), the magnetic pole position correction unit 82 ends the process.

[0102] In step S205, the magnetic pole position correction unit 82 determines whether the torque indicated by the torque data can be regarded as zero. If the magnetic pole position correction unit 82 determines that the torque indicated by the torque data can be regarded as zero (step S205: YES), the process proceeds to step S206. On the other hand, if the magnetic pole position correction unit 82 determines that the torque indicated by the torque data cannot be regarded as zero (step S205: NO), the process ends.

[0103] In step S206, the magnetic pole position correction unit 82 arbitrarily determines a provisional correction amount α of the magnetic pole position detected by the magnetic pole position detector 14. The provisional correction amount α in this case may be zero, for example.

[0104] In step S207, voltage control unit 83 controls inverter 38 so that the d-axis component of the voltage applied to rotating electric machine 12 at voltage phase δ=90 degrees is equal to or lower than a predetermined voltage and the d-axis component is a predetermined value.

[0105] In step S208, the data acquisition unit 81 determines whether or not a predetermined time has passed since the process of step S207 is completed. If the data acquisition unit 81 determines that the predetermined time has passed since the process of step S207 is completed (step S208: YES), the process proceeds to step S209. On the other hand, if the data acquisition unit 81 determines that the predetermined time has not passed since the process of step S207 is completed (step S208: NO), the data acquisition unit 81 waits until it determines that the predetermined time has passed since the process of step S207 is completed.

[0106] In step S209, the data acquisition unit 81 acquires the q-axis current data.

[0107] In step S210, the magnetic pole position correction unit 82 judges whether the current indicated by the q-axis current data is equal to or less than a predetermined current. If the magnetic pole position correction unit 82 judges that the current indicated by the q-axis current data is equal to or less than the predetermined current (step S210: YES), the magnetic pole position correction unit 82 proceeds to step S211. On the other hand, if the magnetic pole position correction unit 82 judges that the current indicated by the q-axis current data is not equal to or less than the predetermined current (step S210: NO), the magnetic pole position correction unit 82 proceeds to step S212.

[0108] In step S211, the magnetic pole position correction unit 82 determines the provisional correction amount determined in step S206 as the correction amount.

[0109] In step S212, the magnetic pole position correction unit 82 calculates the current i q The phase when ´ is zero and the measured current i q The micro value Δα, which is the difference in phase between the phase of the current signal and the phase of the current signal, is calculated, and the value α+Δα obtained by adding the calculated micro value Δα to the provisional correction amount α determined in step S206 is determined as a new provisional correction amount, and the process returns to step S207.

[0110] In step S213, the magnetic pole position correction unit 82 corrects the magnetic pole position based on the correction amount determined in step S212.

[0111] In step S214, the controller 80 records the amount of correction determined in step S214.

[0112] The control device 80 according to the second embodiment has been described above. The control device 80 includes a data acquisition unit 81 and a magnetic pole position correction unit 82. The data acquisition unit 81 acquires q-axis current data at least once. The magnetic pole position correction unit 82 arbitrarily determines a provisional correction amount α of the magnetic pole position detected by the magnetic pole position detector 14, and determines whether the current indicated by the q-axis current data is equal to or less than a predetermined current each time the data acquisition unit 81 acquires q-axis current data. Then, when the magnetic pole position correction unit 82 determines that the current indicated by the q-axis current data is equal to or less than the predetermined current, it determines the provisional correction amount α as the correction amount. On the other hand, when the magnetic pole position correction unit 82 determines that the current indicated by the q-axis current data exceeds the predetermined current, it re-determines the provisional correction amount α.

[0113] This allows the control device 80 to determine a correction amount with even higher accuracy in accordance with the state of the rotating electrical machine 12, such as the temperature, which is determined by the environment in which the rotating electrical machine 12 is used.

[0114] <Third embodiment>

[0115] A control device according to the third embodiment will be described with reference to Fig. 18. The control device 80 according to the third embodiment differs from the control device 80 according to the second embodiment in that the control device 80 executes a process of correcting the provisional correction amount determined by the same method as the control device 80 according to the second embodiment, based on the current indicated by the d-axis current data and the electrical resistance of the stator winding. Therefore, in the third embodiment, the description of the contents that overlap with at least one of the first and second embodiments will be omitted as appropriate, and the same reference numerals as in the first and second embodiments will be used.

[0116] When the data acquisition unit 81 determines that the angular velocity indicated by the angular velocity data has remained within a predetermined range for a predetermined period of time or more, and that the torque indicated by the torque data can be considered to be zero, the magnetic pole position correction unit 82 arbitrarily determines a provisional correction amount α of the magnetic pole position detected by the magnetic pole position detector 14. Next, the voltage control unit 83 controls the inverter 38 so that the component of the voltage applied to the rotating electric machine 12 in the d-axis direction becomes equal to or less than a predetermined voltage.

[0117] The data acquiring unit 81 determines whether a predetermined time has elapsed since the completion of the process of controlling the inverter 38 so that the d-axis direction component of the voltage applied to the rotating electric machine 12 becomes zero. Then, when the d-axis direction component of the voltage applied to the rotating electric machine 12 becomes equal to or lower than a predetermined voltage, the data acquiring unit 81 acquires q-axis current data indicating the q-axis direction component of the current flowing through the rotating electric machine 12.

[0118] Each time the data acquisition unit 81 acquires q-axis current data, the magnetic pole position correction unit 82 determines whether the current indicated by the q-axis current data is equal to or less than a predetermined current. If the magnetic pole position correction unit 82 determines that the current indicated by the q-axis current data is equal to or less than the predetermined current, the magnetic pole position correction unit 82 determines the provisional correction amount α of the magnetic pole position detected by the magnetic pole position detector 14 as the correction amount. On the other hand, if the magnetic pole position correction unit 82 determines that the current indicated by the q-axis current data is not equal to or less than the predetermined current, the magnetic pole position correction unit 82 re-determines the provisional correction amount α of the magnetic pole position detected by the magnetic pole position detector 14.

[0119] When it is determined that the current indicated by the q-axis current data is equal to or less than a predetermined current and the provisional correction amount α of the magnetic pole position detected by the magnetic pole position detector 14 is finally determined, the data acquisition unit 81 acquires d-axis current data indicating the component of the current flowing through the rotating motor 12 in the d-axis direction.

[0120] The magnetic pole position correction unit 82 corrects the provisional correction amount α finally determined based on the current indicated by the d-axis current data and the electrical resistance of the winding. Fig. 18 is a vector diagram for explaining an example of a process executed by the control device according to the third embodiment to correct the provisional correction amount of the magnetic pole position detected by the magnetic pole position detector. Fig. 18 shows the current i indicated by the d-axis current data. d 13 shows the contribution of the product of the resistance of the winding and the magnetic pole position detector 14 to the error in the magnetic pole position detected by the magnetic pole position detector 14.

[0121] When the error in the magnetic pole position detected by the magnetic pole position detector 14 is zero, the rotating electric machine 12 is operated with a voltage phase δ=90 degrees, and the phase current of the three-phase AC supplied to the rotating electric machine 12 is zero, a back electromotive force represented by the vector ωKe shown in FIG. 18 is generated. In such a case, the d-axis and q-axis recognized by the control device 80 are the d'-axis and q'-axis shown in FIG. 18, respectively. The d'-axis corresponds to the contribution Δθ of the above product to the error in the magnetic pole position detected by the magnetic pole position detector 14. ofs The q' axis is an axis obtained by rotating the d axis counterclockwise by Δθ ofs It is an axis obtained by rotating the q axis counterclockwise by

[0122] The following formula (4) is derived from the geometrical relationship shown in Fig. 4. Formula (4) expresses the contribution Δθ of the product of the current indicated by the d-axis current data and the electrical resistance of the winding to the error of the magnetic pole position detected by the magnetic pole position detector 14. ofs , the electrical resistance r of the stator winding, and the current i shown by the d-axis current data d ´ and voltage radius v.

[0123]

number

[0124] The magnetic pole position correction unit 82 uses the formula (4) to calculate the contribution Δθ of the above product to the error in the magnetic pole position detected by the magnetic pole position detector 14. ofsis determined, and the contribution Δθ is added to the provisional correction amount α of the magnetic pole position detected by the magnetic pole position detector 14. ofs The provisional correction amount α+Δθ is corrected by adding ofs The magnetic pole position correction unit 82 then corrects the magnetic pole position detected by the magnetic pole position detector 14 based on the correction amount.

[0125] Next, a process executed by the control device 80 according to the third embodiment will be described with reference to Fig. 19 and Fig. 20. Fig. 19 and Fig. 20 are flowcharts showing an example of a process executed by the control device according to the third embodiment. Note that the flowchart shown in Fig. 19 and the flowchart shown in Fig. 20 are connected by connectors F and G.

[0126] In step S301, the control device 80 determines whether or not the correction amount of the magnetic pole position detected by the magnetic pole position detector 14 has been recorded. If the control device 80 determines that the correction amount of the magnetic pole position detected by the magnetic pole position detector 14 has not been recorded (step S301: NO), the control device 80 proceeds to step S302. On the other hand, if the control device 80 determines that the correction amount of the magnetic pole position detected by the magnetic pole position detector 14 has been recorded (step S301: YES), the control device 80 ends the process.

[0127] In step S302, the data acquisition unit 81 acquires angular velocity data indicating the angular velocity of the rotor.

[0128] In step S303 , the data acquisition unit 81 acquires required torque data indicating the torque required of the rotating electric machine 12 .

[0129] In step S304, the magnetic pole position correction unit 82 determines whether the state in which the angular velocity indicated by the angular velocity data is within a predetermined range continues for a predetermined period or more. If the magnetic pole position correction unit 82 determines that the state in which the angular velocity indicated by the angular velocity data is within a predetermined range continues for a predetermined period or more (step S304: YES), the magnetic pole position correction unit 82 proceeds to step S305. On the other hand, if the magnetic pole position correction unit 82 determines that the state in which the angular velocity indicated by the angular velocity data is within a predetermined range has not continued for a predetermined period or more (step S304: NO), the magnetic pole position correction unit 82 ends the process.

[0130] In step S305, the magnetic pole position correction unit 82 determines whether the torque indicated by the torque data can be regarded as zero. If the magnetic pole position correction unit 82 determines that the torque indicated by the torque data can be regarded as zero (step S305: YES), the process proceeds to step S306. On the other hand, if the magnetic pole position correction unit 82 determines that the torque indicated by the torque data cannot be regarded as zero (step S305: NO), the process ends.

[0131] In step S306, the magnetic pole position correction unit 82 arbitrarily determines the amount of provisional correction of the magnetic pole position detected by the magnetic pole position detector 14.

[0132] In step S307, voltage control unit 83 controls inverter 38 so that the d-axis component of the voltage applied to rotating machine 12 at voltage phase δ=90 degrees is equal to or lower than a predetermined voltage and the q-axis component is a predetermined value.

[0133] In step S308, the data acquisition unit 81 determines whether or not a predetermined time has passed since the process of step S307 is completed. If the data acquisition unit 81 determines that the predetermined time has passed since the process of step S307 is completed (step S308: YES), the process proceeds to step S309. On the other hand, if the data acquisition unit 81 determines that the predetermined time has not passed since the process of step S307 is completed (step S308: NO), the data acquisition unit 81 waits until it determines that the predetermined time has passed since the process of step S307 is completed.

[0134] In step S309, the data acquisition unit 81 acquires the q-axis current data.

[0135] In step S310, the magnetic pole position correction unit 82 determines whether the current indicated by the q-axis current data is equal to or less than a predetermined current. If the magnetic pole position correction unit 82 determines that the current indicated by the q-axis current data is equal to or less than the predetermined current (step S310: YES), the magnetic pole position correction unit 82 proceeds to step S311. On the other hand, if the magnetic pole position correction unit 82 determines that the current indicated by the q-axis current data is less than the predetermined current (step S310: NO), the magnetic pole position correction unit 82 proceeds to step S312.

[0136] In step S311, the magnetic pole position correction unit 82 acquires d-axis current data.

[0137] In step S312, the magnetic pole position correction unit 82 calculates the current i q The phase when ´ is zero and the measured current i q The micro value Δα, which is the difference in phase between the phase of the first correction signal and the phase of the second correction signal, is calculated, and the calculated micro value Δα is added to the provisional correction amount α determined in step S306 to determine a value α+Δα as a new provisional correction amount, and the process returns to step S307.

[0138] In step S313, the magnetic pole position correction unit 82 modifies the provisional correction amount determined in step S306 based on the current indicated by the d-axis current data and the electrical resistance of the winding.

[0139] In step S314, the magnetic pole position correction unit 82 corrects the magnetic pole position detected by the magnetic pole position detector 14 based on the correction amount modified in step S313.

[0140] In step S315, the control device 80 records the correction amount revised in step S313.

[0141] The control device 80 according to the third embodiment has been described above. The control device 80 includes a data acquisition unit 81 and a magnetic pole position correction unit 82. When it is determined that the current indicated by the q-axis current data is equal to or less than a predetermined current, the data acquisition unit 81 acquires d-axis current data indicating a component of the current flowing through the rotating electric machine 12 in the d-axis direction. The magnetic pole position correction unit 82 corrects the provisional correction amount based on the current indicated by the d-axis current data and the electrical resistance of the winding, and determines the provisional correction amount corrected based on the current indicated by the d-axis current data and the electrical resistance of the winding as the correction amount.

[0142] As a result, the control device 80 determines the electrical resistance r of the stator winding and the current i flowing in the direction of the d-axis. d By taking into consideration the influence of the magnetic pole position detector 14 on the correction amount of the magnetic pole position detected by the magnetic pole position detector 14, a more accurate correction amount can be determined.

[0143] Although the embodiment of the present invention has been described above with reference to the drawings, the control device, control program, and control method are not limited to the above-described embodiment, and various modifications, substitutions, combinations, and / or design changes can be made without departing from the spirit and scope of the present invention.

[0144] The effects of the above-described embodiments of the present invention are merely examples. Therefore, the embodiments of the present invention may have other effects that a person skilled in the art can recognize from the description of the above-described embodiments in addition to the above-described effects. [Explanation of symbols]

[0145] 80: control device, 81: data acquisition unit, 82: magnetic pole position correction unit, 83: voltage control unit

Claims

1. a voltage control unit that controls a voltage in the d-axis direction and a voltage in the q-axis direction applied to a rotating electric machine that is driven by power supplied from an inverter, the rotating electric machine being provided with a stator that uses a winding to generate a magnetic field, a d-axis that is an axis indicating a magnetic field direction of a magnet of a rotor that has a permanent magnet, and a q-axis that is an axis perpendicular to the d-axis, and a magnetic pole position detector that detects a magnetic pole position of the rotor is attached; a data acquisition unit that acquires q-axis current data indicating a component of a current flowing through the rotating electric machine in a q-axis direction when a component of a voltage applied to the rotating electric machine in a d-axis direction is equal to or smaller than a predetermined voltage; a magnetic pole position correction unit that determines, based on the q-axis current data, a correction amount for the magnetic pole position that satisfies a condition that the current indicated by the q-axis current data is equal to or less than a predetermined current, and corrects the magnetic pole position based on the correction amount; Equipped with the data acquisition unit further acquires d-axis current data indicating a component of a current flowing through the rotating electric machine in the d-axis direction when a component of a voltage applied to the rotating electric machine in the d-axis direction is equal to or lower than the predetermined voltage; and further acquiring angular velocity data indicating an angular velocity of the rotor, d-axis inductance data indicating a component of the inductance of the rotating electric machine in the d-axis direction, q-axis inductance data indicating a component of the inductance of the rotating electric machine in the q-axis direction, and voltage radius data indicating a voltage radius of the rotating electric machine; the magnetic pole position correction unit determines the correction amount based on the d-axis current data in addition to the q-axis current data, The magnetic pole position correction unit determines the correction amount by using the following formula (1) based on the angular velocity data, the d-axis inductance data, the q-axis inductance data, and the voltage radius data in addition to the q-axis current data and the d-axis current data. Control device. [0010] θ ｏｆｓ : Correction amount for magnetic pole position ω: Angular speed of the rotor L ｄ : d-axis component of the inductance of the rotating electric machine L ｑ : q-axis component of the rotating machine inductance i ｄ ´: Current indicated by d-axis current data i ｑ ´: Current indicated by q-axis current data v: voltage radius

2. a voltage control unit that controls a voltage in the d-axis direction and a voltage in the q-axis direction applied to a rotating electric machine that is driven by power supplied from an inverter, the rotating electric machine being provided with a stator that uses a winding to generate a magnetic field, a d-axis that is an axis indicating a magnetic field direction of a magnet of a rotor that has a permanent magnet, and a q-axis that is an axis perpendicular to the d-axis, and a magnetic pole position detector that detects a magnetic pole position of the rotor is attached; a data acquisition unit that acquires q-axis current data indicating a component of a current flowing through the rotating electric machine in a q-axis direction when a component of a voltage applied to the rotating electric machine in a d-axis direction is equal to or smaller than a predetermined voltage; a magnetic pole position correction unit that determines, based on the q-axis current data, a correction amount for the magnetic pole position that satisfies a condition that the current indicated by the q-axis current data is equal to or less than a predetermined current, and corrects the magnetic pole position based on the correction amount; Equipped with The data acquisition unit acquires the q-axis current data at least once, the magnetic pole position correction unit arbitrarily determines a provisional correction amount for the magnetic pole position, and, each time the data acquisition unit acquires the q-axis current data, determines whether or not the current indicated by the q-axis current data is equal to or less than a predetermined current, and when it is determined that the current indicated by the q-axis current data is equal to or less than the predetermined current, determines the provisional correction amount to be the correction amount. Control device.

3. a voltage control unit that controls a voltage in the d-axis direction and a voltage in the q-axis direction applied to a rotating electric machine that is driven by power supplied from an inverter, the rotating electric machine being provided with a stator that uses a winding to generate a magnetic field, a d-axis that is an axis indicating a magnetic field direction of a magnet of a rotor that has a permanent magnet, and a q-axis that is an axis perpendicular to the d-axis, and a magnetic pole position detector that detects a magnetic pole position of the rotor is attached; a data acquisition unit that acquires q-axis current data indicating a component of a current flowing through the rotating electric machine in a q-axis direction when a component of a voltage applied to the rotating electric machine in a d-axis direction is equal to or smaller than a predetermined voltage; a magnetic pole position correction unit that determines, based on the q-axis current data, a correction amount for the magnetic pole position that satisfies a condition that the current indicated by the q-axis current data is equal to or less than a predetermined current, and corrects the magnetic pole position based on the correction amount; Equipped with The data acquisition unit acquires the q-axis current data at least once, the magnetic pole position correction unit arbitrarily determines a provisional correction amount for the magnetic pole position, and each time the data acquisition unit acquires the q-axis current data, determines whether or not the current indicated by the q-axis current data is equal to or less than a predetermined current, and when it is determined that the current indicated by the q-axis current data exceeds the predetermined current, re-determines the provisional correction amount; Control device.

4. the voltage control unit controls the inverter so that a component of a voltage in the d-axis direction applied to the rotating electric machine when the rotor is rotating due to an external force applied from outside the rotating electric machine is equal to or less than the predetermined voltage. The control device according to any one of claims 1 to 3.

5. The data acquisition unit acquires angular velocity data indicating an angular velocity of the rotor a plurality of times, the magnetic pole position correction unit determines whether a state in which the angular velocity of the rotor is within a predetermined range continues for a predetermined period or more based on a plurality of pieces of angular velocity data, and determines the correction amount when it determines that the state in which the angular velocity of the rotor is within the predetermined range continues for the predetermined period or more. A control device according to any one of claims 1 to 4.

6. when it is determined that the current indicated by the q-axis current data is equal to or less than the predetermined current, the data acquisition unit further acquires d-axis current data indicating a component of the current flowing through the rotating electric machine in the d-axis direction; the magnetic pole position correction unit corrects the provisional correction amount based on the current indicated by the d-axis current data and the electrical resistance of the winding, and determines the provisional correction amount corrected based on the current indicated by the d-axis current data and the electrical resistance of the winding as the correction amount. The control device according to claim 2.

7. The magnetic pole position correction unit corrects the provisional correction amount by using the following formula (2): The control device according to claim 6. [0025] Δθ ｏｆｓ : Contribution to the magnetic pole position error due to the product of the current indicated by the d-axis current data and the electrical resistance of the winding r: Electrical resistance of the stator winding i ｄ ´: Current indicated by d-axis current data v: voltage radius

8. a voltage control function that controls a voltage in the direction of the d-axis and a voltage in the direction of the q-axis that are applied to a rotating electric machine that is driven by power supplied from an inverter, the rotating electric machine being provided with a stator that uses windings to generate a magnetic field, a d-axis that is an axis indicating the magnetic field direction of a magnet of a rotor that has a permanent magnet, and a q-axis that is an axis perpendicular to the d-axis, and a magnetic pole position detector that detects the magnetic pole position of the rotor is attached; a data acquisition function for acquiring q-axis current data indicating a component of a current flowing through the rotating electric machine in a q-axis direction when a component of a voltage applied to the rotating electric machine in a d-axis direction is equal to or lower than a predetermined voltage; a magnetic pole position correction function that determines, based on the q-axis current data, a correction amount for the magnetic pole position that satisfies a condition that the current indicated by the q-axis current data is equal to or less than a predetermined current, and corrects the magnetic pole position based on the correction amount; This is realized on a computer. The data acquisition function further acquires d-axis current data indicating a component of a current flowing through the rotating electric machine in the d-axis direction when a component of a voltage applied to the rotating electric machine in the d-axis direction is equal to or lower than the predetermined voltage, and further acquiring angular velocity data indicating an angular velocity of the rotor, d-axis inductance data indicating a component of the inductance of the rotating electric machine in the d-axis direction, q-axis inductance data indicating a component of the inductance of the rotating electric machine in the q-axis direction, and voltage radius data indicating a voltage radius of the rotating electric machine; the magnetic pole position correction function determines the correction amount based on the d-axis current data in addition to the q-axis current data; The magnetic pole position correction function determines the correction amount using the following formula (1) based on the angular velocity data, the d-axis inductance data, the q-axis inductance data, and the voltage radius data in addition to the q-axis current data and the d-axis current data: Control program. [0010] θ ｏｆｓ : Correction amount for magnetic pole position ω: Angular speed of the rotor L ｄ : d-axis component of the inductance of the rotating electric machine L ｑ : q-axis component of the rotating machine inductance i ｄ ´: Current indicated by d-axis current data i ｑ ´: Current indicated by q-axis current data v: voltage radius

9. a voltage control function that controls a voltage in the direction of the d-axis and a voltage in the direction of the q-axis that are applied to a rotating electric machine that is driven by power supplied from an inverter, the rotating electric machine being provided with a stator that uses windings to generate a magnetic field, a d-axis that is an axis indicating the magnetic field direction of a magnet of a rotor that has a permanent magnet, and a q-axis that is an axis perpendicular to the d-axis, and a magnetic pole position detector that detects the magnetic pole position of the rotor is attached; a data acquisition function for acquiring q-axis current data indicating a component of a current flowing through the rotating electric machine in a q-axis direction when a component of a voltage applied to the rotating electric machine in a d-axis direction is equal to or lower than a predetermined voltage; a magnetic pole position correction function that determines, based on the q-axis current data, a correction amount for the magnetic pole position that satisfies a condition that the current indicated by the q-axis current data is equal to or less than a predetermined current, and corrects the magnetic pole position based on the correction amount; This is realized on a computer. The data acquisition function acquires the q-axis current data at least once; the magnetic pole position correction function arbitrarily determines a provisional correction amount for the magnetic pole position, and each time the q-axis current data is acquired by the data acquisition function, determines whether or not the current indicated by the q-axis current data is equal to or less than a predetermined current, and when it is determined that the current indicated by the q-axis current data is equal to or less than the predetermined current, determines the provisional correction amount as the correction amount; Control program.

10. a voltage control function that controls a voltage in the direction of the d-axis and a voltage in the direction of the q-axis that are applied to a rotating electric machine that is driven by power supplied from an inverter, the rotating electric machine being provided with a stator that uses windings to generate a magnetic field, a d-axis that is an axis indicating the magnetic field direction of a magnet of a rotor that has a permanent magnet, and a q-axis that is an axis perpendicular to the d-axis, and a magnetic pole position detector that detects the magnetic pole position of the rotor is attached; a data acquisition function for acquiring q-axis current data indicating a component of a current flowing through the rotating electric machine in a q-axis direction when a component of a voltage applied to the rotating electric machine in a d-axis direction is equal to or lower than a predetermined voltage; a magnetic pole position correction function that determines, based on the q-axis current data, a correction amount for the magnetic pole position that satisfies a condition that the current indicated by the q-axis current data is equal to or less than a predetermined current, and corrects the magnetic pole position based on the correction amount; This is realized on a computer. The data acquisition function acquires the q-axis current data at least once; the magnetic pole position correction function arbitrarily determines a provisional correction amount for the magnetic pole position, and each time the q-axis current data is acquired by the data acquisition function, determines whether or not the current indicated by the q-axis current data is equal to or less than a predetermined current, and if it is determined that the current indicated by the q-axis current data exceeds the predetermined current, re-determines the provisional correction amount; Control program.

11. The computer a d-axis which is an axis indicating the magnetic field direction of a magnet of a rotor having a permanent magnet, and a q-axis which is an axis perpendicular to the d-axis are defined, a magnetic pole position detector which detects the magnetic pole position of the rotor is attached, a stator which generates a magnetic field using a winding is provided, and the voltage control unit or voltage control function which controls the voltage in the d-axis direction and the voltage in the q-axis direction applied to a rotating electric machine driven by power supplied from an inverter, When a component of the voltage applied to the rotating electric machine in the d-axis direction is equal to or lower than a predetermined voltage, a data acquisition unit or a data acquisition function executes a process of acquiring q-axis current data indicating a component of the current flowing through the rotating electric machine in the q-axis direction; a correction amount for the magnetic pole position that satisfies a condition that the current indicated by the q-axis current data is equal to or less than a predetermined current, is determined based on the q-axis current data, and a process for correcting the magnetic pole position based on the correction amount is executed by a magnetic pole position correction unit or a magnetic pole position correction function; When a component of the voltage applied to the rotating electric machine in the d-axis direction is equal to or smaller than the predetermined voltage, d-axis current data indicating a component of the current flowing through the rotating electric machine in the d-axis direction is further acquired; further acquiring angular velocity data indicating an angular velocity of the rotor, d-axis inductance data indicating a component of the inductance of the rotating electric machine in the d-axis direction, q-axis inductance data indicating a component of the inductance of the rotating electric machine in the q-axis direction, and voltage radius data indicating a voltage radius of the rotating electric machine; determining the correction amount based on the d-axis current data in addition to the q-axis current data; The correction amount is determined based on the q-axis current data and the d-axis current data, as well as the angular velocity data, the d-axis inductance data, the q-axis inductance data, and the voltage radius data, using the following formula (1). Control program. [0010] θ ｏｆｓ : Correction amount for magnetic pole position ω: Angular speed of the rotor L ｄ : d-axis component of the inductance of the rotating electric machine L ｑ : q-axis component of the rotating machine inductance i ｄ ´: Current indicated by d-axis current data i ｑ ´: Current indicated by q-axis current data v: voltage radius Control methods.

12. The computer a d-axis which is an axis indicating the magnetic field direction of a magnet of a rotor having a permanent magnet, and a q-axis which is an axis perpendicular to the d-axis are defined, a magnetic pole position detector which detects the magnetic pole position of the rotor is attached, a stator which generates a magnetic field using a winding is provided, and the voltage control unit or voltage control function which controls the voltage in the d-axis direction and the voltage in the q-axis direction applied to a rotating electric machine driven by power supplied from an inverter, When a component of the voltage applied to the rotating electric machine in the d-axis direction is equal to or lower than a predetermined voltage, a data acquisition unit or a data acquisition function executes a process of acquiring q-axis current data indicating a component of the current flowing through the rotating electric machine in the q-axis direction; a correction amount for the magnetic pole position that satisfies a condition that the current indicated by the q-axis current data is equal to or less than a predetermined current, is determined based on the q-axis current data, and a process for correcting the magnetic pole position based on the correction amount is executed by a magnetic pole position correction unit or a magnetic pole position correction function; The q-axis current data is acquired at least once; a provisional correction amount for the magnetic pole position is arbitrarily determined, and each time the q-axis current data is acquired, it is determined whether or not the current indicated by the q-axis current data is equal to or less than a predetermined current, and when it is determined that the current indicated by the q-axis current data is equal to or less than the predetermined current, the provisional correction amount is determined to be the correction amount; Control methods.

13. The computer a d-axis which is an axis indicating the magnetic field direction of a magnet of a rotor having a permanent magnet, and a q-axis which is an axis perpendicular to the d-axis are defined, a magnetic pole position detector which detects the magnetic pole position of the rotor is attached, a stator which generates a magnetic field using a winding is provided, and the voltage control unit or voltage control function which controls the voltage in the d-axis direction and the voltage in the q-axis direction applied to a rotating electric machine driven by power supplied from an inverter, When a component of the voltage applied to the rotating electric machine in the d-axis direction is equal to or lower than a predetermined voltage, a data acquisition unit or a data acquisition function executes a process of acquiring q-axis current data indicating a component of the current flowing through the rotating electric machine in the q-axis direction; a correction amount for the magnetic pole position that satisfies a condition that the current indicated by the q-axis current data is equal to or less than a predetermined current, is determined based on the q-axis current data, and a process of correcting the magnetic pole position based on the correction amount is executed by a magnetic pole position correction unit or a magnetic pole position correction function; The q-axis current data is acquired at least once; a provisional correction amount for the magnetic pole position is arbitrarily determined, and each time the q-axis current data is acquired, it is determined whether or not the current indicated by the q-axis current data is equal to or less than a predetermined current, and when it is determined that the current indicated by the q-axis current data exceeds the predetermined current, the provisional correction amount is determined again; Control methods.

Images