Electric motor control method and electric motor control device

Abstract

To provide a motor control method and a motor control device that, in a multi-winding synchronization type motor having two winding pairs, more reliably prevent the occurrence of torque ripple.SOLUTION: A motor control method includes: a generation step of generating a feedback signal according to output of a multi-winding synchronization type motor; and a calculation step of, based on request output for the motor and the feedback signal, calculating a first voltage phase command value that is a command value of a voltage phase for a first winding pair and a second voltage phase command value that is a command value of a voltage phase for a second winding pair. The calculation step includes executing, on the feedback signal, vibration removal processing of removing a vibration component of an electric angle multiplication order caused by a winding structure of a stator to generate a correction feedback signal, and based on the correction feedback signal, calculating the first voltage phase command value and the second voltage phase command value.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an electric motor control method and an electric motor control device. [Background technology]

[0002] Patent Document 1 proposes a motor control method for a motor having two three-phase winding sets on a stator, each with a different neutral point, in which the power generated in the two stator winding sets is feedback-controlled by inverters individually connected to each winding set. In particular, this motor control method performs power feedback control to achieve the desired power while neutralizing the influence of interference voltage generated by magnetic coupling between the two sets of windings that are not electrically connected.

[0003] In particular, in the motor control method of Patent Document 1, in the low rotation speed region of the motor (particularly in the rotation speed region that does not reach the rotation speed region where a sinusoidal voltage should be applied, such as the field weakening control region), at least one output of the power feedback controller for each winding group is the voltage phase of that winding group, and the other output is the difference between the voltage phases of the first and second winding groups. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-231286 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the motor control method of Patent Document 1 is based on a configuration in which an independent feedback controller is provided for each of the first and second winding groups. Therefore, if a ripple component remains in the feedback signal of each winding group, the effect of vibrations caused by the stator winding structure increases, causing the output signal of the controller for each winding group to vibrate and resulting in torque ripple.

[0006] In view of the above circumstances, an object of the present invention is to provide a motor control method and a motor control device that can more reliably suppress the occurrence of torque ripple in a multiplex winding synchronous motor having two winding sets. [Means for solving the problem]

[0007] According to one aspect of the present invention, there is provided a motor control method for controlling a multi-winding synchronous motor having two winding sets provided on a stator, the motor control method comprising: generating a first feedback signal corresponding to an output of a first winding set and a second feedback signal corresponding to an output of a second winding set; No. a first voltage phase command value which is a command value of the voltage phase for the first winding set; , and and a calculation step of calculating a second voltage phase command value which is a command value for the voltage phase for the second winding set. In particular, the calculation step includes performing a vibration removal process for removing vibration components of an electrical angle multiplication order caused by a winding structure of the stator individually on the first feedback signal and the second feedback signal, thereby generating a corrected first feedback signal and a corrected second feedback signal, respectively; A first voltage phase command value is calculated based on the required output of the electric motor and the corrected first feedback signal, and a second voltage phase command value is calculated based on the required output and the corrected second feedback signal. do. [Effects of the Invention]

[0008] According to the present invention, the occurrence of torque ripple can be more reliably suppressed in a multiplex winding synchronous motor having two winding sets. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram illustrating the configuration of an electric motor control system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a flowchart illustrating the motor control method according to the first embodiment. [Figure 3] FIG. 3 is a block diagram for explaining the motor control method according to the second embodiment. [Figure 4]FIG. 4 is a block diagram for explaining the electric motor control method according to the third embodiment. [Figure 5] FIG. 5 is a block diagram for explaining a motor control method according to a modified example of the third embodiment. [Figure 6] FIG. 6 is a block diagram for explaining the motor control method according to the fourth embodiment. [Figure 7] FIG. 7 is a block diagram for explaining a motor control method according to a modified example of the fourth embodiment. [Figure 8] FIG. 8 is a block diagram for explaining the motor control method according to the fifth embodiment. [Figure 9] FIG. 9 is a block diagram for explaining the motor control method according to the sixth embodiment. [Figure 10] FIG. 10 is a block diagram for explaining a motor control method according to a modified example of the sixth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described.

[0011] (First embodiment) Fig. 1 is a block diagram illustrating the configuration of an electric motor control system 100 for executing an electric motor control method according to this embodiment, and Fig. 2 is a flowchart illustrating an outline of the processing of the electric motor control method.

[0012] The motor control system 100 of this embodiment is a system that controls the operation of a motor 101 as a multiple-winding synchronous motor (more specifically, a three-phase double-winding permanent magnet synchronous motor) having two winding sets provided on the stator.

[0013] The motor 101 can be used as a power source for various driving force demanding devices, and in particular, the motor 101 is used as a driving source for any vehicle that runs on the driving force of an electric motor, such as an electric vehicle (EV) or a hybrid electric vehicle (HEV).

[0014] Here, a winding set in this embodiment refers to a winding set formed by combining a set of windings corresponding to each phase (for example, in the case of a three-phase AC, the U phase, V phase, and W phase).

[0015] In the following description, a unit of a set of components that controls the energization of a specific winding set among the plurality of winding sets will be referred to as a "system."

[0016] Furthermore, in the following description, in the electric motor control system 100 including the motor 101 configured as a three-phase double-winding permanent magnet synchronous motor, the two systems described above will be referred to as "system 1" and "system 2," respectively. In particular, when it is necessary to distinguish between each controlled variable (such as current) in system 1 and each controlled variable in system 2, a subscript "1" or "2" will be added to each controlled variable.

[0017] In addition, when describing each control amount in these systems 1 and 2 collectively, a subscript "n" (n = 1 or 2) is added to each control amount. For example, the command value of the three-phase voltage in system 1, "three-phase voltage command value (v * u1 ,v * v1 ,v * w1 ) and the three-phase voltage command value in system 2, the three-phase voltage command value (v * u2 ,v * v2 ,v * w2 ) and the three-phase voltage command value (v * un ,v * vn ,v * wn )" etc.

[0018] 1, an electric motor control system 100 of this embodiment includes a PWM converter 102, a three-phase voltage-type inverter 103, a DC power supply 104, a current sensor 105, an A / D converter 106, a three-phase / dq AC coordinate converter 107, a magnetic pole position detector 108, a pulse counter 109, an angular velocity calculator 110, a torque estimation unit 111, a torque controller 112, a voltage command value calculator 113, a dq / three-phase AC coordinate converter 114, and a vibration eliminator 115. The functions of each of these components are realized by a computer programmed to execute the corresponding function as appropriate.

[0019] The PWM converter 102 receives two three-phase voltage command values ​​(v * un ,v * vn ,v * wn ) based on the PWM_Duty drive signals (D * uun ,D * uln ,D * vun ,D * vln ,D * wun ,D * wln )

[0020] The inverter 103 receives the PWM_Duty driving signal (D * uun ,D * uln ,D * vun ,D * vln ,D * wun ,D * wln ), the DC voltage from the DC power supply 104 is set to the three-phase voltage command value (v * un ,v * vn ,v * wn) according to the three-phase AC voltage (v un ,v vn ,v wn ) and supplied to the motor 101.

[0021] The DC power supply 104 is configured by a power storage device such as a stacked lithium ion battery.

[0022] The current sensor 105 detects the three-phase AC current (i un ,i vn ,i wn ) in each of the power systems 1 and 2 (step S10 in FIG. 2). In particular, the current sensor 105 detects at least two phase currents (for example, i u1 , i v1 , i u2 , i v2 ) is configured by a plurality of (four in FIG. 1) individual sensors that detect the current of two phases. In addition, when the current sensor 105 is configured to detect the current of two phases, the remaining current i wn can be calculated using the following equation (1).

number

[0023] The A / D converter 106 converts the three-phase AC current detection value from the current sensor 105 into a digital signal and outputs it to the three-phase / dq AC coordinate conversion unit 107 .

[0024] The magnetic pole position detector 108 outputs A-phase, B-phase, and Z-phase pulses corresponding to the rotor position of the motor 101 to a pulse counter 109 .

[0025] The pulse counter 109 calculates the electrical angle θ of the motor 101 based on the A-phase, B-phase, and Z-phase pulses from the magnetic pole position detector 108. re (Step S10). re is the actual mechanical angle θ rmand a value corresponding to the actual value of the electrical angle of the motor 101, which is determined based on the number p of motor pole pairs, which is determined by the structure of the motor 101.

[0026] The angular velocity calculation unit 110 calculates the electrical angle θ re From the time rate of change (time differential) to the electrical angular velocity ω re and then calculate the electrical angular velocity ω re is divided by the number of motor pole pairs p to obtain the mechanical angular velocity ω rm is calculated (step S20).

[0027] The three-phase / dq AC coordinate conversion unit 107 converts the electrical angle θ re The three-phase AC current detection value (i uns ,i vns ,i wns ) is transformed from a three-phase AC coordinate system (uvw axes) to an orthogonal two-axis DC coordinate system (dq axes) (step S30).

[0028] More specifically, the three-phase / dq AC coordinate conversion unit 107 calculates the electrical angle θ based on the following equations (2) and (3): re Electrical angle θ of system n n Calculate.

[0029]

number

[0030]

number

[0031] In addition, "θ" in Equation (2) and Equation (3) offset " is the electrical angle θ re and the phase difference between system 1. 12 " means the phase difference of system 2 relative to system 1. That is, "θ 12 " corresponds to "θ2-θ1".

[0032] Furthermore, the three-phase / dq AC coordinate conversion unit 107 calculates the electrical angle θ based on the following equation (4): n Using the above three-phase AC current detection value (i uns ,i vns ,i wns ) to the dq axis current of system 1 (i d1 ,i q1 ) and the dq-axis current of system 2 (i d2 ,i q2 ) are calculated respectively.

[0033]

number

[0034] In the following, for the sake of simplicity, parameters such as current will be expressed using the symbol "x" (x=d, q) which includes the d-axis component and the q-axis component. For example, the dq-axis current (i d1 ,i q1 ) and the dq-axis current of system 2 (i d2 ,i q2 ) for the d-axis and q-axis components and each system are collectively called "dq-axis current i xn " is written as ".

[0035] The torque estimation unit 111 estimates the dq-axis current i xn is used as input and the estimated torque T estn Specifically, the torque estimation unit 111 calculates the dq-axis current i by referring to table data that defines the relationship between the d-axis current, the q-axis current, and the torque, which is stored in advance in a memory. xn The estimated torque T estn The table data can be determined based on the results of measurements of an actual motor or a predetermined model analysis. In particular, this model analysis includes, for example, a three-dimensional finite element analysis (3D-FEA) using dedicated software such as 3D-CAD.

[0036] More specifically, the torque estimation unit 111 of this embodiment is configured by a first torque estimation unit 111-1 and a second torque estimation unit 111-2. The first torque estimation unit 111-1 estimates the dq-axis current ix1 is input, and the estimated torque T est The first estimated torque T est1 On the other hand, the second torque estimation unit 111-2 calculates the dq-axis current i x2 is input, and the estimated torque T est The second estimated torque T est2 Calculate the following.

[0037] The vibration elimination unit 115 calculates the estimated torque T estn is input, and the estimated torque T estn The vibration components of the electrical angle multiplication order that are generated due to the stator winding structure are removed (vibration removal process) from the estn_vibless Generate.

[0038] More specifically, the vibration elimination unit 115 is configured by a first vibration elimination unit 115-1 and a second vibration elimination unit 115-2. The first vibration elimination unit 115-1 eliminates a first estimated torque T est1 The above vibration component is removed from the corrected estimated torque T est_vibless The first corrected estimated torque T est1_vibless On the other hand, the second vibration elimination unit 115-2 calculates the second estimated torque T est2 The above vibration component is removed from the corrected estimated torque T est_vibless The second corrected estimated torque T est2_vibless is calculated (step S40).

[0039] The torque control unit 112 outputs a torque command value T * n , and the corrected estimated torque T estn_vibless is input, and the voltage phase command value (hereinafter referred to as "fb voltage phase command value α * fbn " is also referred to as " (step S50).

[0040]

number

[0041] In particular, the torque control unit 112 is configured by a first torque control unit 112-1 and a second torque control unit 112-2. The first torque control unit 112-1 controls the torque command value T * (hereinafter referred to as "first torque command value T * 1) and the first corrected estimated torque T est1_vibless Based on this, the fb voltage phase command value α * fb The first fb voltage phase command value α * fb1 On the other hand, the second torque control unit 112-2 calculates the torque command value T * (hereinafter referred to as "second torque command value T * 2) and the second corrected estimated torque T est2_vibless Based on this, the fb voltage phase command value α * fb The second fb voltage phase command value α * fb2 Ask for.

[0042] The voltage command value calculation unit 113 calculates the voltage norm command value V a * , a voltage command value determined as a feedforward signal (hereinafter referred to as "ff voltage phase command value α * ff "), and the fb voltage phase command value α * fbn is used as input, and the dq-axis voltage command value v is calculated based on the following equation (6). * xn is calculated (step S60).

[0043]

number

[0044] In addition, the above dq-axis voltage command value v * xn In the calculation of and subsequent processing, for the sake of simplicity, the voltage norm command value Va * and ff voltage phase command value α * ff is common to both systems 1 and 2, in particular, the first torque command value T * 1st and 2nd torque command values ​​T * However, this is not limited to this, and the torque command value T * , voltage norm command value V a * , and the ff voltage phase command value α * ff Even if at least one of these is different from each other, the dq-axis voltage command value v * xn The calculation and each process after the calculation can be realized by the same control logic.

[0045] The dq / 3-phase AC coordinate converter 114 converts the electrical angle θ re Using this, the dq-axis voltage command value v * xn Transformation is performed from the orthogonal two-axis DC coordinate system (dq axes) to the three-phase AC coordinate system (uvw axes) (step S70).

[0046] In particular, the dq / three-phase AC coordinate converter 114 calculates the electrical angle θ based on the above equations (2) and (3). re The electrical angle θ of system n is determined from n Using the following equation (7), the three-phase voltage command value (v * un ,v * vn ,v * wn ) is found.

[0047]

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[0048] The configuration of the motor control method of the present embodiment described above and the resulting effects will now be described.

[0049] The motor control method of this embodiment provides a motor control method for controlling a multiple winding synchronous motor (motor 101) in which two winding sets (system 1 and system 2) are provided on a stator.

[0050] This motor control method generates a feedback signal (estimated torque T est ) and a torque estimation unit 111 for generating a required output (particularly a torque command value T * ) and estimated torque T estn Based on this, a first voltage phase command value (first fb voltage phase command value α * fb1 ), and a second voltage phase command value (second fb voltage phase command value α * fb2 and a calculation step (torque control unit 112) for calculating the torque.

[0051] Then, in the calculation process, the estimated torque T estn By performing a vibration elimination process (vibration elimination unit 115) to eliminate vibrations of the electrical angle multiplication order caused by the winding structure of the stator, a corrected feedback signal (corrected estimated torque T estn_vibless ) and corrected estimated torque T estn_vibless Based on this, the first fb voltage phase command value α * fb1 and the second fb voltage phase command value α * fb2 Calculate the following.

[0052] In this way, by performing the vibration removal process, the fb voltage phase command value α * fbn That is, the fb voltage phase command value α * fbn Therefore, unnecessary vibration components can be eliminated, so that the output torque of the motor 101 can be stabilized and the occurrence of torque ripple can be suppressed.

[0053] In particular, a three-phase double-winding motor is generally designed so that the phase difference between the winding sets of each system 1 and 2 is 30° to reduce vibrations of the sixth electrical angle. However, when voltage phase control is adopted in which a feedback loop is configured for each winding set, each feedback signal (first estimated torque T est1 and the second estimated torque T est2 ) is affected by the sixth-order vibration, causing each manipulated variable determined based on the feedback signal to vibrate and generate torque ripple. By performing the vibration elimination process, however, it is possible to effectively suppress such torque ripple.

[0054] Furthermore, the torque ripple caused by the sixth electrical vibration is proportional to the rotation speed of the motor 101 (for example, the mechanical angular velocity ω rm ) is equal to or greater than a predetermined threshold. In consideration of this, a control logic may be employed that does not execute the vibration elimination process when the rotation speed of the motor 101 is below the threshold (when the influence of the vibration of the sixth electrical order is estimated to be relatively small), but executes the vibration elimination process when the rotation speed of the motor 101 is equal to or greater than the threshold (when the influence of the vibration of the sixth electrical order is estimated to be relatively large). More specifically, in a control system that executes so-called current vector control when the rotation speed of the motor 101 is below a certain value and executes voltage phase control when the rotation speed of the motor 101 is equal to or greater than the certain value, a control configuration may be employed in which the rotation speed threshold for determining whether or not to execute the vibration elimination process is set to a specific value within the rotation speed range in which the voltage phase control is executed.

[0055] In the motor control method of the present embodiment, the feedback signal is a first feedback signal (first estimated torque T est1 ), and a second feedback signal (second estimated torque T est2 ) and the calculation step includes the first estimated torque T est1 and the second estimated torque T est2 The vibration components of the electrical angle multiplication order are individually removed from theest1_vibless ) and the corrected second feedback signal (second corrected estimated torque T est2_vibless ) is determined, and the first corrected estimated torque T est1_vibless and the second corrected estimated torque T est2_vibless Based on each of the above, the first fb voltage phase command value α * fb1 and the second fb voltage phase command value α * fb2 Calculate the following.

[0056] This realizes a control configuration that can remove vibration components of the electrical angle multiplication order from each feedback signal in a system that employs voltage phase control in which a feedback loop is configured for each winding set.

[0057] Furthermore, this embodiment provides an electric motor control device suitable for executing the electric motor control method.

[0058] This motor control device generates a feedback signal (estimated torque T est ) and a torque estimation unit 111 that generates a required output (particularly a torque command value T * ) and estimated torque T est Based on this, a first voltage phase command value (first fb voltage phase command value α * fb1 ), and a second voltage phase command value (second fb voltage phase command value α * fb2 and a calculation unit (torque control unit 112) that calculates

[0059] In particular, the torque control unit 112 calculates the estimated torque T est By performing a vibration elimination process (vibration elimination unit 115) to eliminate vibrations of the electrical angle multiplication order caused by the winding structure of the stator, a corrected feedback signal (corrected estimated torque T estn_vibless ) and corrected estimated torque T estn_vibless Based on this, the first fb voltage phase command value α * fb1and the second fb voltage phase command value α * fb2 Calculate the following.

[0060] This realizes a motor control device suitable for executing the motor control method of this embodiment.

[0061] (Second embodiment) The second embodiment will be described below, with the same elements as those in the first embodiment being given the same reference numerals and their description being omitted.

[0062] 3 is a block diagram illustrating the configuration of an electric motor control system 100 for executing an electric motor control method according to this embodiment. As shown in the figure, in this embodiment, the vibration elimination unit 115 is configured by a low-pass filter (first low-pass filter and second low-pass filter) or moving average processing (first moving average processing and second moving average processing).

[0063] <When the vibration elimination unit 115 is configured by a low-pass filter> The vibration elimination unit 115 calculates the corrected estimated torque T estn_vibless Calculate the following.

[0064]

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[0065] In the formula, "τ" is the time constant of the low-pass filter transfer function G(s), and "ω c " represents the cutoff frequency, respectively. Here, the cutoff frequency ω c (or the time constant τ) is preferably set so as to be effective only for vibration frequencies of electrical angle multiples, particularly for high-order harmonic components. Note that instead of the first-order low-pass filter shown in equation (8), a second-order or higher-order low-pass filter that is effective only for high-order harmonic components may be used.

[0066] <When the vibration elimination unit 115 is configured by moving average processing> The vibration elimination unit 115 calculates the corrected estimated torque T estn_vibless Calculate the following.

[0067]

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[0068] However, the "MA" in the formula iN (x i ) is the moving average processing function, and x i ” is the input signal (i.e., the first estimated torque T est1 and the second estimated torque T est2 ), and "N" represent the number of times of moving average. Here, it is preferable to set the number of times of moving average N so that it is effective only for vibration frequencies of electrical angle multiplication orders, especially for high-order harmonic components. Note that instead of the cumulative moving averages shown in equations (9) and (10), other averaging algorithms such as weighted moving averages may be adopted, taking into consideration the vibration elimination performance that can be appropriately obtained.

[0069] The configuration of the motor control method of the present embodiment described above and the resulting effects will now be described.

[0070] The vibration elimination process (vibration elimination unit 115) includes low-pass filtering or moving averaging.

[0071] This realizes a more specific control configuration for eliminating vibrations of the electrical angle multiplication order caused by the winding structure of the stator.

[0072] In particular, the cutoff frequency ω of the low-pass filter processing c Alternatively, the number of times N of the moving average process is set to a predetermined value or more that can selectively remove vibration components of the electrical angle multiplication order (high-order harmonic components).

[0073] This reduces the feedback signal (estimated torque T estn ) while suppressing the phase delay of the fundamental wave component of the estimated torque T estnIt is possible to remove the vibration components of the electrical angle multiplication order contained in

[0074] (Third embodiment) The third embodiment will be described below. Elements similar to those in the first or second embodiment are denoted by the same reference numerals, and their description will be omitted. In this embodiment, the first estimated torque T est1 and the second estimated torque T est2 The vibration components of the electrical angle multiplication orders included in each of the above are individually estimated, and the resulting estimated values ​​(first vibration component T est1_vib and the second vibration component T est2_vib ) as the first estimated torque T est1 and the second estimated torque T est2 The first corrected estimated torque T est1_vibless and the second corrected estimated torque T est2_vibless A control scheme is provided to determine:

[0075] 4 is a block diagram illustrating the configuration of an electric motor control system 100 for executing the electric motor control method according to this embodiment. As shown in the figure, in this embodiment, the vibration elimination unit 115 is made up of a band-pass filter 115a (first band-pass filter 115a-1 and second band-pass filter 115a-2) and a subtraction unit 115b (first subtraction unit 115b-1 and second subtraction unit 115b-2).

[0076] The vibration elimination unit 115 calculates the corrected estimated torque T estn_vibless Calculate the following.

[0077]

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[0078] In the formula, "τ" is the time constant of the band filter transfer function F(s), and "ω c " represents the cutoff frequency, "H0" represents the band filter gain, and "Q" represents the weighting coefficient. Here, the cutoff frequency ω cIt is preferable to set the time constant τ (or the time constant τ) so that it is effective only for vibration frequencies of electrical angle multiplication orders, especially for high-order harmonic components. Note that, instead of the band-pass filter 115a shown in equation (11), different cut-off frequencies ω c Alternatively, a band-pass filter 115a may be used, which is formed by connecting filters having the above characteristics in parallel.

[0079] The configuration of the motor control method of the present embodiment described above and the resulting effects will now be described.

[0080] In the vibration removal process of this embodiment, the first estimated torque T est1 and the second estimated torque T est2 The first vibration component T as a vibration component of the electrical angle multiplication order included individually in each of est1_vib and the second vibration component T est2_vib is estimated (Equation (11)), and the first estimated torque T est1 and the first vibration component T est1_vib Based on the first corrected estimated torque T est1_vibless (Equation (12)) and calculate the second estimated torque T est2 and the second vibration component T est2_vib The second corrected estimated torque T based on est2_vibless is generated (Equation (13)).

[0081] This realizes a more specific control configuration for removing vibration components of the electrical angle multiplication order caused by the winding structure.

[0082] In particular, the first vibration component T est1_vib and the second vibration component T est2_vib The calculation of the first estimated torque T est1 and the second estimated torque T est2 This can be realized by a simple calculation logic of band-pass filtering for

[0083] (Modification of the third embodiment) FIG. 5 is a block diagram illustrating the configuration of an electric motor control system 100 for executing the electric motor control method according to this modified example.

[0084] As shown in the figure, in this modification, the vibration elimination section 115 is made up of a difference calculation section 115c and a subtraction section 115b (first subtraction section 115b-1 and second subtraction section 115b-2).

[0085] Then, the vibration elimination unit 115 calculates the corrected estimated torque T estn_vibless Calculate the following.

[0086]

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[0087] In this way, in this modified example, the first vibration component T est1_vib and the second vibration component T est2_vib The first estimated torque T est1 and the second estimated torque T est2 This can be estimated by a simple calculation process called differential calculation.

[0088] (Fourth embodiment) The fourth embodiment will be described below. Elements similar to those in any of the first to third embodiments are given the same reference numerals, and the description thereof will be omitted. In this embodiment, the first estimated torque T est1 and the second estimated torque T est2 Either one of the first estimated torque T est1 The electrical angle multiplication order vibration component (first vibration component T est1_vib ) is estimated, and the obtained estimated value is used as the first estimated torque T est1 and the second estimated torque T est2 The first corrected estimated torque T est1_vibless and the second corrected estimated torque T est2_vibless A control scheme is provided to determine:

[0089] 6 is a block diagram illustrating the configuration of an electric motor control system 100 for executing the electric motor control method according to this embodiment. As shown in the figure, in this embodiment, a vibration elimination unit 115 calculates a first estimated torque T est1The filter 115 comprises a bandpass filter 115a for the signal, a subtractor 115b, and an adder 115d.

[0090] Then, the vibration elimination unit 115 calculates the corrected estimated torque T estn_vibless Calculate the following.

[0091]

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[0092] The configuration of the motor control method of the present embodiment described above and the resulting effects will now be described.

[0093] In the vibration removal process of this embodiment, the first estimated torque T est1 and the second estimated torque T est2 Either one of the first estimated torque T est1 ) contains the vibration component of the electrical angle multiplication order (first vibration component T est1_vib ) is estimated (Equation (18)), and the first estimated torque T est1 and the first vibration component T est1_vib Based on the first corrected estimated torque T est1_vibless (Equation (19)) and calculate the second estimated torque T est2 and the first vibration component T est1_vib The second corrected estimated torque T based on est2_vibless is generated (Equation (20)).

[0094] As a result, by estimating only the vibration component of the electrical angle multiplication order contained in the feedback signal related to one of the systems, the first corrected estimated torque T est1_vibless and the second corrected estimated torque T est2_vibless Therefore, the torque ripple can be suppressed while reducing the computational load. In particular, the vibration components of the electrical angle multiplication order are included in the feedback signals of both systems as waveforms with roughly opposite signs, taking into account the symmetry between the systems. Therefore, as shown in Equation (19) and Equation (20), the estimated first vibration component T est1_vib The first estimated torque Test1 and the second estimated torque T est2 By adding to each of the first corrected estimated torques T est1_vibless and the second corrected estimated torque T est2_vibless can be obtained.

[0095] In this embodiment, the first vibration component T est1_vib Based on this, the first corrected estimated torque T est1_vibless and the second corrected estimated torque T est2_vibless On the other hand, instead of this, the second vibration component T est2_vib Based on this, the first corrected estimated torque T est1_vibless and the second corrected estimated torque T est2_vibless In this case, the same effect can be obtained due to the symmetry of the vibration components between the system components.

[0096] (Modification of the fourth embodiment) FIG. 7 is a block diagram illustrating the configuration of an electric motor control system 100 for executing the electric motor control method according to this modified example.

[0097] As shown in the figure, in this modification, the vibration elimination section 115 is made up of a difference calculation section 115c, a subtraction section 115b, and an addition section 115d.

[0098] Then, the vibration elimination unit 115 calculates the corrected estimated torque T estn_vibless Calculate the following.

[0099]

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[0100] In this way, in this modified example, the first corrected estimated torque T est1_vibless and the second corrected estimated torque T est2_viblessThe first vibration component T est1_vib The first estimated torque T est1 and the second estimated torque T est2 This can be obtained by a simple calculation process of calculating the difference between the above values, thereby further reducing the calculation burden.

[0101] (Fifth embodiment) The fifth embodiment will be described below. Elements similar to those in any of the first to fourth embodiments are given the same reference numerals, and their description will be omitted. In particular, in this embodiment, vibration components of electrical angle multiplication orders (particularly, the first vibration component T est1_vib ) and the first estimated torque T est1 and the second estimated torque T est2 The first vibration component T estimated from est1_vib A control arrangement is provided that eliminates

[0102] 8 is a block diagram illustrating the configuration of an electric motor control system 100 for executing the electric motor control method according to this embodiment. As shown in the figure, in this embodiment, the vibration elimination unit 115 is made up of a vibration model table 115e, a subtraction unit 115b, and an addition unit 115d.

[0103] Then, the vibration elimination unit 115 calculates the first torque command value T * 1, electrical angular velocity ω re , and the electrical angle θ re is used as an input signal, and the first vibration component T est1_vib Here, the vibration model table 115e is determined in advance based on the results of experiments, simulations, and / or analyses of the motor magnetic circuit characteristics.

[0104] Furthermore, the vibration elimination unit 115 calculates the first vibration component T by using the equations (19) and (20) in the same manner as in the fourth embodiment. est1_vib , first estimated torque T est1 , and the second estimated torque T est2 From the first corrected estimated torque T est1_vibless and the second corrected estimated torque T est2_vibless Ask for.

[0105] The configuration of the motor control method of the present embodiment described above and the resulting effects will now be described.

[0106] In the calculation step of this embodiment, as a vibration removal process, the vibration components of the electrical angle multiplication order (particularly, the first vibration component T est1_vib ) is estimated.

[0107] This realizes a more specific control configuration for removing vibration components of the electrical angle multiplication order caused by the winding structure.

[0108] The input signal to the vibration model table 115e is the first vibration component T est1_vib Various modifications are possible within the scope of realizing the function of obtaining the first torque command value T * Instead of 1, the actual current of the winding set of system 1 (for example, the dq axis current i x1 Detected value of θ, etc.) and / or electrical angle θ re Instead of mechanical angular velocity ω rm Alternatively, a vibration model table 115e may be used in which the first vibration component T est1_vib shows a certain sensitivity to differences in DC voltage, a detected value of the DC voltage (output voltage of the DC power supply 104) may be used as the input signal. Furthermore, the vibration model table 115e may be configured so as to be able to remove a plurality of vibration frequency components (vibration components of a plurality of electrical angle multiplication orders).

[0109] (Sixth embodiment) The sixth embodiment will be described below, with the same reference numerals being used to designate elements that are the same as those in any of the first to fifth embodiments, and the description thereof will be omitted.

[0110] In particular, in this embodiment, the vibration removal process is performed by using the first estimated torque T est1 and the second estimated torque T est2 The estimated combined torque T est1_sum Then, the generated estimated resultant torque T est1_sumBased on this, the first fb voltage phase command value α * fb1 and the second fb voltage phase command value α * fb2 Calculate the following.

[0111] 9 is a block diagram illustrating the configuration of an electric motor control system 100 for executing the electric motor control method according to this embodiment. As shown in the figure, in this embodiment, a vibration elimination unit 115 is made up of a d-axis current synthesis unit 116, a q-axis current synthesis unit 117, and an estimated synthesis torque calculation unit 118.

[0112] The d-axis current synthesis unit 116 synthesizes the d-axis current i d1 and the d-axis current i of system 2 d2 The sum of these is the d-axis current i d_sum and outputs it to the estimated combined torque calculation unit 118.

[0113] The q-axis current synthesis unit 117 synthesizes the q-axis current i q1 and the q-axis current i of system 2 q2 The sum of these is the q-axis current i q_sum and outputs it to the estimated combined torque calculation unit 118.

[0114] The estimated combined torque calculation unit 118 refers to a predetermined current-torque map and calculates the input combined d-axis current i d_sum and the combined q-axis current i q_sum Based on this, the estimated resultant torque T est_sum The current-torque map is determined based on the current-torque characteristics of the motor 101 that combines the systems 1 and 2 and that are obtained by experiment or simulation.

[0115] Then, the torque control unit 112 calculates the torque command value T * (T * 1+T * 2) and estimated combined torque T est_sum is used as input, and the fb voltage phase command value α * fbMore specifically, based on the formula (5) shown in the first embodiment, "α * fbn " to "α * fb "," "T * n " to "T * " and "T estn_vibless " to "T est_sum " and the fb voltage phase command value α * fb Furthermore, the torque control unit 112 calculates the obtained fb voltage phase command value α * fb ff voltage phase command value α * ff The common fb voltage phase command value α * fb The final voltage phase command value α * fin Ask for.

[0116] Then, the voltage command value calculation unit 113 calculates the voltage norm command value V a * and the final voltage phase command value α * fin Taking into consideration the symmetry between the systems, the dq-axis voltage command value v of each system is calculated based on the following equation (24). * xn The following is established.

number

[0117] The configuration of the motor control method of the present embodiment described above and the resulting effects will now be described.

[0118] In the motor control method of this embodiment, the feedback signal is a first feedback signal (d-axis current i d1 and q-axis current i q1 ), and a second feedback signal (d-axis current i d2 and q-axis current i q2) and the vibration elimination process includes integrating the first feedback signal and the second feedback signal to generate an integrated feedback signal (estimated combined torque T est_sum ) and estimate the resultant torque T est_sum is used as a correction feedback signal, and the first fb voltage phase command value α * fb1 and the second fb voltage phase command value α * fb2 (In this embodiment, the final voltage phase command value α * fin ) is calculated.

[0119] This allows the control system to be configured with a single feedback loop for controlling the motor 101 that integrates system 1 and system 2, simplifying the control logic while also achieving the vibration removal processing function.

[0120] In the generation process of this embodiment, the dq-axis currents i of the first winding group and the second winding group are generated. xn is generated as a feedback signal. In the calculation process, each d-axis current i xn Estimated resultant torque T based on est_sum is calculated as the integrated feedback signal. In particular, the estimated combined torque T est_sum is the dq axis current i xn The sum of the d-axis components (i d1 +i d2 ) is the resultant d-axis current i d_sum , and each dq axis current i xn The sum of the q-axis components (i q1 +i q2 ) is the resultant q-axis current i q_sum is obtained based on

[0121] This makes it possible to realize a more specific control configuration that includes one feedback loop that can realize the vibration elimination function described above.

[0122] (Modification of the sixth embodiment) FIG. 10 is a block diagram illustrating the configuration of an electric motor control system 100 for executing the electric motor control method according to this modified example.

[0123] As shown in the figure, in this modification, the vibration elimination unit 115 is configured by an estimated combined torque calculation unit 118. In particular, the estimated combined torque calculation unit 118 of this modification calculates the first estimated torque T est1 and the second estimated torque T calculated by the second torque estimation unit 111-2. est2 The sum of these is the estimated combined torque T est_sum and output it to the torque control unit 112.

[0124] That is, in the generation process of this modified example, the estimated torques of the first winding set (system 1) and the second winding set (system 2) (first estimated torque T est1 and the second estimated torque T est2 ) is generated as a feedback signal. Then, in the calculation step, the first estimated torque T est1 and the second estimated torque T est2 The estimated combined torque T est_sum Calculate the following.

[0125] This makes it possible to realize a more specific control configuration that includes one feedback loop that can realize the vibration elimination function described above.

[0126] Although the embodiments of the present invention have been described above, the configurations described in the above embodiments merely show some of the application examples of the present invention and are not intended to limit the technical scope of the present invention.

[0127] In the above embodiments, the estimated torque T estn or dq axis current i xn However, the parameters constituting the feedback signal are not limited to these, and any parameter correlated with the magnitude of the output of the motor 101 can be used. For example, the three-phase AC current detection value (i uns ,ivns ,i wns ) may be converted to an appropriate order and a feedback signal may be generated based on the obtained parameters.

[0128] In each of the above embodiments, the torque command value T * n Using the fb voltage phase command value α * fb However, the fb voltage phase command value α * fb The parameters used in the calculation are the torque command value T * n However, any parameter correlated with the required output of the motor 101 can be used. [Explanation of symbols]

[0129] 100 electric motor control system, 101 motor, 102 PWM converter, 103 inverter, 104 DC power supply, 105 current sensor, 106 A / D converter, 107 three-phase / dq AC coordinate conversion unit, 108 magnetic pole position detector, 109 pulse counter, 110 angular velocity calculation unit, 111 torque estimation unit, 112 torque control unit, 113 voltage command value calculation unit, 114 dq / three-phase AC coordinate converter, 115 vibration elimination unit

Claims

1. A motor control method for controlling a multi-winding synchronous motor having two winding sets provided on a stator, comprising: a generating step of individually generating a first feedback signal corresponding to an output of the first winding set and a second feedback signal corresponding to an output of the second winding set; a calculation step of calculating a first voltage phase command value that is a command value for a voltage phase for the first winding group and a second voltage phase command value that is a command value for a voltage phase for the second winding group, In the calculation step, performing a vibration elimination process for individually eliminating vibration components of an electrical angle multiplication order caused by a winding structure of the stator on the first feedback signal and the second feedback signal, thereby generating a corrected first feedback signal and a corrected second feedback signal, respectively; calculating the first voltage phase command value based on the required output of the electric motor and the corrected first feedback signal; calculating the second voltage phase command value based on the required output and the corrected second feedback signal; Electric motor control method.

2. 2. The electric motor control method according to claim 1, In the calculation step, generating the corrected first feedback signal and the corrected second feedback signal by performing low-pass filtering or moving averaging on the first feedback signal and the second feedback signal, respectively; Electric motor control method.

3. 3. The electric motor control method according to claim 2, a cutoff frequency of the low-pass filter processing or a moving average number of times of the moving average processing is set to a predetermined value or more that can selectively remove vibration components of the electrical angle multiplication order; Electric motor control method.

4. 2. The electric motor control method according to claim 1, In the calculation step, estimating a first vibration component and a second vibration component as vibration components of the electrical angle multiplication order included in the first feedback signal and the second feedback signal, respectively; generating the corrected first feedback signal based on the first feedback signal and the first vibration component; generating the corrected second feedback signal based on the second feedback signal and the second vibration component; Electric motor control method.

5. 2. The electric motor control method according to claim 1, In the calculation step, estimating a vibration component of the electrical angle multiplication order included in either the first feedback signal or the second feedback signal; generating the corrected first feedback signal based on the first feedback signal and the estimated vibration component; generating the corrected second feedback signal based on the second feedback signal and the estimated vibration component; Electric motor control method.

6. 6. The electric motor control method according to claim 4 or 5, The vibration component is estimated by band-pass filtering the first feedback signal and / or the second feedback signal, or by calculating a difference between the first feedback signal and the second feedback signal. Electric motor control method.

7. 2. The electric motor control method according to claim 1, In the calculation step, estimating the vibration component of the electrical angle multiplication order based on a vibration model table prepared in advance; Electric motor control method.

8. A motor control method for controlling a multi-winding synchronous motor having two winding sets provided on a stator, comprising: a generating step of individually generating a first feedback signal corresponding to an output of the first winding set and a second feedback signal corresponding to an output of the second winding set; a calculation step of calculating a first voltage phase command value that is a command value for a voltage phase for the first winding group and a second voltage phase command value that is a command value for a voltage phase for the second winding group, In the calculation step, generating an integrated feedback signal by integrating the first feedback signal and the second feedback signal; calculating the first voltage phase command value and the second voltage phase command value based on the required output of the electric motor and the integrated feedback signal; Electric motor control method.

9. 9. The motor control method according to claim 8, In the generating step, generating the dq-axis currents of the first winding set and the second winding set as the first feedback signal and the second feedback signal, respectively; In the calculation step, calculating an estimated combined torque based on the d-axis and q-axis currents as the integrated feedback signal; the estimated resultant torque is obtained based on a resultant d-axis current determined as a sum of d-axis components of the dq-axis currents, and a resultant q-axis current determined as a sum of q-axis components of the dq-axis currents; Electric motor control method.

10. 9. The motor control method according to claim 8, In the generating step, generating the estimated torques of the first and second winding sets as the first and second feedback signals, respectively; In the calculation step, calculating an estimated combined torque as the integrated feedback signal by combining the estimated torques; Electric motor control method.

11. 1. A motor control device for controlling a multiple-winding synchronous motor having two winding sets provided on a stator, a generator that individually generates a first feedback signal corresponding to an output of the first winding set and a second feedback signal corresponding to an output of the second winding set; a calculation unit that calculates a first voltage phase command value that is a command value for a voltage phase for the first winding group and a second voltage phase command value that is a command value for a voltage phase for the second winding group, The calculation unit performing a vibration elimination process for individually eliminating vibration components of an electrical angle multiplication order caused by a winding structure of the stator on the first feedback signal and the second feedback signal, thereby generating a corrected first feedback signal and a corrected second feedback signal, respectively; calculating the first voltage phase command value based on the required output of the electric motor and the corrected first feedback signal; calculating the second voltage phase command value based on the required output and the corrected second feedback signal; Electric motor control device.

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