Rotating electric machine control device

Abstract

This rotating electrical machine control device is provided with a rotating electrical machine, a power converter, a current detection unit, a rotation sensor, a rotation arithmetic operation unit, a d-axis current command value generation unit, a q-axis current command value generation unit, a voltage command value calculation unit, and a switching control unit. This rotating electrical machine has a d-axis inductance Ld that is greater than a q-axis inductance Lq. The rotation arithmetic operation unit reduces the angle error resulting from a rotation sensor detection error, on the basis of at least one of the rotation sensor output signal, a current, and a voltage command.

Description

[Technical Field]

[0001] The present disclosure relates to a rotating electrical machine control device. [Background technology]

[0002] Conventionally, rotating electric machines known as permanent magnet synchronous motors or brushless motors have been known. In these rotating electric machines, a permanent magnet is used in the rotor and a winding is wound around the stator. By passing an alternating current through the winding, torque is generated in the rotor, causing the rotor to rotate. In such rotating electric machines, an induced voltage, which is a voltage induced in the winding, increases as the rotational speed of the rotor increases. As disclosed in Patent Document 1, in order to reduce the induced voltage, control is generally performed in which current is passed in a direction that reduces the magnetic flux of the rotor magnet, that is, flux-weakening control.

[0003] In order to obtain high output in this flux-weakening control, it is important to increase the inductance Ld of the rotating electric machine in the d-axis direction, which corresponds to the direction of the rotor's magnet magnetic flux. If the rotating electric machine has a large inductance Ld, it is possible to perform flux-weakening control more efficiently, and it is possible to realize a rotating electric machine capable of high output. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent No. 6987318 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, a rotation angle detector is required to control the rotating electric machine disclosed in Patent Document 1. The rotation angle detector detects the angle at which the rotor's magnetic poles are located relative to a reference angle, i.e., the rotor's rotation angle. The rotation angle output by the rotation angle detector contains an angle error corresponding to the error from the true value of the rotation angle of the rotating electric machine. The AC component contained in the angle error causes an error in the AC component of torque called torque pulsation error, which causes vibration or noise generated by the rotating electric machine.

[0006] Therefore, in the rotating electric machine disclosed in Patent Document 1, even if it is possible to realize a rotating electric machine capable of high output through effective flux-weakening control, there is a problem that the vibration or noise generated by the rotating electric machine increases due to the AC component of the angle error. In other words, in such rotating electric machines, it is necessary to choose whether to prioritize high output and tolerate increased vibration or noise, or to prioritize suppressing increased vibration or noise even if high output cannot be obtained.

[0007] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a rotating electric machine control device that can realize a high-output rotating electric machine while suppressing the generation of vibration or noise. [Means for solving the problem]

[0008] A rotary electric machine control device according to the present disclosure includes a rotary electric machine including a stator having a plurality of phase windings, and a rotor disposed radially inside the stator and having a magnet; a booster for boosting the voltage of the DC power supply,The rotating electric machine includes a power converter that converts a DC power supply voltage into an AC voltage, a current detection unit that detects a current flowing through the windings of the multiple phases based on an output signal from a current sensor, a rotation sensor that outputs an output signal corresponding to the rotation angle of the rotor, a rotation calculation unit that calculates a rotation angle for control of the rotor, a d-axis current command value generation unit that generates a command value for a d-axis current flowing through the rotating electric machine when the direction of the magnetic flux of the magnet is defined as the d-axis and the direction leading 90 electrical degrees from the d-axis is defined as the q-axis, a q-axis current command value generation unit that generates a command value for a q-axis current flowing through the rotating electric machine, a voltage command value calculation unit that calculates a voltage command value to be applied to the windings of the multiple phases based on the rotation angle for control, the current, the q-axis current command value, and the d-axis current command value, and a switching control unit that turns on and off multiple switching elements of the power converter based on the voltage command value. The rotating electric machine has a d-axis inductance Ld greater than a q-axis inductance Lq. the rotation calculation unit includes a rotation detection unit that detects a rotation angle of the rotor based on an output signal output from the rotation sensor, and a control angle calculation unit that calculates the control rotation angle based on at least one of the rotation angle of the rotor, the current, and the voltage command value, the control angle calculation unit calculates a detected angle deviation that is a deviation of the control rotation angle from the rotation angle of the rotor, estimates an estimated actual angle deviation that is a deviation of the control rotation angle from a true value of the rotation angle of the rotor based on information on the current detection value and information on the voltage command value, calculates a value obtained by interiorly dividing the estimated actual angle deviation and the detected angle deviation as a control angle deviation, and makes a proportion of the estimated actual angle deviation in the control angle deviation higher than a proportion of the detected angle deviation when a speed-proportional physical quantity that is a physical quantity proportional to the rotational angular velocity of the rotor is higher than a predetermined speed threshold, and makes a proportion of the estimated actual angle deviation in the control angle deviation lower than a proportion of the detected angle deviation when the speed-proportional physical quantity is lower than the speed threshold. The rotation calculation unit reduces an angle error caused by a detection error of the rotation sensor based on one or more of the output signal of the rotation sensor, the current, and the voltage command value. The rotary electric machine control device applies an AC voltage to the rotary electric machine based on the output DC voltage boosted by the booster. The switching control unit drives the plurality of switching elements to turn on and off based on the voltage command value and the output DC voltage. The booster includes upper and lower arms each having the switching elements, The inverter includes a plurality of legs each having a structure in which the switching elements are connected in series, and a snubber circuit in which a resistor and a capacitor are connected in series, the plurality of legs being connected in parallel with each other, and the snubber circuit being connected in parallel with the plurality of legs. [Effects of the Invention]

[0009] According to the rotating electric machine control device according to the present disclosure, it is possible to realize a rotating electric machine with high output while suppressing the generation of vibration or noise. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram showing the overall configuration of an electric power steering device including a rotary electric machine control device according to a first embodiment. [Figure 2] 1 is a block diagram showing a rotary electric machine control device according to a first embodiment. [Figure 3] 1 is a block diagram showing a rotary electric machine control device according to a first embodiment. [Figure 4] 4 is a diagram showing execution regions of each control when Id=0 control and flux-weakening control are performed in a case where the rotating electric machine control device according to the first embodiment is applied to a surface permanent magnet rotating electric machine. FIG. [Figure 5] 4 is a diagram showing execution regions of each control when maximum torque current control and flux-weakening control are performed in a case where the rotating electric machine control device according to the first embodiment is applied to an interior permanent magnet rotating electric machine. FIG. [Figure 6] 3 is a block diagram showing a control angle calculation unit according to the first embodiment. FIG. [Figure 7] FIG. 4 is a diagram illustrating the setting of an interior division ratio according to the first embodiment. [Figure 8] FIG. 3 is a Bode diagram showing a transfer function according to the first embodiment. [Figure 9] FIG. 10 is a block diagram showing a control angle calculation unit according to the second embodiment. [Figure 10] FIG. 10 is a block diagram showing a rotation sensor and a rotation detection unit according to a third embodiment. [Figure 11A] 10 is a diagram illustrating calculations performed by a rotation detection unit according to the third embodiment. FIG. [Figure 11B] 10 is a diagram illustrating calculations performed by a rotation detection unit according to the third embodiment. FIG. [Figure 12A]10 is a diagram illustrating calculations performed by a rotation detection unit according to the third embodiment. FIG. [Figure 12B] 10 is a diagram illustrating calculations performed by a rotation detection unit according to the third embodiment. FIG. [Figure 13A] 10 is a diagram illustrating calculations performed by a rotation detection unit according to the third embodiment. FIG. [Figure 13B] 10 is a diagram illustrating calculations performed by a rotation detection unit according to the third embodiment. FIG. [Figure 14A] 10 is a diagram illustrating calculations performed by a rotation detection unit according to the third embodiment. FIG. [Figure 14B] 10 is a diagram illustrating calculations performed by a rotation detection unit according to the third embodiment. FIG. [Figure 15A] 10 is a diagram illustrating calculations performed by a rotation detection unit according to the third embodiment. FIG. [Figure 15B] 10 is a diagram illustrating calculations performed by a rotation detection unit according to the third embodiment. FIG. [Figure 16] FIG. 10 is a block diagram showing a rotation sensor and a rotation detection unit according to a fourth embodiment. [Figure 17A] 10 is a diagram illustrating calculations performed by a rotation detection unit according to the fourth embodiment. FIG. [Figure 17B] 10 is a diagram illustrating calculations performed by a rotation detection unit according to the fourth embodiment. FIG. [Figure 18A] 10 is a diagram illustrating calculations performed by a rotation detection unit according to the fourth embodiment. FIG. [Figure 18B] 10 is a diagram illustrating calculations performed by a rotation detection unit according to the fourth embodiment. FIG. [Figure 19] FIG. 11 is a cross-sectional view showing a rotating electric machine controlled by a rotating electric machine control device according to a fifth embodiment, as viewed in the axial direction. [Figure 20] FIG. 10 is a schematic diagram showing the overall configuration of an electric power steering device including a rotary electric machine control device according to a sixth embodiment. [Figure 21] FIG. 10 is a diagram illustrating a circuit configuration of a DC-DC converter according to a sixth embodiment. [Figure 22] 13 is a diagram illustrating switching driving in a DC-DC converter according to a sixth embodiment. FIG. [Figure 23]FIG. 20 is a circuit diagram showing a part of a DC-DC converter according to a modification of the sixth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Embodiment 1 A rotary electric machine control device 10 according to a first embodiment will be described with reference to the drawings. In the following description, the rotating electrical machine control device 10 may be simply referred to as the control device 10.

[0012] 1 is a schematic diagram showing the overall configuration of an electric power steering device 100 including a rotating electric machine control device 10 according to a first embodiment. In this embodiment, a rotating electric machine 1 is a driving force source for the electric power steering device 100. The rotating electric machine 1, a power converter 4, and the control device 10 make up the electric power steering device 100. The electric power steering device 100 is provided in a vehicle.

[0013] <Rotating Electric Machine 1> The rotating electric machine 1 includes a stator and a rotor disposed radially inside the stator. The stator is disposed so as to surround the outer periphery of the rotor via an air gap that serves as a magnetic gap.

[0014] <Stator> The stator has a stator core and windings. The windings are coils corresponding to each of a plurality of phases. The rotary electric machine 1 according to this embodiment is driven and controlled by three-phase AC current of U, V, and W phases. The windings are made up of windings Cu, Cv, and Cw corresponding to the U, V, and W phases, respectively. In FIG. 1, the currents flowing through the windings Cu, Cv, and Cw are indicated by symbols Iu, Iv, and Iw, respectively. In the following, only one of the three phases, U, V, and W, will be described, and a description of the other two common phases may be omitted.

[0015] <Rotor> The rotor has a rotor core, a rotating shaft, and multiple magnets. The rotor core is made of, for example, multiple electromagnetic steel plates stacked in the direction in which the rotating shaft extends. The rotating shaft is fixed to the center of the rotor core. Multiple magnets are fixed to the outer circumferential surface of the rotor core. The rotor rotates due to changes in the magnetic field generated between the multiple magnets and the stator, which in turn rotates the rotating shaft.

[0016] The rotor is equipped with a rotation sensor 2 for detecting the rotation angle of the rotor. The rotation sensor 2 is configured to output an output signal corresponding to the rotation angle of the rotor. For example, a resolver, an encoder, an MR sensor, etc. is used as the rotation sensor 2. The output signal output from the rotation sensor 2 is input to the control device 10. The magnet is, for example, a permanent magnet. As a result, the rotating electric machine 1 constitutes a permanent magnet synchronous motor. In the rotating electric machine 1, the d-axis inductance Ld and the q-axis inductance Lq have a relationship of Ld>Lq. In other words, the d-axis inductance Ld has a value greater than the q-axis inductance Lq. In other words, the rotating electric machine 1 is a forward salient pole motor.

[0017] The configuration of the rotating electric machine 1 is not limited to a permanent magnet synchronous motor. The magnet may be an electromagnet having a field winding. The three-phase windings Cu, Cv, and Cw may be star-connected or delta-connected.

[0018] <Power converter 4> The power converter 4 is, for example, an inverter. In other words, the power converter 4 is configured to convert the voltage of the DC power supply 3 into an AC voltage. The power converter 4 has three series circuits corresponding to three-phase AC, namely, U phase, V phase, and W phase, a smoothing capacitor 5, and a current sensor 6. In other words, the series circuits are legs.

[0019] <Switching element> In each series circuit, a switching element SP and a switching element SN are connected in series. The switching element SP is a positive-side switching element connected to the positive side of the DC power supply 3. The switching element SN is a negative-side switching element connected to the negative side of the DC power supply 3.

[0020] The switching elements may be IGBTs (Insulated Gate Bipolar Transistors) with diodes connected in anti-parallel, MOSFETs (Metal Oxide Semiconductor Field Effect Transistors), bipolar transistors with diodes connected in anti-parallel, etc. The gate terminals of the switching elements are connected to the control device 10 via gate drive circuits, etc. The switching elements are driven to be turned on or off by switching signals GPu to GNw output from the control device 10.

[0021] 1, the switching elements SP are denoted by symbols SPu, SPv, and SPw, and the switching elements SN are denoted by symbols SNu, SNv, and SNw, with the lowercase letters u, v, and w indicating that they correspond to three AC phases, namely, U phase, V phase, and W phase. When there is no need to distinguish between the three phases, they may simply be referred to as switching elements SP or SN.

[0022] The connection points between the two switching elements SP and SN in each of the three series circuits for the U, V, and W phases are connected one-to-one to the corresponding windings Cu, Cv, and Cw. Specifically, in the U-phase series circuit, the U-phase positive switching element SPu and the U-phase negative switching element SNu are connected in series, and the connection point between the two switching elements SPu and SNu is connected to the U-phase winding Cu. In the V-phase series circuit, the V-phase positive side switching element SPv and the V-phase negative side switching element SNv are connected in series. The connection point between the two switching elements SPv and SNv is connected to the V-phase winding Cv. In the W-phase series circuit, the W-phase positive switching element SPw and the W-phase negative switching element SNw are connected in series, and the connection point between the two switching elements SPw and SNw is connected to the W-phase winding Cw.

[0023] <5 smoothing capacitors, 3 DC power supplies> The smoothing capacitor 5 is connected between the positive and negative terminals of the DC power supply 3 . The DC power supply 3 outputs a DC voltage Vdc to the power converter 4. In this embodiment, the DC voltage Vdc is, for example, 12 V. The DC power supply 3 is, for example, a battery, a DC-DC converter, a diode rectifier, a PWM rectifier, or the like. There is no limitation on the type of device that constitutes the DC power supply 3 as long as it is a device that outputs the DC voltage Vdc. The DC power supply 3 may be provided with a voltage sensor that detects the DC voltage Vdc. An output signal output from the voltage sensor may be input to the control device 10. The control device 10 may perform control using the detected DC voltage Vdc.

[0024] <Current sensor 6> The current sensor 6 is configured to detect the current flowing through each of the windings of the three phases, U, V, and W. The current sensor 6 is, for example, a current sensor such as a shunt resistor or a Hall element. The output signal output from the current sensor 6 is input to the control device 10. In this embodiment, the current sensor 6 is connected in series to the switching elements SPw and SNw in the series circuits of each of the three phases, U phase, V phase, and W phase.

[0025] The current sensor 6 has a U-phase resistor Ru, a V-phase resistor Rv, and a W-phase resistor Rw. The three-phase resistors Ru, Rv, and Rw are connected in series to the negative electrodes of the switching elements SNu, SNv, and SNw, respectively. The three-phase resistors Ru, Rv, and Rw are connected in a one-to-one relationship to amplifiers 21, 22, and 23. The amplifiers 21, 22, and 23 detect the potential difference across each of the three-phase resistors Ru, Rv, and Rw. The detected potential difference is input to the control device 10.

[0026] In each of the three phases, U phase, V phase, and W phase, the current sensor 6 may be provided on the electric wire connecting the series circuit of the two switching elements SP and SN to the winding. Furthermore, the current sensor 6 may be provided on the electric wire connecting the power converter 4 and the DC power supply 3. In this case, the current in the windings of each of the three phases, U phase, V phase, and W phase, may be detected by the well-known "one bus shunt system."

[0027] The configuration of the power converter 4 is not limited to an inverter. A power converter other than an inverter, for example, a matrix converter, may be used as the power converter 4.

[0028] <Electric power steering device 100> The electric power steering device 100 includes the above-mentioned rotating electric machine control device 10, the above-mentioned power converter 4, the above-mentioned rotating electric machine 1, a driving force transmission mechanism 101, a steering device 102, wheels 103, a handle 104, a shaft 105, and a torque sensor 106. The driving force transmission mechanism 101 is a mechanism that transmits the driving force generated by the rotating electric machine 1 to a steering device 102 of the vehicle. The driving force transmission mechanism 101 is composed of a worm gear mechanism that connects the rotating shaft of the rotating electric machine 1 to a shaft 105, etc. The steering wheel 104 is operated by a driver of the vehicle and can be rotated left or right. The rotating shaft of the rotor that constitutes the rotating electric machine 1 is connected to a steering device 102 for wheels 103 via a driving force transmission mechanism 101. The shaft 105 is connected to the steering wheel 104. The shaft 105 transmits the steering torque generated by the steering wheel 104 to the steering device 102 connected to the wheels 103. The torque sensor 106 is attached to the shaft 105. The torque sensor 106 detects the steering torque Ts applied by the steering wheel 104. An output signal output from the torque sensor 106 is input to the control device 10. The output signal output from the torque sensor 106 is input to, for example, an input circuit 92, which will be described later.

[0029] <Control device 10> 2 and 3 are block diagrams showing the control device 10 according to this embodiment. The control device 10 is configured to control the rotating electrical machine 1 via the power converter 4. As shown in FIG. 2, the control device 10 includes a rotation detection unit 31, a control angle calculation unit 32, a current detection unit 33, a voltage command value calculation unit 34, a switching control unit 35, and the like. Each function of the control device 10 is realized by a processing circuit provided in the control device 10. In the following description, the rotation detection unit 31, the control angle calculation unit 32, the current detection unit 33, the voltage command value calculation unit 34, and the switching control unit 35 may be referred to as control units 31 to 35. Furthermore, the control units 31 to 35 may also be referred to as functional units.

[0030] The control device 10 includes a plurality of processing circuits. Specifically, as shown in Fig. 3, the control device 10 includes a CPU (Central Processing Unit) 90, a storage device 91, an input circuit 92, an output circuit 93, and the like.

[0031] <cpu90> The CPU 90 is an example of a processing unit, such as a computer, such as a CPU (Central Processing Unit). The CPU 90 may include, for example, an ASIC (Application Specific Integrated Circuit), an IC (Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), various logic circuits, and various signal processing circuits. The CPU 90 is configured to execute software stored in the storage device 91. Here, the software is, for example, a computer program. The CPU 90 may include multiple circuits, such as the same type of circuit or different types of circuits. The processing of the CPU 90 may be executed such that each of the multiple circuits is responsible for a portion of the processing performed by the CPU 90.

[0032] <Storage device 91> The storage device 91 stores computer programs, various data, etc. In other words, the storage device 91 is capable of storing software. The storage device 91 includes a RAM (Random Access Memory) or a ROM (Read Only Memory). When the storage device 91 includes a RAM, the storage device 91 can read and write data from and to the CPU 90. When the storage device 91 includes a ROM, the storage device 91 can read and write data from and to the CPU 90. The storage device 91 exchanges data between the CPU 90 and the storage device 91 .

[0033] <Input circuit 92> The input circuit 92 is a circuit that inputs external signals from outside the control device 10 to the CPU 90. The input circuit 92 is connected to various sensors or switches, such as the rotation sensor 2, the current sensor 6, and the torque sensor 106. The input circuit 92 includes an A / D converter and the like. As a result, the input circuit 92 inputs output signals output from the above-mentioned sensors or switches to the CPU 90.

[0034] <Output circuit 93> The output circuit 93 is a circuit that outputs a signal from the CPU 90 to the outside of the control device 10. An electrical load is connected to the output circuit 93. The electrical load is, for example, a gate drive circuit. The gate drive circuit drives the switching element to switch the state of the switching element between an on state and an off state. The output circuit 93 includes, for example, a drive circuit. The drive circuit outputs a control signal from the CPU 90 to the electrical load. In the following description, driving a switching element to switch the state of the switching element between an on state and an off state may be referred to as "on / off driving of a switching element."

[0035] In the control device 10 configured in this manner, when the CPU 90 executes software, the storage device 91, input circuit 92, output circuit 93, etc., and other hardware or sensors connected to the control device 10 are driven in cooperation with each other, thereby realizing the functions of the control units 31 to 35. The setting data such as the division ratio and control gain used by each of the control units 31 to 35 is stored in the storage device 91 such as a ROM as part of the software.

[0036] Hereinafter, each function of the control device 10 will be described in detail with reference to FIGS.

[0037] <Basic Control in the Control Device 10> <Rotation detection unit 31> The rotation detection unit 31 detects the rotation angle θd of the rotor based on the output signal output from the rotation sensor 2. Specifically, the rotation detection unit 31 detects the rotation angle (magnetic pole position) of the magnetic pole (N pole) of the magnet in electrical angle relative to the position of the U-phase winding Cv. The detected rotation angle is the detected value θd, which is the rotation angle of the rotor.

[0038] <Current detection unit 33> The current detection unit 33 detects the currents Iud, Ivd, and Iwd flowing through the three-phase windings based on the output signal output from the current sensor 6. Specifically, based on the output signal output from the current sensor 6, the current detection unit 33 detects the current Iud flowing through the U-phase winding Cu, the current Ivd flowing through the V-phase winding Cv, and the current Iwd flowing through the W-phase winding Cw.

[0039] Regarding current detection by current detection unit 33, current sensor 6 may be configured to detect two-phase winding currents, and the winding current of the remaining phase may be calculated based on the detected values ​​of the two-phase winding currents. For example, current sensor 6 may detect V-phase and W-phase winding currents Ivd and Iwd, and U-phase winding current Iud may be calculated by Iud=-Ivd-Iwd.

[0040] <Voltage command value calculation unit 34> The voltage command value calculation unit 34 calculates three-phase voltage command values ​​Vuo, Vvo, and Vwo to be applied to the three-phase windings Cu, Cv, and Cw based on the control rotation angle θc calculated by the control angle calculation unit 32 described later and the current detection value. Specifically, the voltage command value calculation unit 34 calculates voltage command values ​​to be applied to the windings of multiple phases based on the rotation angle for control, the current, the command value of the q-axis current, and the command value of the d-axis current. In this embodiment, the voltage command value calculation unit 34 includes a current coordinate conversion unit 342 , a dq-axis voltage command value calculation unit 343 , and a voltage coordinate conversion unit 344 .

[0041] The current coordinate conversion unit 342 converts the current detection values ​​Iud, Ivd, and Iwd of the three-phase windings Cu, Cv, and Cw into a d-axis current detection value Idd and a q-axis current detection value Iqd based on the control rotation angle θc.

[0042] In this embodiment, the current coordinate conversion unit 342 performs three-to-two phase conversion and rotational coordinate conversion on the detected current values ​​Iud, Ivd, and Iwd of the three-phase windings Cu, Cv, and Cw based on the control rotation angle θc, as shown in the following equation: This converts the detected current values ​​Iud, Ivd, and Iwd into a detected d-axis current value Idd and a detected q-axis current value Iqd.

[0043]

number

[0044] The d-axis is defined as the direction of the magnetic pole (north pole) of the magnet, and the q-axis is defined as the direction 90 electrical degrees ahead of the d-axis. In this embodiment, coordinate transformation is performed based on the control rotation angle θc, and therefore the direction of the control rotation angle θc becomes the d-axis.

[0045] <Current command value calculation unit 36> The current command value calculation unit 36 ​​has a d-axis current command value generation unit 361 and a q-axis current command value generation unit 362. The d-axis current command value generation unit 361 calculates a d-axis current command value Ido. In other words, the d-axis current command value generation unit 361 generates a command value for the d-axis current flowing through the rotating electric machine. The q-axis current command value generation unit 362 calculates a q-axis current command value Iqo. In other words, the q-axis current command value generation unit 362 generates a command value for the q-axis current flowing through the rotating electric machine. The current command value calculation unit 36 ​​detects the steering torque Ts acting on the steering wheel 104 operated by the driver, based on the output signal output from the torque sensor 106.

[0046] Then, the current command value calculation unit 36 ​​sets the q-axis current command value Iqo based on the steering torque Ts, and sets the d-axis current command value Ido to 0, as shown in the following equation. That is, Id=0 control is performed. Id=0 control is an example of d-axis current zero control. In Id=0 control, the d-axis current command value Ido is set to 0. Id=0 control is preferable when the rotating electric machine 1 is a surface permanent magnet type rotating electric machine.

[0047] Iqo=Ka×Ts Ido=0 (1-2)

[0048] Here, Ka is a constant. Note that Ka may be changed depending on the steering torque Ts, the vehicle running speed, etc. Also, the q-axis current command value Iqo may be set based on known compensation control according to the steering situation.

[0049] If the rotating electric machine 1 is an interior permanent magnet type rotating electric machine, the d-axis and q-axis current command values ​​Ido, Iqo may be set by maximum torque current control instead of Id=0 control. In maximum torque current control, the d-axis and q-axis current command values ​​Ido, Iqo are calculated so as to maximize the generated torque for the same current.

[0050] In a region where the rotational angular velocity is high, flux-weakening control is performed to increase the d-axis current command value Ido in the negative direction relative to the d-axis current command value calculated by Id=0 control or maximum torque current control.

[0051] For example, the execution region of the flux-weakening control is set to a region where the rotational angular velocity ω is equal to or greater than the base velocity at which the amplitude of the line voltage output by the inverter reaches the DC voltage Vdc.

[0052] FIG. 4 is a diagram showing the execution regions of each control when Id=0 control and flux-weakening control are performed in the case where the control device 10 is applied to a surface permanent magnet type rotating electric machine. FIG. 5 is a diagram showing the execution regions of each control when maximum torque current control and flux-weakening control are performed in the case where the control device 10 is applied to an interior permanent magnet rotating electric machine. 4 and 5, the horizontal axis represents the rotational angular velocity, and the vertical axis represents the torque.

[0053] The dq-axis voltage command value calculation unit 343 performs current feedback control shown in the following equation. Specifically, in the current feedback control, the dq-axis voltage command value calculation unit 343 changes the d-axis voltage command value Vdo and the q-axis voltage command value Vqo so that the d-axis current detection value Idd approaches the d-axis current command value Ido and so that the q-axis current detection value Iqd approaches the q-axis current command value Iqo. In the current feedback control, for example, PI control or the like is used.

[0054]

number

[0055] Here, Kd and Kq represent proportional gains, Td and Tq represent integral time constants, and s represents a Laplace operator. Note that feedforward control may be performed to eliminate interference between the d-axis current and the q-axis current. That is, "-ωc×Lq×Iqc" may be added to the d-axis voltage command value Vdo, and "ωc×(Ld×Idc+ψ)" may be added to the q-axis voltage command value Vqo. Here, ωc is a rotational angular velocity for control, which will be described later. Instead of ωc, a detected value ωd of the rotational angular velocity, which will be described later, may be used.

[0056] Lq indicates the q-axis inductance. Ld indicates the d-axis inductance. ψ indicates the interlinkage magnetic flux that occurs when the magnetomotive force of the magnet interlinks with the winding.

[0057] The voltage coordinate conversion unit 344 converts the d-axis voltage command value Vdo and the q-axis voltage command value Vqo into three-phase voltage command values ​​Vuo, Vvo, and Vwo based on the control rotation angle θc.

[0058] In this embodiment, as shown in the following equations, the voltage coordinate converter 344 performs fixed coordinate conversion and two-phase to three-phase conversion based on the control rotation angle θc on the d-axis voltage command value Vdo and the q-axis voltage command value Vqo. In this way, the voltage coordinate converter 344 converts the d-axis voltage command value Vdo and the q-axis voltage command value Vqo into three-phase voltage command values ​​Vuo, Vvo, and Vwo.

[0059]

number

[0060] The voltage coordinate conversion unit 344 may apply known modulation such as two-phase modulation or third-order harmonic superposition to the three-phase voltage command values ​​Vuo, Vvo, and Vwo.

[0061] <Switching control unit 35> Based on the three-phase voltage command values ​​Vuo, Vvo, and Vwo, the switching control unit 35 drives and turns on / off a plurality of switching elements included in the power converter 4. The switching control unit 35 uses a known carrier comparison PWM or space vector PWM. The switching control unit 35 drives the multiple switching elements SP and SN included in the power converter 4 to turn on and off based on the voltage command value calculated by the voltage command value calculation unit 34.

[0062] When carrier comparison PWM is used, the switching control unit 35 compares the carrier wave with each of the three-phase voltage command values ​​Vuo, Vvo, and Vwo. Based on the comparison results, the switching control unit 35 drives multiple switching elements to turn on and off. The carrier wave is, for example, a triangular wave, which has a waveform that oscillates with an amplitude of Vdc / 2, half the value of the DC voltage, centered on 0 at a PWM period Tc.

[0063] The switching control unit 35 controls the operation of the positive-side switching elements SP for each of the three phases, U-phase, V-phase, and W-phase, as follows. When the carrier wave falls below the voltage command value, the switching control unit 35 turns on the switching signal GP of the positive-side switching element SP, turning on the positive-side switching element SP. When the carrier wave exceeds the voltage command value, the switching control unit 35 turns off the switching signal GP of the positive-side switching element SP, thereby turning off the positive-side switching element SP.

[0064] The switching control unit 35 controls the operation of the negative-side switching elements SN for each of the three phases, U-phase, V-phase, and W-phase, as follows. When the carrier wave falls below the voltage command value, the switching control unit 35 turns off the switching signal GN of the negative-side switching element SN, thereby turning off the negative-side switching element SN. When the carrier wave exceeds the voltage command value, the switching control unit 35 turns on the switching signal GN of the negative-side switching element SN to turn on the negative-side switching element SN.

[0065] A short-circuit prevention period may be provided between the on-period of the positive-side switching element SP and the on-period of the negative-side switching element SN in each of the three phases, U, V, and W. The short-circuit prevention period is a so-called dead time. During the short-circuit prevention period, both the positive-side switching element SP and the negative-side switching element SN are turned off.

[0066] When space vector PWM is used, the switching control unit 35 generates a voltage command vector from three-phase voltage command values ​​Vuo, Vvo, and Vwo. Based on the voltage command vector, the switching control unit 35 determines the output time allocation of seven basic voltage vectors in a PWM period. Based on the output time allocation of the seven basic voltage vectors, the switching control unit 35 generates switching signals that drive each switching element on and off in a PWM period.

[0067] <Control angle calculation unit 32> Control angle calculation unit 32 is configured to reduce angle errors caused by detection errors of rotation sensor 2, based on at least one of the rotation angle, current, and voltage command value, which are output signals of rotation sensor 2. Specific functions of control angle calculation unit 32 are as follows. The control angle calculation unit 32 calculates the control rotation angle θc of the rotor. That is, the control angle calculation unit 32 is an example of a rotation calculation unit that calculates the control rotation angle of the rotor. The control angle calculation unit 32 estimates an estimated actual angle deviation Δθe, which is the deviation of the control rotation angle θc from the true value of the rotor rotation angle, based on information on the current detection value and information on the voltage command value. The control angle calculation unit 32 calculates a detected angle deviation Δθd, which is the deviation of the control rotation angle θc from the detected value θd of the rotation angle.

[0068] The control angle calculation unit 32 calculates the detected angle deviation Δθd as a control angle deviation. The control angle calculation unit 32 calculates, for example, a value obtained by internally dividing the estimated actual angle deviation Δθe and the detected angle deviation Δθd as the control angle deviation Δθc. Then, the control angle calculation unit 32 calculates the control rotation angle based on the control angle deviation. Specifically, the control angle calculation unit 32 calculates the control rotation angle θc by performing feedback control so that the control angle deviation Δθc approaches 0. More specifically, the control angle calculation unit 32 changes the control rotation angular velocity of the rotor by performing this feedback control, and calculates the control rotation angle by integrating the control rotation angular velocity.

[0069] When a speed-proportional physical quantity, which is a physical quantity proportional to the rotational angular velocity of the rotor, is higher than a predetermined speed threshold Th, the control angle calculation unit 32 sets the proportion Ke of the estimated actual angle deviation Δθe in the control angle deviation Δθc to be higher than the proportion Kd of the detected angle deviation. When the speed proportional physical quantity is lower than the speed threshold value Th, the control angle calculation unit 32 sets the proportion Ke of the estimated actual angle deviation Δθe in the control angle deviation Δθc lower than the proportion Kd of the detected angle deviation.

[0070] According to this configuration, feedback control is performed so that the control angle deviation Δθc, which is the internal division of the estimated actual angle deviation Δθe and the detected angle deviation Δθd, approaches 0. In this way, the rotation angle θc for control is calculated. In other words, unlike the flux-weakening control disclosed in Patent Document 1, the control device 10 according to this embodiment is not configured to correct the sensor detection value of the rotational angular velocity using a feedback control value. In the control device 10 according to this embodiment, when the rotor is rotating at high speed, there is no need to increase the response frequency of the feedback control to reduce errors in the AC component included in the sensor detection value of the rotation angle.

[0071] Therefore, the response frequency of the feedback control can be set to respond to the vibration frequency of the mechanical rotation angle, which is a relatively low frequency, and further, the response frequency of the feedback control can be set not to respond to the frequency of the noise component contained in the current detection value, which is a relatively high frequency.

[0072] Furthermore, when the rotor is rotating at high speed, the proportion Ke of the estimated actual angle deviation Δθe is made higher than the proportion Kd of the detected angle deviation Δθd, and the control rotation angle θc is calculated by feedback control that brings the control angle deviation Δθc closer to 0. This makes it possible to prevent errors in the AC component contained in the detected rotation angle value θd from being reflected in the control rotation angle θc. Furthermore, the control rotation angle θc can be brought closer to the true value of the rotation angle.

[0073] Therefore, when the rotor is rotating at high speed, it is possible to reduce the error in the AC component contained in the detected value θd of the rotation angle while suppressing an increase in the error in the rotation angle due to the high-frequency noise components contained in the detected current value.

[0074] Furthermore, even if the proportion Kd of the detected angle deviation Δθd becomes higher than the proportion Ke of the estimated actual angle deviation Δθe when the rotor is rotating at a low speed, the control rotation angle θc is calculated by feedback control that brings the control angle deviation Δθc closer to 0. This makes it possible to prevent errors in the AC component contained in the detected value θd of the rotation angle from being reflected in the control rotation angle θc.

[0075] <Calculation of detected angle deviation Δθd> FIG. 6 is a block diagram showing the control angle calculation unit 32 according to this embodiment. The control angle calculation unit 32 calculates the detected angle deviation Δθd by subtracting the control rotation angle θc from the detected value θd of the rotation angle, as shown in the following equation.

[0076] Δθd=θd-θc (1-5)

[0077] <Calculation of estimated actual angle deviation Δθe> As described above, the control angle calculation unit 32 estimates the estimated actual angle deviation Δθe, which is the deviation of the control rotation angle θc from the true value of the rotor rotation angle, based on information on the current detection value and information on the voltage command value.

[0078] In this embodiment, the control angle calculation unit 32 estimates the estimated actual angle deviation Δθe, which is the deviation of the control rotation angle θc from the true value of the rotor rotation angle, based on the d-axis current detection value Idd, the q-axis current detection value Iqd, the d-axis voltage command value Vdo, the q-axis voltage command value Vqo, and the control rotation angular velocity ωc.

[0079] The control angle calculation unit 32 calculates the estimated actual angle deviation Δθe using the following equation.

[0080] ΔVd=-Vdo+R×Idd-ωc×Lq×Iqd ΔVq= Vqo-R×Iqd-ωc×Ld×Idd Δθe=arctan(ΔVd / ΔVq) ···(1-6)

[0081] Here, R denotes a preset resistance value of the winding, Lq denotes a preset q-axis inductance, and Ld denotes a preset d-axis inductance.

[0082] Ld and Lq may be set using map data of the d-axis current and the q-axis current, taking into account the magnetic saturation of the permanent magnet.

[0083] Equation (1-6) is an equation derived based on the voltage equation. ΔVd indicates the error in the d-axis voltage due to the deviation of the control rotation angle θc from the actual rotation angle. Here, the "actual rotation angle" is the rotation angle for which the voltage equation holds. ΔVq indicates the error in the q-axis voltage due to the deviation of the control rotation angle θc from the actual rotation angle. Then, by calculating the value of the arctangent function of ΔVd / ΔVq, the estimated actual angle deviation Δθe, which is the deviation of the control rotation angle θc from the true value of the rotation angle, is calculated.

[0084] It should be noted that instead of the rotational angular velocity ωc for control, a detected value ωd of the rotational angular velocity calculated by differentiating the detected value θd of the rotation angle may be used.

[0085] Furthermore, instead of the d-axis voltage command value Vdo and the q-axis voltage command value Vqo, the U-phase applied voltage Vu_PWM, V-phase applied voltage Vv_PWM, and W-phase applied voltage Vw_PWM that are applied to the three-phase windings may be detected. In this case, the d-axis voltage detection value Vdd and the q-axis voltage detection value Vqd may be obtained by performing a three-phase to two-phase transformation and a rotational coordinate transformation based on the control rotation angle θc on the three-phase voltage detection values ​​Vu_PWM, Vv_PWM, and Vw_PWM.

[0086] When the absolute value of the detected value ωd of the rotational angular velocity is smaller than the threshold value, the control angle calculation unit 32 may stop the estimation of the actual angle deviation Δθe using equation (1-6) and set Δθe = 0. This is to prevent the q-axis voltage error ΔVq from approaching 0 when the rotational angular velocity is low, which would result in ΔVd / ΔVq becoming too large and causing an excessively large calculation error of Δθe.

[0087] <Calculation of the rotational angular velocity detection value ωd> The control angle calculation unit 32 calculates the detected value ωd of the rotational angular velocity using the following equation.

[0088] ωd(n)={θd(n)-θd(n-1)} / ΔT ···(1-7)

[0089] Here, θd(n−1) indicates the rotation angle detected at the previous calculation timing, θd(n) indicates the rotation angle detected at the current calculation timing, and ΔT indicates the calculation period. As the detected value ωd of the rotational angular velocity, a value obtained by performing low-pass filtering on the value calculated by equation (1-7) may be used.

[0090] <Calculation of control angle deviation Δθc by internal division> The control angle calculation unit 32 calculates the sum of the value obtained by multiplying the estimated actual angle deviation Δθe by the internal division rate Ke of the estimated actual angle deviation and the value obtained by multiplying the detected angle deviation Δθd by the internal division rate Kd of the detected angle deviation, as shown in the following equation. This sum is the control angle deviation Δθc. Here, the division ratio Ke of the estimated actual angle deviation is an example of a proportion of the estimated actual angle deviation, and the division ratio Kd of the detected angle deviation is an example of a proportion of the detected angle deviation.

[0091] Δθc=Ke×Δθe+Kd×Δθd Ke+Kd=1, 0≦Ke≦1, 0≦Kd≦1 (1-8)

[0092] Here, the division ratio Ke of the estimated actual angle deviation is the ratio Ke of the estimated actual angle deviation Δθe to the control angle deviation Δθc, and the division ratio Kd of the detected angle deviation is the ratio Kd of the detected angle deviation Δθd to the control angle deviation Δθc.

[0093] The internal division rate Ke of the estimated actual angle deviation and the internal division rate Kd of the detected angle deviation are each set in the range of 0 to 1 so that the sum of the internal division rate Ke of the estimated actual angle deviation and the internal division rate Kd of the detected angle deviation is 1. In other words, Kd = 1 - Ke.

[0094] Therefore, the relationship (Δθc-Δθe):(Δθd-Δθc)=Ke:(1-Ke) holds true. That is, the control angle deviation Δθc is a value obtained by internally dividing the estimated actual angle deviation Δθe and the detected angle deviation Δθd in the ratio Ke:(1-Ke).

[0095] <Changes in the internal division ratio according to the velocity-proportional physical quantity> FIG. 7 shows an example of setting the internal division ratios Ke and Kd according to this embodiment. As shown on the horizontal axis of FIG. 7, in this embodiment, the detected value ωd of the rotational angular velocity is used as the velocity-proportional physical quantity.

[0096] When the detected value ωd of the rotational angular velocity is higher than a preset velocity threshold Th, the control angle calculation unit 32 sets the internal division rate Ke of the estimated actual angle deviation higher than the internal division rate Kd of the detected angle deviation. When the detected value ωd of the rotational angular velocity is lower than the velocity threshold Th, the control angle calculation unit 32 sets the internal division rate Ke of the estimated actual angle deviation lower than the internal division rate Kd of the detected angle deviation.

[0097] That is, when the detected value ωd of the rotational angular velocity is higher than the velocity threshold Th, the control angle calculation unit 32 sets the internal division ratio Ke of the estimated actual angle deviation higher than 0.5 and the internal division ratio Kd of the detected angle deviation lower than 0.5. Furthermore, when the detected value ωd of the rotational angular velocity is lower than the velocity threshold Th, the control angle calculation unit 32 sets the internal division ratio Ke of the estimated actual angle deviation lower than 0.5 and the internal division ratio Kd of the detected angle deviation higher than 0.5. It should be noted that a control rotational angular velocity ωc may be used instead of the detected value ωd of the rotational angular velocity.

[0098] Within a preset range of the velocity-proportional physical quantity including the velocity threshold value Th, the control angle calculation unit 32 continuously increases the internal division ratio Ke of the estimated actual angle deviation and continuously decreases the internal division ratio Kd of the detected angle deviation as the detected value ωd of the rotational angular velocity increases. In this embodiment, the "predetermined range of velocity-proportional physical quantities including the velocity threshold value Th" corresponds to the range of rotational angular velocities. In the following description, this range will be referred to as the replacement angular velocity range.

[0099] The value obtained by subtracting a predetermined value from the velocity threshold Th is the lower limit angular velocity ThL of the replacement angular velocity range. The value obtained by adding a predetermined value to the velocity threshold Th is the upper limit angular velocity ThH of the replacement angular velocity range. The replacement angular velocity range is the range from the lower limit angular velocity ThL to the upper limit angular velocity ThH. In the example shown in FIG. 7, the replacement angular velocity range is set so that the velocity threshold Th is at the center of the replacement angular velocity range.

[0100] According to this configuration, the internal division ratios Ke and Kd are continuously changed within the switching speed range. This prevents abrupt changes in the control angle deviation Δθc when there is a difference between the estimated actual angle deviation Δθe and the detected angle deviation Δθd, thereby preventing abrupt changes in the control rotation angle θc and torque. This prevents a deterioration in the steering feel experienced by the driver. The internal division ratios Ke and Kd may be changed in a stepwise manner before and after the speed threshold Th, that is, at speeds lower or higher than the speed threshold Th.

[0101] As the detected value ωd of the rotational angular velocity increases within a replacement angular velocity range including the velocity threshold Th, the control angle calculation unit 32 continuously increases the internal division ratio Ke of the estimated actual angle deviation from 0 to 1 and continuously decreases the internal division ratio Kd of the detected angle deviation from 1 to 0. In other words, when the velocity-proportional physical quantity is lower than a preset range of the velocity-proportional physical quantity including the velocity threshold, the control angle calculation unit 32 sets the ratio of the estimated actual angle deviation to 0 and sets the ratio of the detected angle deviation to 1.

[0102] Also, when the detected value ωd of the rotational angular velocity is lower than the switching angular velocity range, the control angle calculation unit 32 sets the internal division ratio Ke of the estimated actual angle deviation to 0 and sets the internal division ratio Kd of the detected angle deviation to 1. When the detected value ωd of the rotational angular velocity is higher than the switching angular velocity range, the control angle calculation unit 32 sets the internal division ratio Ke of the estimated actual angle deviation to 1 and sets the internal division ratio Kd of the detected angle deviation to 0. In other words, when the speed proportional physical quantity is higher than the range of the preset speed proportional physical quantity including the speed threshold value, the control angle calculation unit 32 sets the ratio of the estimated actual angle deviation to 1 and sets the ratio of the detected angle deviation to 0.

[0103] <The speed threshold Th is set corresponding to the execution region of the field weakening control> The speed threshold Th is set corresponding to the rotational angular velocity ωbd at the boundary between the execution region of the Id = 0 control or the maximum torque current control and the execution region of the field weakening control. The rotational angular velocity ωbd is an example of the speed proportional physical quantity. The effect of this setting will be described below. When there is an angle error Δθerr, the torque error ΔTerr can be approximated as follows.

[0104] ΔTerr≒Iq×cos(Δθerr)+Id×sin(Δθerr) ···(1-9)

[0105] Even when there is an error, the angle error Δθerr is close to 0. That is, cos(Δθerr) << sin(Δθerr), and the first term on the right side of Equation (1-9) can be ignored. Therefore, the torque error ΔTerr increases as the absolute value of the d-axis current Id increases. As described above, in the field weakening control, the d-axis current command value Ido is increased in the negative direction compared to the d-axis current command value calculated by the Id = 0 control or the maximum torque current control. For this reason, in the execution region of the field weakening control, the absolute value of the d-axis current Id increases, and when there is an angle error Δθerr, the torque error ΔTerr increases.

[0106] As described above, by setting the speed threshold Th, the internal division ratio Ke of the estimated actual angle deviation is increased in the execution region of the flux-weakening control, and the control rotation angle θc is calculated so that the estimated actual angle deviation Δθe is reduced. As a result, the deviation of the control rotation angle θc from the true value of the rotation angle (estimated actual angle deviation Δθe) is reduced, and the angle error Δθerr is reduced.

[0107] As explained using equation (1-6), the true value of the rotation angle is the rotation angle at which the voltage equation holds. The torque error ΔTerr shown in equation (1-9) is also derived based on the voltage equation. Therefore, by calculating the control rotation angle θc so that the estimated actual angle deviation Δθe decreases, the torque error ΔTerr can be reduced.

[0108] The calculation accuracy of the estimated actual angle deviation Δθe in equation (1-6) increases when the induced voltage increases. Therefore, in the region where the induced voltage increases and the flux-weakening control is performed, the internal division ratio Ke of the estimated actual angle deviation is increased, thereby increasing the accuracy of reducing the angle error Δθerr.

[0109] In this embodiment, when the detected value ωd of the rotational angular velocity is greater than the lower limit angular velocity ThL of the replacement angular velocity range, the estimated actual angle deviation Δθe is reflected in the calculation of the control rotational angle θc.

[0110] Therefore, the speed threshold Th and the replacement angular velocity range may be set so that the rotational angular velocity ωbd at the boundary between the execution region of Id=0 control or maximum torque current control and the execution region of flux-weakening control is equal to or greater than the lower limit angular velocity ThL of the replacement angular velocity range. For example, the speed threshold Th may be set to match the boundary rotational angular velocity ωbd. Alternatively, the speed threshold Th and the replacement angular velocity range may be set so that the boundary rotational angular velocity ωbd is included in the replacement angular velocity range.

[0111] 5, when the control device 10 is applied to an interior permanent magnet rotating electric machine, the boundary rotational angular velocity ωbd changes depending on the torque, and therefore the speed threshold Th and the replacement angular velocity range may be changed depending on the torque. Furthermore, when the control device 10 is applied to an interior permanent magnet rotating electric machine, the d-axis current also becomes a value smaller than 0 in the maximum torque current control. Therefore, the speed threshold Th and the replacement angular velocity range may be set to the execution region of the maximum torque current control.

[0112] The rotational angular velocity ωc for control may be used as the velocity-proportional physical quantity. Also, a physical quantity other than the rotational angular velocity may be used as the velocity-proportional physical quantity. For example, the induced voltage generated in the winding is proportional to the rotational angular velocity, and the voltage applied to the winding is proportional to the induced voltage. As the speed-proportional physical quantity, the magnitude of the voltage vector of the d-axis voltage command value Vdo and the q-axis voltage command value Vqo, or the sum of the squares of the voltage command value Vdo and the voltage command value Vqo may be used.

[0113] When the DC voltage Vdc becomes lower than the voltage threshold, the control angle calculation unit 32 may fix the internal division ratio Ke of the estimated actual angle deviation to 0 and fix the internal division ratio Kd of the detected angle deviation to 1. In other words, the control angle calculation unit 32 may prevent the estimated actual angle deviation Δθe from being reflected in the control angle deviation Δθc. This is because as the DC voltage Vdc decreases, the base speed decreases and the flux-weakening control is performed from a lower rotation speed. However, when the rotor is rotating at a low speed, the induced voltage is low, and therefore the estimation accuracy of the estimated actual angle deviation Δθe according to equation (1-6) decreases.

[0114] <Calculation of control rotation angle θc based on control angle deviation Δθc> As described above, the control angle calculation unit 32 calculates the control rotation angle θc by performing feedback control so that the control angle deviation Δθc approaches zero. In this embodiment, the control angle calculation unit 32 performs feedback control so that the control angle deviation Δθc approaches 0, thereby changing the control rotational angular velocity ωc, and integrates the control rotational angular velocity ωc to calculate the control rotation angle θc.

[0115] According to this configuration, by changing the control rotational angular velocity ωc through feedback control, there is no need to directly change the control rotational angle θc through feedback control, and there is no need to increase the response frequency of the feedback control to the rotational frequency.

[0116] Therefore, the response frequency of the feedback control can be set lower than the rotation frequency, and further, the response frequency of the feedback control can be set according to the vibration frequency of the mechanical rotation angular velocity.

[0117] For example, the control angle calculation unit 32 performs feedback control by changing the control rotational angular velocity ωc by PI control so that the control angle deviation Δθc approaches 0, as shown in the following equation.

[0118] ωc=Kc×(1+1 / (Tc×s))×Δθc ···(1-10)

[0119] where Kc represents the proportional gain, Tc represents the integral time constant, and s represents the Laplace operator. Instead of PI control, various types of feedback control such as PID control may be used.

[0120] <Response frequency from Δθc to θc> The transfer function G from the control angle deviation Δθc to the control rotation angle θc is given by the following equation.

[0121] G(s)=θc / Δθc=Kc×(1+1 / (Tc×s)) / s ···(1-11)

[0122] As is clear from Fig. 9 disclosed in Non-Patent Document 1 (Kurishige et al., "Steering Torque Reduction Control Method for Electric Power Steering," Transactions of the Japan Society of Mechanical Engineers (C), Vol. 68, No. 675), it can be seen that the steering speed of the steering vibrates at approximately 35 Hz. This is because Fig. 9 shows that there are approximately 3.5 cycles in 0.1 seconds.

[0123] Therefore, speed fluctuations in steering can occur at this frequency. Therefore, the response from the control angle deviation Δθc to the control rotation angle θc needs to be 35 Hz or higher, with a margin of around three times that, 90 to 100 Hz, being preferable, and five times that, 175 Hz or higher, being even more preferable. The vibration frequency of this rotational angular velocity corresponds to the resonance frequency of the mechanical power transmission mechanism connected to the rotating shaft of the rotor.

[0124] Fig. 11 is a Bode diagram showing the transfer function G of equation (1-11). In Fig. 11, the horizontal axis represents the rotational angular velocity, and the vertical axis represents the gain. Fig. 11 also shows the case where the condition Tc = 5 / Kc is set in equation (1-11). As is clear from Figure 11, the transfer function G is 0 dB when ω = Kc [rad / s]. The cutoff frequency has the characteristics of a first-order low-pass filter with proportional gain Kc [rad / s]. The reason for using a first-order low-pass filter here is that the cutoff frequency is -20 dB / dec near 0 dB.

[0125] Therefore, in the response from the control angle deviation Δθc to the control rotation angle θc, if the input angular frequency ω is equal to or less than the proportional gain Kc, θc responds so that Δθc = 0. On the other hand, if the input angular frequency ω exceeds the proportional gain Kc, θc will no longer be able to follow the fluctuations in Δθc. Therefore, the fact that the response from the control angle deviation Δθc to the control rotation angle θc needs to be 35 Hz or higher means that the proportional gain Kc needs to be 2π × 35 [rad / s] or higher.

[0126] Furthermore, to increase the response by approximately three times to 90-100Hz with some leeway, the proportional gain Kc must be set to 2π×90-2π×100[rad / s]. To increase the response by five times to 175Hz or higher, the proportional gain Kc must be set to 2π×175[rad / s] or higher.

[0127] From the above, the proportional gain Kc needs to be at least 2π×35 [rad / s], and to allow for some margin, about three times that, 2π×90 to 2π×100 [rad / s], is needed, and more preferably 2π×175 [rad / s] or more.

[0128] By setting the proportional gain Kc in this way, the response frequency (cutoff frequency) from the control angle deviation Δθc to the control rotation angle θc can be made higher than the speed fluctuation frequency of 35 Hz, which allows the control rotation angle θc to follow the speed fluctuation and suppresses torque fluctuations caused by angle errors.

[0129] On the other hand, high-frequency vibration components of the control angle deviation Δθc due to noise components contained in the detected current value or the detected angle value are cut off, so that high-frequency vibration components are not reflected in the control rotation angle θc.

[0130] Therefore, by setting the response frequency from the control angle deviation Δθc to the control rotation angle θc to between three and five times the frequency of the speed fluctuation (for example, 90 Hz or more), the control rotation angle θc can be made to follow the speed fluctuation and can be made less susceptible to the influence of noise components contained in the current detection value. As a result, it is possible to reduce torque fluctuations and make the rotary electric machine 1 quieter. That is, it is possible to suppress the generation of vibrations or noise from the rotary electric machine 1.

[0131] Furthermore, the response frequency from the control angle deviation Δθc to the control rotation angle θc is set lower than the rotation frequency corresponding to the speed threshold value Th. According to this configuration, in a region where the rotation speed is higher than the speed threshold Th and the internal division ratio Ke of the estimated actual angle deviation Δθe is higher than the internal division ratio Kd of the detected angle deviation Δθd, it is possible to prevent noise components of the rotation frequency contained in the current detection value, etc. from being reflected in the control rotation angle θc.

[0132] Furthermore, the response frequency from the control angle deviation Δθc to the control rotation angle θc is set higher than the mechanical resonance frequency occurring in the rotation speed of the rotor. In this embodiment, the mechanical resonance frequency is 35 Hz. In particular, the response frequency from the control angle deviation Δθc to the control rotation angle θc is preferably set between three and five times the mechanical resonance frequency occurring in the rotation speed of the rotor. According to this configuration, the control rotation angle θc can be made to follow fluctuations in the mechanical rotation angular velocity, and can be made less susceptible to the influence of high-frequency noise components.

[0133] On the other hand, in the flux-weakening control disclosed in Patent Document 1, as described above, the feedback controller that calculates Δω1c must have the ability to track frequencies up to the maximum rotation speed. To realize such a feedback controller, a high-end microcomputer is required. Furthermore, it is difficult to separate noise components included in Δθdc from the detected current value.

[0134] On the other hand, in this embodiment, the response frequency can be set according to the frequency of the speed fluctuation, which is lower than the maximum rotation frequency. Therefore, the frequency tracking performance as high as that of Patent Document 1 is not required. Therefore, according to this embodiment, it is easy to separate noise components from the detected current value, and a low-class microcomputer can be used as the CPU 90.

[0135] In the above description, when the speed-proportional physical quantity, which is a physical quantity proportional to the rotational angular velocity of the rotor, is higher than a preset speed threshold Th, the control angle calculation unit 32 sets the proportion Ke of the estimated actual angle deviation Δθe in the control angle deviation Δθc higher than the proportion Kd of the detected angle deviation. When the speed-proportional physical quantity is lower than the speed threshold Th, the control angle calculation unit 32 sets the proportion Ke of the estimated actual angle deviation Δθe in the control angle deviation Δθc lower than the proportion Kd of the detected angle deviation. This embodiment is not limited to the above-described control. It is also possible to always set Kd=1 and Ke=0 regardless of the speed-proportional physical quantity, which is a physical quantity proportional to the rotational angular velocity of the rotor.

[0136] When Kd=1 and Ke=0, the estimated actual angle deviation Δθe is invalid. Therefore, the estimated angle error calculation unit does not need to be included in the control angle calculation unit. In the above-described embodiment, the voltages (Vdo, Vqo) and currents (Idd, Iqd) are input to the control angle calculation unit, but the voltages (Vdo, Vqo) and currents (Idd, Iqd) do not need to be input to the control angle calculation unit.

[0137] In this case, the detected angle deviation Δθd is always used to calculate the control rotation angle θc of the rotor. The response frequency from the detected angle deviation Δθd to the control rotation angle θc is set to between three and five times the frequency of the speed fluctuation (for example, 175 Hz or higher). This makes it possible to make the control rotation angle θc follow the speed fluctuation and to make it less susceptible to the effects of noise components contained in the current detection value.

[0138] As a result, even when the rotation angle θc for controlling the rotor is calculated using only the detected angle deviation Δθd, torque fluctuations can be reduced and the rotating electric machine 1 can be made quieter. In other words, it is possible to suppress the generation of vibration or noise in the rotating electric machine 1. Furthermore, it is possible to maximize the output of the forward salient pole motor while suitably reducing the pulsation error in the rotation sensor 2.

[0139] Furthermore, Kd=0 and Ke=1 may always be set regardless of the speed-proportional physical quantity, which is a physical quantity proportional to the rotational angular velocity of the rotor. When Kd=0 and Ke=1, the detected angle deviation Δθd is invalid. For this reason, the rotor rotation angle calculation unit does not need to be included in the control angle calculation unit. In the above-described embodiment, the rotor rotation angle θd is input to the control angle calculation unit, but the rotation angle θd does not need to be input to the control angle calculation unit.

[0140] In this case, the estimated actual angle deviation Δθe is always used to calculate the control rotation angle θc of the rotor. As in the case where Kd = 1 and Ke = 0, the response frequency from the estimated actual angle deviation Δθe to the control rotation angle θc is set to between three and five times the frequency of the speed fluctuation (for example, 175 Hz or higher), which makes it possible to make the control rotation angle θc follow the speed fluctuation and to make it less susceptible to the influence of noise components contained in the detected current value.

[0141] As a result, even when the rotation angle θc for controlling the rotor is calculated using only the estimated actual angle deviation Δθe, torque fluctuations can be reduced and the rotating electric machine 1 can be made quieter. In other words, it is possible to suppress the generation of vibration or noise in the rotating electric machine 1. Furthermore, it is possible to maximize the output of the forward salient pole motor while suitably reducing the pulsation error in the rotation sensor 2.

[0142] Embodiment 2 A rotary electric machine control device 10 according to a second embodiment will be described with reference to the drawings. In the second embodiment, the same members as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted or simplified. The basic configuration of the electric power steering device according to the second embodiment is the same as that of the electric power steering device 100 according to the first embodiment. The second embodiment differs from the first embodiment in that the control rotation angle θc in the control device 10 has an upper limit value and a lower limit value.

[0143] FIG. 9 is a block diagram showing the control angle calculation unit 32. In this embodiment, the control angle calculation unit 32 calculates an upper limit value θcmax and a lower limit value θcmin of the rotation angle for control based on the detected value θd of the rotation angle. When the control rotation angle θc deviates from the range from the upper limit value θcmax to the lower limit value θcmin, the control angle calculation unit 32 corrects the control rotation angle θc based on the detected value θd of the rotation angle.

[0144] For example, the control angle calculation unit 32 adds or subtracts a preset limit angle width Δθlmt to or from the detected value θd of the rotation angle, as shown in the following equation: In this way, the upper limit value θcmax and the lower limit value θcmin are calculated.

[0145] The limited angular width Δθlmt is set to, for example, an electrical angle of 90 degrees or less.

[0146] θcmax=θd+Δθlmt θcmin=θd-Δθlmt (2-1)

[0147] Furthermore, the control angle calculation unit 32 limits the control rotation angle θc to an upper limit value θcmax and a lower limit value θcmin as shown in the following equation.

[0148] (CASE 1) When θc>θcmax θc=θcmax (2-2) (CASE 2) θc<θcmin θc=θcmin (2-3) (CASE 3) θcmin≦θc≦θcmax θc=θc (2-4)

[0149] In this way, by limiting the control rotation angle θc by the upper limit value θcmax and lower limit value θcmin set based on the detected rotation angle value θd, even if an abnormality occurs in the calculated value of the control rotation angle θc, the control rotation angle θc can be maintained within an appropriate range, preventing a significant deterioration in the performance of the rotating electric machine. This embodiment can also be used when the rotation sensor is multiplexed.

[0150] For example, when a dual system rotation sensor such as a dual system resolver or a dual system MR sensor is used, the rotation angle detected by one of the normal systems of the rotation sensor may be used as the detected value θd of the rotation angle.

[0151] Embodiment 3 A rotary electric machine control device 10 according to a third embodiment will be described with reference to the drawings. In the third embodiment, the same members as those in the above-described embodiments are denoted by the same reference numerals, and the description thereof will be omitted or simplified. The basic configuration of the electric power steering device according to the third embodiment is the same as that of the electric power steering device 100 according to the first embodiment. The third embodiment differs from the first embodiment in that the rotation detection unit has a rotation sensor output signal correction unit and an arctangent function calculation unit.

[0152] FIG. 10 is a block diagram showing a rotation sensor 2A and a rotation detection unit 31A according to the third embodiment. The rotation sensor 2A is a rotation sensor that outputs a SIN signal and a COS signal to the rotation detection unit 31 A. Such a rotation sensor is, for example, a resolver or an MR sensor.

[0153] The rotation detection unit 31A has a rotation sensor output signal correction unit 40 and an arctangent function calculation unit 41. The rotation sensor output signal correction unit 40 corrects the SIN signal and COS signal that are output signals from the rotation sensor 2A. The rotation sensor output signal correction unit 40 outputs the corrected SIN signal and corrected COS signal to the arctangent function calculation unit 41. The arctangent function calculation unit 41 calculates the corrected SIN signal and corrected COS signal to calculate the rotation angle. In this way, the rotation detection unit 31A calculates the rotation angle while suppressing the AC error component of the rotation angle.

[0154] An error in the AC component contained in the rotation angle becomes a torque pulsation error, which causes vibration or noise generated from the rotating electrical machine. In particular, if there is an error in the rotation angle when the d-axis current is applied due to flux-weakening control, etc., the d-axis of the rotation angle for control will have a q-axis component of the rotating electric machine, resulting in a q-axis current error.

[0155] Therefore, an error in the AC component included in the rotation angle becomes an error in the AC component of the q-axis current, causing vibration or noise in the rotating electric machine. Therefore, in order to suppress vibration or noise in the rotating electric machine, it is important to suppress the error in the AC component included in the rotation angle.

[0156] Next, the calculations performed by the rotation detection unit 31A will be described with reference to FIGS. 11A to 15B. The horizontal axis in each of FIGS. 11A to 15B indicates the passage of time. The vertical axis of FIG. 11A represents the SIN signal and COS signal output from the rotation sensor 2A. The vertical axis of FIG. 11B represents the rotation angle calculated when the SIN signal and the COS signal are in an ideal state. The vertical axis of FIG. 12A indicates the case where the COS signal is offset with respect to the SIN signal output from the rotation sensor 2A. The vertical axis in FIG. 12B represents the rotation angle at which the SIN signal and COS signal shown in FIG. 12A are calculated. The vertical axis of FIG. 13A represents the case where the harmonic components of the SIN signal and the COS signal output from the rotation sensor 2A are superimposed. The vertical axis in FIG. 13B represents the rotation angle at which the SIN signal and COS signal shown in FIG. 13A are calculated. The vertical axis of FIG. 14A shows the case where there is a difference in amplitude between the harmonic components of the SIN signal and the fundamental component of the COS signal output from the rotation sensor 2A. The vertical axis in FIG. 14B represents the rotation angle at which the SIN signal and COS signal shown in FIG. 14A are calculated. The vertical axis of FIG. 15A indicates a case where the phase difference between the harmonic components of the SIN signal and the fundamental component of the COS signal output from the rotation sensor 2A is shifted from 90 degrees. The vertical axis in FIG. 15B represents the rotation angle at which the SIN signal and COS signal shown in FIG. 15A are calculated.

[0157] In all cases except for the cases in which the SIN and COS signals shown in Figures 11A and 11B are in ideal states, i.e., the cases shown in Figures 12B, 13B, 14B, and 15B, the rotation angle contains a periodically occurring error, which can be a cause of torque pulsation error.

[0158] The following describes the processing performed by the rotation sensor output signal corrector 40 to suppress the above-mentioned errors. In this embodiment, a case will be described in which the rotation sensor output signal corrector 40 performs all of the following four calculations.

[0159] <First operation> The rotation sensor output signal correction unit 40 calculates offset values ​​for the SIN signal and the COS signal, and subtracts the respective offset values ​​from the SIN signal and the COS signal. The offset value may be calculated using a low-pass filter with a cutoff sufficiently lower than the frequencies of the fundamental wave components of the SIN signal and the COS signal, or may be calculated by Fourier series expansion, or may be calculated by other known methods.

[0160] <Second operation> Next, the harmonic components of the SIN signal and the COS signal are calculated. The harmonic components of the SIN signal are subtracted from the SIN signal. The harmonic components of the COS signal are subtracted from the COS signal. This removes the harmonic components. The calculation of the harmonic components may be performed using Fourier series expansion or other known methods. Alternatively, the harmonic components may be removed using a low-pass filter. In this case, the low-pass filter has a cutoff that is sufficiently higher than the frequencies of the fundamental components of the SIN signal and the COS signal, but lower than the harmonic components.

[0161] <Third Calculation> Next, the amplitudes of the fundamental wave components of the SIN signal and the COS signal are calculated. The fundamental wave components of the SIN signal and the COS signal are corrected so that they have the same amplitude. The calculation of the amplitude of the fundamental wave component may be performed using Fourier series expansion or other known methods. The correction can be performed by calculating the amplitude ratio between the fundamental wave components of the SIN signal and the COS signal and multiplying one of the SIN signal or the COS signal by a gain corresponding to the amplitude ratio.

[0162] <Fourth Calculation> Next, the phase difference between the fundamental wave components of the SIN signal and the COS signal is calculated to correct the phase difference to 90 degrees. The phase difference may be calculated using Fourier series expansion or other known methods. The correction may be performed by delaying either the SIN signal or the COS signal according to the frequency of the fundamental wave component to correct the phase difference to 90 degrees, or by using other known methods. By the above-described calculation, the corrected SIN signal and the corrected COS signal are calculated.

[0163] The rotation sensor output signal correcting section 40 is capable of performing the four arithmetic processes described above, but the process by the rotation sensor output signal correcting section 40 does not have to perform all four arithmetic processes. It is sufficient to perform at least one of the four arithmetic processes. Furthermore, when two or three operations selected from the four operations are performed, the order in which the operations are performed is not limited. For example, when only the first and second operations are performed, the first operation may be performed after the second operation. Furthermore, when only the first, second, and fourth operations are performed, the first operation may be performed after the fourth operation, and the second operation may be performed after the first operation.

[0164] Next, the corrected SIN signal and corrected COS signal output from the rotation sensor output signal corrector 40 are input to the arctangent function calculator 41. The arctangent function calculator 41 calculates the corrected SIN signal and corrected COS signal using an arctangent function. This makes it possible to obtain the rotation angle as shown in FIG. 11B. That is, the arctangent function calculator 41 detects the rotation angle based on the corrected SIN signal and corrected COS signal.

[0165] The rotation angle obtained by calculation by rotation detection unit 31A according to this embodiment is used to calculate a rotation angle for control by the control method described in embodiments 1 and 2. This makes it possible to suppress AC errors in the rotation angle and suppress torque pulsation errors.

[0166] <Variation 1> It should be noted that even if the rotation angle calculated in this embodiment is used as the rotation angle for control as it is, the effect of sufficiently suppressing torque pulsation error can be obtained.

[0167] <Variation 2> The rotation detector 31A may calculate the arctangent function of the sine and cosine signals output from the rotation sensor 2A, and perform correction based on the harmonic components of the arctangent function to detect the rotation angle. In this case, too, the torque pulsation error can be sufficiently suppressed.

[0168] As described above, by correcting the SIN signal and COS signal, which are output signals from the rotation sensor 2A, using the rotation sensor output signal correcting unit 40 according to this embodiment and calculating the rotation angle using the arctangent function calculating unit 41, it is possible to suitably reduce pulsation errors in the rotation sensor and maximize the output of the forward salient pole motor.

[0169] Embodiment 4 A rotary electric machine control device 10 according to a fourth embodiment will be described with reference to the drawings. In the fourth embodiment, the same members as those in the above-described embodiments are denoted by the same reference numerals, and their description will be omitted or simplified. The basic configuration of the electric power steering device according to the fourth embodiment is the same as that of the electric power steering device 100 according to the first embodiment. The fourth embodiment differs from the first embodiment in that the rotation detection unit has an angle calculation unit and a rotation angle signal correction unit.

[0170] FIG. 16 is a block diagram showing a rotation sensor 2B and a rotation detection unit 31B according to the fourth embodiment. As in the first embodiment, the rotation sensor 2B is, for example, a resolver, an encoder, an MR sensor, or the like.

[0171] The rotation detection unit 31B has an angle calculation unit 50 and a rotation angle signal correction unit 51. The angle calculation unit 50 outputs an output signal from the rotation sensor 2B to the angle calculation unit 50. The angle calculation unit 50 outputs the uncorrected rotor rotation angle θmd to the rotation angle signal correction unit 51. The rotation angle signal correction unit 51 calculates the rotor rotation angle θd by correcting the rotation angle θmd. In this way, the rotation angle signal correction unit 51 calculates the rotor rotation angle θd in which the AC error component is suppressed.

[0172] An error in the AC component included in the rotation angle becomes an error in the AC component of the torque, that is, a torque pulsation error, which causes vibration or noise generated from the rotating electrical machine. In particular, if there is an error in the rotation angle when the d-axis current is applied due to flux-weakening control, etc., the d-axis of the rotation angle for control will have a q-axis component of the rotating electric machine, resulting in a q-axis current error.

[0173] Therefore, an error in the AC component included in the rotation angle becomes an error in the AC component of the q-axis current, causing vibration or noise in the rotating electric machine. Therefore, in order to suppress vibration or noise in the rotating electric machine, it is important to suppress the error in the AC component included in the rotation angle. Therefore, in order to suppress vibration or noise in the rotating electric machine, it is important to suppress the error in the AC component included in the rotation angle.

[0174] Next, the calculation performed by the rotation detection unit 31B will be described with reference to FIGS. 17A to 18B. The horizontal axis in each of FIGS. 17A to 18B indicates the passage of time. The vertical axis of Fig. 17A represents the output signal of the rotation angle. The solid line in Fig. 17A represents the rotor rotation angle in an ideal state. The dotted line in Fig. 17A represents the uncorrected rotor rotation angle θmd. The vertical axis of FIG. 17B represents the angle error obtained by subtracting the uncorrected rotation angle θmd from the rotation angle in the ideal state. 18A indicates the rotation angle θd after processing by the rotation angle signal correcting unit 51. The vertical axis of FIG. The vertical axis of FIG. 18B indicates the state in which the angle error becomes zero as a result of processing by the rotation angle signal correcting unit 51.

[0175] 17B, ​​the angular error occurs with periodic fluctuations. Such periodic angular error can be a cause of torque pulsation error.

[0176] The following describes the processing performed by the rotation angle signal corrector 51 to suppress the above-mentioned errors. The processing performed by the rotation angle signal corrector 51 may be, for example, the following two processing methods.

[0177] <Processing method 1> The rotation angle signal corrector 51 stores in advance the angle error between the ideal angle and the uncorrected rotation angle θmd of the rotor in a map or the like. Such ideal angle and uncorrected rotation angle θmd are saved in the storage device 91. Note that such ideal angle and uncorrected rotation angle θmd may also be saved using other known methods.

[0178] Next, a map that stores the angle error corresponding to the actually input uncorrected rotor rotation angle θmd is referenced, and the error is added to the uncorrected rotor rotation angle θmd for correction. Other known methods may also be used for calculation.

[0179] <Processing method 2> The rotation angle signal corrector 51 calculates the angle error between the ideal angle and the uncorrected rotor rotation angle θmd in advance using Fourier series expansion. Alternatively, the rotation angle signal corrector 51 may perform the calculation using another known method. In this way, the rotation angle signal corrector 51 extracts the angle error for each order component. Furthermore, the rotation angle signal corrector 51 corrects the uncorrected rotor rotation angle θmd so that each order component of the rotation angle θmd becomes zero.

[0180] By performing the above-described processing method by the rotation angle signal correcting unit 51, the rotation angle θd of the rotor as shown in FIGS. 18A and 18B can be obtained.

[0181] The rotation angle obtained by calculation by rotation detection unit 31B in this embodiment is used to calculate the control rotation angle by calculation in control angle calculation unit 32 described in embodiment 1. This makes it possible to suppress AC errors in the rotation angle and suppress torque pulsation errors. It should be noted that even if the rotation angle calculated in this embodiment is used as the rotation angle for control as it is, the effect of sufficiently suppressing torque pulsation error can be obtained.

[0182] As described above, by correcting the rotation angle, which is the output signal from rotation sensor 2B, using rotation angle signal corrector 51 in this embodiment and calculating the corrected rotation angle, it is possible to suitably reduce pulsation errors in the rotation sensor and maximize the output of the forward salient pole motor.

[0183] Embodiment 5. A rotary electric machine control device 10 according to a fifth embodiment will be described with reference to the drawings. In the fifth embodiment, the same members as those in the above-described embodiments are denoted by the same reference numerals, and their description will be omitted or simplified. The basic configuration of the electric power steering device according to the fifth embodiment is the same as that of the electric power steering device 100 according to the first embodiment. The fifth embodiment differs from the first embodiment in terms of the rotating electric machine 1.

[0184] Fig. 19 is a cross-sectional view, as viewed in the axial direction, showing a rotating electric machine controlled by a rotating electric machine control device according to embodiment 5. In other words, Fig. 19 shows a cross section parallel to a direction perpendicular to the axial direction. In the description of the fifth embodiment, directions are defined as follows. The term "axial direction" refers to a direction along the axis of the rotor that constitutes the rotary electric machine 1. In other words, the axial direction is a direction in which the shaft that constitutes the rotor extends. The terms "circumferential direction" and "radial direction" correspond to the "circumferential direction" and "radial direction", respectively, of a stator or rotor that constitutes a permanent magnet synchronous motor. The term "circumferential direction" corresponds to the direction of rotation of the rotor. In other words, the circumferential direction is the direction around the rotation axis of the rotor in a cross section viewed in the axial direction. The term "radial" refers to the direction of the radius of the rotor. For example, the term "radially outer" refers to the direction from the center of the rotor toward the outer periphery. The term "radially inner" refers to the direction from the outer periphery toward the center of the rotor.

[0185] 19, the rotating electric machine 1 is a permanent magnet synchronous motor. The rotating electric machine 1 has a stator 510 and a rotor 520 provided rotatably relative to the stator 510.

[0186] <Stator 510> The stator 510 is disposed so as to surround the outer periphery of the rotor 520 via an air gap 515, which serves as a magnetic gap. The stator 510 includes a stator core 511 and a coil 514. The stator core 511 includes a core back 512 formed in an annular shape in the circumferential direction and a plurality of teeth 513 protruding radially inward from the core back 512. The coil 514 is formed by winding a winding around each of the plurality of teeth 513. The windings constituting the coil 514 correspond to the windings Cu, Cv, and Cw described above. In the example shown in FIG. 19, one coil 514 is provided for one tooth 513.

[0187] 19, the number of teeth 513 is 12. The number of teeth 513 is not limited to 12 and is determined appropriately depending on the design of the permanent magnet synchronous motor. In the fifth embodiment, a plurality of core blocks each formed in an arc shape are arranged in an annular shape. The core back 512 is configured by being connected to the core blocks 513. The structure of the core back 512 is not limited to the structure shown in Fig. 19. The core back 512 may be configured by integrally forming a plurality of core blocks. Furthermore, the core back 512 and the teeth 513 may be separated from each other.

[0188] <Rotor 520> The rotor 520 includes a rotor core 521 , a shaft 523 , and a plurality of permanent magnets 522 . The rotor core 521 is made of a magnetic material. The rotor core 521 is made of, for example, a plurality of electromagnetic steel plates stacked in the axial direction. The electromagnetic steel plates may also be called, for example, core plates. The shaft 523 is fixed to the rotor core 521 so as to pass through the rotor core 521 in the axial direction. The rotor 520 is arranged inside the rotating electric machine 1 so as to be rotatable relative to the stator 510.

[0189] The rotor core 521 has protrusions 524 that protrude in the radial direction. The protrusions 524 are formed so as to protrude radially outward toward the stator 510. The protrusions 524 are provided on the outer peripheral surface of the rotor core 521 on which the permanent magnets 522 are arranged. The number of the protrusions 524 is eight, corresponding to the number of the permanent magnets 522. The number of the protrusions 524 may be one or more.

[0190] <Permanent magnet 522> The multiple permanent magnets 522 are arranged on the outer peripheral surface of the rotor core 521 in the circumferential direction. The rotating electric machine 1 equipped with such multiple permanent magnets 522 is an example of a surface permanent magnet motor (SPM). Each of the multiple permanent magnets 522 has a stator-facing surface 527 and a recessed portion 525. The stator-facing surface 527 is formed in an arc shape. The stator-facing surface 527 is a surface that faces the teeth 513 across the gap 515. In other words, the stator-facing surface 527 faces the inner surface of the stator 510. The recessed portion 525 fits into the protrusion 524 of the rotor core 521.

[0191] The multiple permanent magnets 522 are aligned in the circumferential direction of the rotor 520. The polarities of the stator-facing surfaces 527 of two adjacent permanent magnets 522 in the circumferential direction are opposite to each other. For example, the multiple permanent magnets 522 are arranged with their magnetization directions made different such that if the polarity of the stator-facing surface 527 of one of the two circumferentially adjacent permanent magnets 522 is an N pole, the polarity of the stator-facing surface 527 of the other permanent magnet 522 is an S pole.

[0192] In the rotating electric machine 1 shown in FIG. 19, there are 12 teeth 513, 12 coils 514, and 8 permanent magnets. In other words, FIG. 19 shows a so-called 8-pole, 12-slot permanent magnet synchronous motor. The combination of the numbers of the multiple permanent magnets 522, teeth 513, and coils 514 is not limited to this. Also, in the example shown in FIG. 19, the number of teeth 513 and the number of coils 514 are the same, but the number of teeth 513 and the number of coils 514 may be different.

[0193] As described above, the rotating electric machine 1 constituting the permanent magnet synchronous motor shown in FIG. 19 can increase the inductance Ld in the d-axis direction shown in FIG. 19, and can effectively perform flux-weakening control.

[0194] By controlling the driving of the rotating electric machine 1 according to embodiment 5 with the rotating electric machine control device 10 according to embodiments 1 to 4, it is possible to obtain the effect of realizing high output while reducing vibration or noise generated by the rotating electric machine 1.

[0195] Embodiment 6 A rotary electric machine control device 10 according to a sixth embodiment will be described with reference to the drawings. In the sixth embodiment, the same members as those in the above-described embodiments are denoted by the same reference numerals, and their description will be omitted or simplified. The basic configuration of the electric power steering device according to the sixth embodiment is the same as that of the electric power steering device 100 according to the first embodiment. The sixth embodiment differs from the first embodiment in that the electric power steering device includes a DC-DC converter.

[0196] Fig. 20 is a schematic diagram showing the overall configuration of an electric power steering device including a rotary electric machine control device according to embodiment 6. Fig. 21 is a diagram illustrating the circuit configuration of a DC-DC converter according to embodiment 6.

[0197] 20 and 21, the electric power steering device includes a DC-DC converter 601. The DC-DC converter 601 is configured to boost the voltage of the DC power supply 3. The DC-DC converter 601 is an example of a booster. The control device 10 applies an AC voltage to the rotary electric machine 1 based on the output DC voltage boosted by the DC-DC converter 601. The switching control unit 35 drives a plurality of switching elements to turn on and off based on a voltage command value and the output DC voltage.

[0198] Furthermore, the DC-DC converter 601 includes a bridge inverter 604. The bridge inverter 604 is an example of a booster. The bridge inverter 604 includes bridge-type switching elements Sa, Sb, Sc, and Sd. The switching elements Sa and Sc form an upper arm. The switching elements Sb and Sd form a lower arm. The switching elements Sa and Sb are connected in series. The switching elements Sc and Sd are connected in series. The bridge inverter 604 includes multiple legs having a series-connected structure in which switching elements are connected in series. The multiple legs are connected in parallel to each other. Specifically, the switching elements Sa and Sb form one leg. The switching elements Sc and Sd form another leg. In the example shown in FIG. 21 , the DC-DC converter 601 includes two legs. In other words, the bridge inverter 604 includes multiple legs having a structure in which multiple switching elements forming upper and lower arms are connected in series.

[0199] The positive terminal of the DC power supply 3 is connected to one end of the input capacitor 602 and one end of the integrated magnetic component 603. The other end of the integrated magnetic component 603 is connected to the AC ends of a bridge inverter 604 made up of switching elements Sa to Sd. The DC end of the bridge inverter 604 is connected to a load 606 and one end of a link capacitor 605. The negative terminal of the DC power supply 3 is connected to the input capacitor 602, the other end of the link capacitor 605, the negative terminal of the DC end of the bridge inverter 604, and the negative terminal of the load 606.

[0200] The control circuit 609 is connected to the voltage sensors 607 and 608. Output voltage information 609a output from the voltage sensor 607 is input to the control circuit 609. Output voltage information 609b output from the voltage sensor 608 is input to the control circuit 609. The control circuit 609 generates a drive signal 609c based on the output voltage information 609a and 609b. The control circuit 609 drives the switching elements Sa to Sd that constitute the bridge inverter 604 using the drive signal 609c. The control circuit 609 controls the driving of the switching elements Sa to Sd based on a target output voltage set in the control circuit 609 and the output voltage information 609a and 609b so that the output voltage information 609a and 609b are equal to the target output voltage.

[0201] 20 and 21 show a configuration in which the control device 10 and the control circuit 609 are separate entities. The control circuit 609 may be configured to be part of the control device 10. In this configuration, the above-described calculations performed in the control circuit 609 are performed in the control device 10. The control circuit 609 generates a drive signal 609c and controls the driving of the switching elements Sa to Sd. In order to prevent the upper and lower arms of the switching elements Sa to Sd from short-circuiting, a dead time is provided, and the switching elements are driven on and off in a complementary manner.

[0202] Here, the relationship of equation (6-1) holds true for the voltage and current of integrated magnetic component 603. Note that in equation (6-1), the winding resistance is ignored.

[0203]

number

[0204] Vdc, V1, and V2 shown in equation (6-1) correspond to Vdc, V1, and V2 shown in FIG. 21. Specifically, Vdc represents the voltage of the DC power supply 3. V1 represents the voltage at the terminal between switching elements Sa and Sb. V2 represents the voltage at the terminal between switching elements Sc and Sd. M shown in equation (6-1) is the mutual inductance between one coil A and the other coil B that make up the integrated magnetic component 603. L shown in equation (6-1) is the self-inductance of the integrated magnetic component 603. If we convert equation (6-1) into the differential form of currents i1 and i2, we obtain the following equation.

[0205]

number

[0206] From equation (6-2), the derivatives of currents i1 and i2 are as follows:

[0207] di1 / dt=(L·(Vdc-V1)+M·(Vdc-V2)) / (L·LM·M) ···Equation (6-3) di2 / dt=(L·(Vdc-V2)+M·(Vdc-V1)) / (L·LM·M)...Equation (6-4)

[0208] Here, when switching element Sa is ON, V1 is equal to Vdc2, and when switching element Sb is ON, V1 is equal to 0. When the switching element Sc is ON, V2 is equal to Vdc2. When the switching element Sd is ON, V2 is equal to 0.

[0209] The number of on / off drive patterns of the switching elements Sa to Sd is 2 to the power of 2, that is, four. Therefore, the four patterns are considered based on equations (6-3) and (6-4). In the following description, "ON" and "OFF" of the symbols Sa, Sb, Sc, and Sd correspond to "ON" and "OFF" in the on / off driving of the switching elements Sa to Sd, respectively.

[0210] <Mode (1): Sa = ON and Sc = ON> V1 = Vdc2 and V2 = Vdc2 are obtained. Therefore, the following equations (6-5) and (6-6) are obtained from the above-mentioned equations (6-3) and (6-4).

[0211] di1 / dt = (L·(Vdc - Vdc2) + M·(Vdc - Vdc2)) / (L·L - M·M) di1 / dt = (L + M)·(Vdc - Vdc2) / (L·L - M·M) ··· Equation (6-5)

[0212] di2 / dt = (L·(Vdc - Vdc2) + M·(Vdc - Vdc2)) / (L·L - M·M) di2 / dt = (L + M)·(Vdc - Vdc2) / (L·L - M·M) ··· Equation (6-6)

[0213] In this mode, considering di1 / dt = di2 / dt and Vdc < Vdc2, the sign becomes negative. That is, both currents i1 and i2 decrease.

[0214] <Mode (2): Sa = ON and Sd = ON> V1 = Vdc2 and V2 = 0 are obtained. Therefore, the following equations (6-7) and (6-8) are obtained from the above-mentioned equations (6-3) and (6-4).

[0215] di1 / dt = (L·(Vdc - Vdc2) + M·Vdc) / (L·L - M·M) di1 / dt = ((L + M)·Vdc - L·Vdc2) / (L·L - M·M) ··· Equation (6-7)

[0216] di2 / dt = (L·Vdc + M·(Vdc - Vdc2)) / (L·L - M·M) di2 / dt = ((L + M)·Vdc - M·Vdc2) / (L·L - M·M) ··· Equation (6-8)

[0217] Adding together the above equations, we get the following equation:

[0218] di1 / dt+di2 / dt=(2(L+M) Vdc-(L+M) Vdc2) / (L LM M) Formula (6-9)

[0219] Here, if Vdc=0.5Vdc2, then equation (6-9) is 0, and since L>M, we obtain di1 / dt<0 and di2 / dt>0.

[0220] <Mode (3): Sb=ON and Sc=ON> We obtain V1 = 0 and V2 = Vdc. Therefore, the following equations (6-10) and (6-11) are obtained from the above equations (6-3) and (6-4).

[0221] di1 / dt=(L·Vdc+M·(Vdc-Vdc2)) / (L·LM·M) di1 / dt=((L+M)·Vdc-M·Vdc2) / (L·LM·M) ...Formula (6-10)

[0222] di2 / dt=(L·(Vdc-Vdc2) +M·Vdc) / (L·LM·M) di2 / dt=((L+M)·Vdc-L·Vdc2) / (L·LM·M) ...Formula (6-11) Adding together the above equations, we get the following equation:

[0223] di1 / dt+di2 / dt=(2(L+M)·Vdc-(L+M)·Vdc2) / (L·LM·M) ...Formula (6-12)

[0224] Here, as in mode (2), if Vdc=0.5Vdc2, then equation (6-12) is 0 and L>M, so di1 / dt>0 and di2 / dt<0 are obtained.

[0225] <Mode (4): Sb=ON and Sd=ON> V1 = 0 and V2 = 0 are obtained. Therefore, the following equations (6-13) and (6-14) are obtained from the above-mentioned equations (6-3) and (6-4).

[0226] di1 / dt = (L·Vdc + M·Vdc ) / (L·L - M·M) di1 / dt = (L + M)·Vdc / (L·L - M·M) ··· Equation (6-13)

[0227] di2 / dt = (L·Vdc + M·Vdc ) / (L·L - M·M) di2 / dt = (L + M)·Vdc / (L·L - M·M) ··· Equation (6-14)

[0228] In this mode, considering that di1 / dt = di2 / dt and Vdc < Vdc2, the sign is positive. That is, both the currents i1 and i2 increase.

[0229] By combining the above-mentioned modes (1) to (4), the desired Vdc2 can be generated. Here, by using modes (2) and (3) each at 50%, the absolute values of di1 / dt and di2 / dt are reduced, and the current of the current fluctuation input capacitor Cin is reduced.

[0230] FIG. 22 is a diagram for explaining the switching drive in the DC-DC converter according to Embodiment 6. In the example shown in FIG. 22, the case where mode (2) is used at 50% and mode (3) is used at 50% will be described. In FIG. 22, the symbol Ca indicates the carrier wave.

[0231] In FIG. 22, if d (= 0.5) > ca, then Sa = ON and Sc = OFF. Conversely, if d (0.5) < ca, then Sa = OFF and Sc = ON. Note that the switching elements Sb and Sd perform complementary switching with respect to each of the switching elements Sa and Sc, so the description thereof is omitted.

[0232] In this way, by driving the switching elements of each leg, i.e., each switching element of the DC circuit, with a 180-degree offset, modes (2) and (3) are generated 50% of the time within the period Tc. This minimizes current fluctuations and input capacitor current. This is called interleaved driving.

[0233] As described above in the sixth embodiment, in the configuration in which the output from the DC power supply 3 is supplied to the DC-DC converter 601, it is possible to achieve even higher output from the rotating electric machine 1 compared to the first to fifth embodiments.

[0234] Furthermore, by performing interleaved driving, it is possible to minimize current fluctuations and input capacitor current, and it is possible to suppress an increase in the volume of passive elements due to the inclusion of the DC-DC converter 601.

[0235] <Modification> Fig. 23 is a circuit diagram showing a part of a DC-DC converter according to a modification of embodiment 6. In Fig. 23, the entire structure of DC-DC converter 601 is omitted, and switching elements Sc and Sd are shown. Only the differences from Fig. 20 will be described below.

[0236] A structure in which switching elements constituting an upper arm and a lower arm are connected in series can be referred to as a leg. As shown in Fig. 23, a resistor and a capacitor may be provided in parallel with each of the multiple legs. In other words, a snubber circuit 650 in which a resistor R and a capacitor C are connected in series may be connected in parallel with the legs.

[0237] Furthermore, a connection structure using two diodes D1 and D2 may be employed in snubber circuit 650. Diode D1 constituting snubber circuit 650 is an example of a first diode. Diode D2 constituting snubber circuit 650 is an example of a second diode. The diode D1 has an anode D1A connected to the drain terminal of the switching element that constitutes the upper arm, and a cathode D1C connected to a midpoint M2 between the resistor R and the capacitor C. Diode D2 has an anode D2A connected to a midpoint M1 between the upper arm and the lower arm, and a cathode D2C connected to a midpoint M2 between resistor R and capacitor C. In other words, anode D2A of diode D2 is connected to a drain terminal of the switching element constituting the lower arm, and is also connected to a source terminal of the switching element constituting the upper arm. The above-described circuit configuration is applied when the switching element is a metal-oxide-semiconductor field-effect transistor (MOSFET). The above-described circuit configuration is also applicable when the switching element is a bipolar power transistor. In this case, the drain is rephrased as the collector, the source as the emitter, and the gate as the base. The above-described circuit configuration is also applicable when the switching element is an IGBT (Insulated Gate Bipolar Transistor). In this case, the drain is rephrased as the collector and the source as the emitter. In this way, the cathode D1C of the diode D1 and the cathode D2C of the diode D2 are connected to the midpoint M2 between the resistor R and the capacitor C. With this configuration, surges can be suppressed more effectively.

[0238] As described above, by including the snubber circuit 650 in the DC-DC converter 601, surges caused by the wiring inductance between the DC-DC converter 601 and the power converter 4 can be suppressed. Furthermore, EMI noise can be reduced, leading to a reduction in the cost of the entire device. Note that this snubber circuit 650 is also effective when applied to the power converter 4.

[0239] In the above-described embodiment, the driving power source of various devices other than the electric power steering device 100 may be used as the driving power source of the rotating electric machine 1. For example, the driving power source of wheels may be used as the rotating electric machine 1. Also, the stator may be provided with windings of multiple phases other than three phases (for example, two phases or four phases).

[0240] Alternatively, the stator may be provided with a plurality of sets (for example, two sets) of three-phase windings, and each part of the inverter and control device may be provided corresponding to each set of three-phase windings.

[0241] While the foregoing description describes various exemplary embodiments and implementations, the various features, aspects, and functions described in one or more of the embodiments are not limited to application to a particular embodiment and may be applied to any of the embodiments described above, either alone or in various combinations. Thus, non-exemplified embodiments are contemplated within the scope of the technology disclosed herein. For example, this may include modifying, adding, or omitting at least one component, or even extracting at least one component and combining it with a component of another embodiment. [Explanation of symbols]

[0242] 1... rotating electric machine, 2, 2A, 2B... rotation sensor, 3... DC power supply, 4... power converter, 5... smoothing capacitor, 6... current sensor, 10... control device (rotating electric machine control device), 21, 22, 23... amplifier, 31, 31A, 31B... rotation detection unit (control unit), 32... control angle calculation unit (control unit), 33... current detection unit (control unit), 34... voltage command value calculation unit (control unit), 35... switching control unit (control unit), 36... current command value calculation unit, 40... rotation Sensor output signal correction unit, 41... arctangent function calculation unit, 50... angle calculation unit, 51... rotation angle signal correction unit, 91... storage device, 92... input circuit, 93... output circuit, 100... electric power steering device, 101... driving force transmission mechanism, 102... steering device, 103... wheel, 104... handle, 105... shaft, 106... torque sensor, 342... current coordinate conversion unit, 343... dq axis voltage command value calculation unit, 344... voltage coordinate conversion unit, 361... d axis Current command value generation unit, 362...q-axis current command value generation unit, 510...stator, 511...stator core, 512...core back, 513...teeth, 514...coil, 515...air gap, 520...rotor, 521...rotor core, 522...permanent magnet, 523...shaft, 524...projection, 525...recess, 527...stator opposing surface, 601...DC-DC converter (booster), 602...input capacitor, 603...integrated magnetic component, 604...bridge Inverter, 605...link capacitor, 606...load, 607, 608...voltage sensor, 609...control circuit, 609a...output voltage information, 609b...output voltage information, 609c...drive signal, 650...snubber circuit, C...capacitor, D1, D2...diode, D1A, D2A...anode, D1C, D2C...cathode, M1, M2...midpoint, R, Ru, Rv, Rw...resistor, Sa, Sb, Sc, Sd, SN, SP...switching element

Claims

1. A rotating electrical machine control device, a rotating electric machine including a stator having a plurality of phase windings and a rotor disposed radially inside the stator and having a magnet; a power converter including a booster that boosts the voltage of a DC power supply and converts the voltage of the DC power supply into an AC voltage; a current detection unit that detects currents flowing through the windings of the plurality of phases based on output signals output from the current sensors; a rotation sensor that outputs an output signal corresponding to the rotation angle of the rotor; a rotation calculation unit that calculates a rotation angle for controlling the rotor; The direction of the magnetic flux of the magnet is defined as a d-axis, and the direction that is 90 degrees ahead of the d-axis in electrical angle is defined as a q-axis, a d-axis current command value generation unit that generates a command value for a d-axis current flowing in the rotary electric machine; a q-axis current command value generation unit that generates a command value of a q-axis current flowing in the rotary electric machine; a voltage command value calculation unit that calculates voltage command values ​​to be applied to the windings of the plurality of phases based on the rotation angle for control, the current, the q-axis current command value, and the d-axis current command value; a switching control unit that drives a plurality of switching elements included in the power converter on and off based on the voltage command value; and The rotating electric machine has a d-axis inductance Ld greater than a q-axis inductance Lq, The rotation calculation unit a rotation detection unit that detects a rotation angle of the rotor based on an output signal output from the rotation sensor; a control angle calculation unit that calculates the control rotation angle based on at least one of the rotation angle of the rotor, the current, and the voltage command value; and The control angle calculation unit calculating a detection angle deviation, which is a deviation of the control rotation angle from the rotation angle of the rotor; estimating an estimated actual angle deviation, which is a deviation of the control rotation angle from a true value of the rotation angle of the rotor, based on information on the current detection value and information on the voltage command value, and calculating a control angle deviation by internally dividing the estimated actual angle deviation and the detected angle deviation; when a speed-proportional physical quantity, which is a physical quantity proportional to the rotational angular velocity of the rotor, is higher than a preset speed threshold value, a ratio of the estimated actual angle deviation to the control angle deviation is made higher than a ratio of the detected angle deviation; When the speed proportional physical quantity is lower than the speed threshold value, a proportion of the estimated actual angle deviation in the control angle deviation is made lower than a proportion of the detected angle deviation; the rotation calculation unit reduces an angle error caused by a detection error of the rotation sensor based on at least one of the output signal of the rotation sensor, the current, and the voltage command value; the rotating electric machine control device applies an AC voltage to the rotating electric machine based on the output DC voltage boosted by the booster; the switching control unit drives the plurality of switching elements to turn on and off based on the voltage command value and the output DC voltage; The booster comprises: an upper arm and a lower arm having the switching element; a plurality of legs each having a structure in which the switching elements are connected in series; a snubber circuit in which a resistor and a capacitor are connected in series; and the plurality of legs are connected in parallel to one another; the snubber circuit is connected in parallel to the plurality of legs. Rotating electric machine control device.

2. the control angle calculation unit continuously increases a proportion of the estimated actual angle deviation and continuously decreases a proportion of the detected angle deviation as the speed-proportional physical quantity increases within a preset range of the speed-proportional physical quantity that includes the speed threshold value. The rotating electrical machine control device according to claim 1 .

3. the control angle calculation unit continuously increases a proportion of the estimated actual angle deviation from 0 to 1 and continuously decreases a proportion of the detected angle deviation from 1 to 0 as the speed-proportional physical quantity increases within a preset range of the speed-proportional physical quantity that includes the speed threshold value; When the speed-proportional physical quantity is lower than a range of the speed-proportional physical quantity, the ratio of the estimated actual angle deviation is set to 0, and the ratio of the detected angle deviation is set to 1; When the speed-proportional physical quantity is higher than the range of the speed-proportional physical quantity, the ratio of the estimated actual angle deviation is set to 1, and the ratio of the detected angle deviation is set to 0. The rotating electrical machine control device according to claim 1 .

4. the speed threshold is set corresponding to the speed-proportional physical quantity at the boundary between an execution region of d-axis current zero control or maximum torque current control and an execution region of flux-weakening control. The rotating electrical machine control device according to any one of claims 1 to 3.

5. the control angle calculation unit performs feedback control so that the control angle deviation approaches 0, thereby changing the control rotational angular velocity of the rotor, and integrates the control rotational angular velocity to calculate the control rotation angle. The rotating electrical machine control device according to any one of claims 1 to 3.

6. The voltage command value calculation unit converting the current detection values ​​of the windings of the plurality of phases into d-axis currents and q-axis currents based on the rotation angle for control; changing the d-axis voltage command value and the q-axis voltage command value so that the d-axis current approaches a d-axis current command value and the q-axis current approaches a q-axis current command value; converting the d-axis voltage command value and the q-axis voltage command value into multi-phase voltage command values ​​based on the rotation angle for control; The control angle calculation unit estimating the estimated actual angle deviation, which is a deviation of the rotation angle for control from a true value of the rotation angle of the rotor, based on the d-axis and q-axis current detection values, the d-axis voltage command value and the q-axis voltage command value, and the rotation angular velocity for control; The rotating electrical machine control device according to claim 5 .

7. The control angle calculation unit calculating upper and lower limit values ​​of the rotation angle for control based on the detected value of the rotation angle of the rotor; correcting the control rotation angle based on a detected value of the rotor rotation angle when the control rotation angle deviates from the range between the upper limit value and the lower limit value; The rotating electrical machine control device according to any one of claims 1 to 3.

8. a response frequency from the control angle deviation to the control rotation angle is set lower than a rotation frequency corresponding to the speed threshold value; The rotating electrical machine control device according to any one of claims 1 to 3.

9. The response frequency from the control angle deviation to the control rotation angle is It is set higher than the mechanical resonance frequency that occurs at the speed. The rotating electrical machine control device according to any one of claims 1 to 3.

10. The response frequency from the control angle deviation to the control rotation angle is The speed is set between three and five times the mechanical resonance frequency. The rotating electrical machine control device according to any one of claims 1 to 3.

11. a rotating electric machine including a stator having a plurality of phase windings and a rotor disposed radially inside the stator and having a magnet; a power converter that converts the voltage of a DC power supply into an AC voltage; a current detection unit that detects currents flowing through the windings of the plurality of phases based on output signals output from the current sensors; a rotation sensor that outputs an output signal corresponding to the rotation angle of the rotor; a rotation calculation unit that calculates a rotation angle for controlling the rotor; The direction of the magnetic flux of the magnet is defined as a d-axis, and the direction that is 90 degrees ahead of the d-axis in electrical angle is defined as a q-axis, a d-axis current command value generation unit that generates a command value for a d-axis current flowing in the rotary electric machine; a q-axis current command value generation unit that generates a command value of a q-axis current flowing in the rotary electric machine; a voltage command value calculation unit that calculates voltage command values ​​to be applied to the windings of the plurality of phases based on the rotation angle for control, the current, the q-axis current command value, and the d-axis current command value; a switching control unit that drives a plurality of switching elements included in the power converter on and off based on the voltage command value; and The rotating electric machine has a d-axis inductance Ld greater than a q-axis inductance Lq, the rotation calculation unit reduces an angle error caused by a detection error of the rotation sensor based on at least one of the output signal of the rotation sensor, the current, and the voltage command value; The rotation calculation unit a rotation detection unit that detects a rotation angle of the rotor based on an output signal output from the rotation sensor; a control angle calculation unit that calculates the control rotation angle based on at least one of the rotation angle of the rotor, the current, and the voltage command value; and The rotation detection unit a first calculation for calculating offset values ​​of the sine signal and the cosine signal, which are the output signals output from the rotation sensor; a second calculation for calculating harmonic components of the sine signal and the cosine signal; a third calculation for calculating an amplitude ratio between the fundamental wave components of the sine signal and the cosine signal; and a fourth calculation for calculating phase difference information between the sine signal and the cosine signal; a corrected sine signal and a corrected cosine signal are calculated by at least one of the following calculations: detecting a rotation angle of the rotor based on the corrected sine signal and the corrected cosine signal; Rotating electric machine control device.

12. a rotating electric machine including a stator having a plurality of phase windings and a rotor disposed radially inside the stator and having a magnet; a power converter that converts the voltage of a DC power supply into an AC voltage; a current detection unit that detects currents flowing through the windings of the plurality of phases based on output signals output from the current sensors; a rotation sensor that outputs an output signal corresponding to the rotation angle of the rotor; a rotation calculation unit that calculates a rotation angle for controlling the rotor; The direction of the magnetic flux of the magnet is defined as a d-axis, and the direction that is 90 degrees ahead of the d-axis in electrical angle is defined as a q-axis, a d-axis current command value generation unit that generates a command value for a d-axis current flowing in the rotary electric machine; a q-axis current command value generation unit that generates a command value of a q-axis current flowing in the rotary electric machine; a voltage command value calculation unit that calculates voltage command values ​​to be applied to the windings of the plurality of phases based on the rotation angle for control, the current, the q-axis current command value, and the d-axis current command value; a switching control unit that drives a plurality of switching elements included in the power converter on and off based on the voltage command value; and The rotating electric machine has a d-axis inductance Ld greater than a q-axis inductance Lq, the rotation calculation unit reduces an angle error caused by a detection error of the rotation sensor based on at least one of the output signal of the rotation sensor, the current, and the voltage command value; The rotation calculation unit a rotation detection unit that detects a rotation angle of the rotor based on an output signal output from the rotation sensor; a control angle calculation unit that calculates the control rotation angle based on at least one of the rotation angle of the rotor, the current, and the voltage command value; and The rotation detection unit calculating an arctangent function of the sine signal and cosine signal, which are the output signals output from the rotation sensor, and detecting the rotation angle of the rotor after performing correction based on harmonic components of the arctangent function; Rotating electric machine control device.

13. The rotor is a rotor core made of a magnetic material; a plurality of permanent magnets arranged on the outer peripheral surface of the rotor core in the circumferential direction; Equipped with a protrusion formed to protrude in a radial direction of the rotor core is provided on the outer peripheral surface of the rotor core on which the permanent magnet is arranged, the permanent magnet has an arc-shaped stator-facing surface that faces the inner surface of the stator, and a recess that fits over the protrusion, The rotating electrical machine control device according to any one of claims 1 to 3.

14. The booster comprises: an upper arm and a lower arm having the switching element; a plurality of legs each having a structure in which the switching elements are connected in series; Equipped with the booster is a bridge-type switching element in which the plurality of legs are connected in parallel to each other, In the circuit operation of the switching elements, interleaved driving is performed in which the switching elements constituting each of the plurality of legs are driven with a phase shift of 180 degrees from each other. The rotating electrical machine control device according to claim 1 .

15. the snubber circuit includes a first diode and a second diode; the first diode has an anode connected to a collector or drain terminal of the switching element constituting the upper arm, and a cathode connected to a midpoint between the resistor and the capacitor, the second diode has an anode connected to a midpoint between the upper arm and the lower arm, and a cathode connected to a midpoint between the resistor and the capacitor; The rotating electrical machine control device according to claim 1 .

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