Control device, program, and control method

Abstract

These control devices (50, 51) are applied to a system comprising: a rotary electric machine (20) which has windings (21); an inverter (30) which has upper and lower arm switches (SWH, SWL) that are electrically connected to the windings; and a battery (40) which is electrically connected to the inverter. The control devices determine a charge limit value at which the battery enters a fully-charged state, and embodies a regenerative drive control by which the rotary electric machine functions as a generator under the condition that a charging parameter indicating the charge state of the battery is lower than the charge limit value. The control device comprises: a charge determination unit which determines whether the charging parameter has a value equal to or greater than a charge determination value that is lower than the charge limit value and whether the regenerative drive control is embodied; and a control unit which, when the charging parameter is equal to or greater than the charge determination value and the regenerative drive control is embodied, performs a control to suppress charging of the battery through the regenerative drive control.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on Japanese Application No. 2022-168586, filed on October 20, 2022, the contents of which are incorporated herein by reference. [Technical Field]

[0002] The present disclosure relates to a control device 、 program and control method Regarding. [Background technology]

[0003] Conventionally, there has been known a control device that performs regenerative drive control to make a rotating electric machine function as a generator. For example, Patent Document 1 describes a control device that performs regenerative drive control on the condition that the SOC of a storage battery is less than 97%. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-23212 Summary of the Invention

[0005] The implementation of regenerative drive control may be restricted due to the storage battery being in a fully charged state.

[0006] The present disclosure has been made in consideration of the above circumstances, and its main object is to provide a control device that can suppress restrictions on the implementation of regenerative drive control. 、 program and control method The purpose is to provide

[0007] The present disclosure provides a rotating electric machine having a winding; an inverter having upper and lower arm switches electrically connected to the winding; a storage battery electrically connected to the inverter, the control device determining a charge limit value at which the storage battery is fully charged, and performing regenerative drive control to cause the rotating electric machine to function as a generator on the condition that a charge parameter indicating the charge state of the storage battery is lower than the charge limit value, a charge determination unit that determines whether the charging parameter is equal to or greater than a charge determination value that is lower than the charge limit value and whether the regenerative drive control is to be performed; and a control unit that, when it is determined that the charging parameter is equal to or greater than the charging determination value and the regenerative drive control is to be performed, performs control to suppress charging of the storage battery by the regenerative drive control.

[0008] The regenerative drive control is performed to cause the rotating electrical machine to function as a generator, provided that a charging parameter indicating the state of charge of the storage battery is lower than a charging limit value. In this case, there is a concern that the charging parameter of the storage battery may reach the charging limit value, restricting the implementation of the regenerative drive control.

[0009] Therefore, according to the present disclosure, when the charging parameter of the storage battery is equal to or greater than a charging determination value that is lower than the charging limit value, it is determined whether or not regenerative drive control is to be performed. If the charging parameter of the storage battery is equal to or greater than the charging determination value and it is determined that regenerative drive control is to be performed, control is performed to suppress charging of the storage battery by regenerative drive control. This suppresses an increase in the charging parameter of the storage battery and prevents the charging parameter of the storage battery from reaching the charging limit value. Therefore, it is possible to suppress restrictions on the implementation of regenerative drive control. [Brief explanation of the drawings]

[0010] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: [Figure 1] FIG. 1 is a diagram showing the overall configuration of the vehicle. [Figure 2] Figure 2 is a functional block diagram of the control performed by the MGCU. [Figure 3] FIG. 3 is a diagram showing a method for setting a charging determination value; [Figure 4] FIG. 4 is a diagram illustrating an example of charge suppression control; [Figure 5] FIG. 5 is a flowchart showing a procedure of a process performed by a determination unit; [Figure 6] FIG. 6 is a diagram showing an in-wheel motor structure; [Figure 7] FIG. 7 is a diagram illustrating an example of charge suppression control according to another embodiment; [Figure 8] FIG. 8 is a diagram illustrating an example of charge suppression control according to another embodiment; [Figure 9] FIG. 9 is a diagram showing a rotating electric machine and its peripheral structure according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, a control device according to an embodiment of the present disclosure will be described with reference to the drawings. The control device according to the present embodiment is mounted on an electric vehicle, a hybrid vehicle, or other electrically powered vehicle, and constitutes an in-vehicle system.

[0012] As shown in Fig. 1, a vehicle 10 includes a rotating electric machine 20. The rotating electric machine 20 is a three-phase synchronous machine, and includes star-connected windings 21 for each phase as stator windings. The windings 21 for each phase are arranged at an interval of 120° in electrical angle. The rotating electric machine 20 of this embodiment is a permanent magnet synchronous machine having a permanent magnet in a rotor 22.

[0013] The rotating electric machine 20 is an in-vehicle main engine, and its rotor 22 is capable of transmitting power to the drive wheels 11 of the vehicle 10. Torque generated by the rotating electric machine 20 functioning as an electric motor is transmitted from the rotor 22 to the drive wheels 11. This causes the drive wheels 11 to rotate.

[0014] The vehicle 10 includes an inverter 30, a capacitor 31, and a storage battery 40. The inverter 30 includes three phases of series-connected upper-arm switches SWH and lower-arm switches SWL. In this embodiment, each switch SWH, SWL is a voltage-controlled semiconductor switching element, specifically an IGBT. Therefore, the high-potential side terminal of each switch SWH, SWL is a collector, and the low-potential side terminal is an emitter. Freewheeling diodes DH, DL are connected in antiparallel to each switch SWH, SWL.

[0015] In each phase, the emitter of the upper arm switch SWH and the collector of the lower arm switch SWL are connected to a first end of the winding 21. The second ends of the windings 21 of each phase are connected to each other at the neutral point.

[0016] The collectors of the upper arm switches SWH of each phase and the positive terminal of the storage battery 40 are connected by a positive bus Lp. The emitters of the lower arm switches SWL of each phase and the negative terminal of the storage battery 40 are connected by a negative bus Ln. The positive bus Lp and the negative bus Ln are connected by a capacitor 31. The capacitor 31 may be built into the inverter 30 or may be provided outside the inverter 30.

[0017] The storage battery 40 is, for example, a battery pack configured as a series connection of a plurality of battery cells, and the terminal voltage of the storage battery 40 is, for example, several hundred V. The battery cells are, for example, secondary batteries such as lithium ion batteries or nickel-metal hydride batteries.

[0018] The vehicle 10 is equipped with a friction brake device 12 and on-board electrical equipment 13. The friction brake device 12 generates friction braking torque on wheels including drive wheels 11. In this embodiment, the friction brake device 12 is a disc-type friction brake device. The friction brake device 12 includes a master cylinder that operates in response to the amount of depression of the brake pedal, a disk-shaped brake disc, and brake pads that come into contact with the brake disc to generate braking force.

[0019] A positive terminal of the on-board electrical equipment 13 is connected to a positive bus Lp, and a negative terminal of the on-board electrical equipment 13 is connected to a negative bus Ln. That is, the on-board electrical equipment 13 is connected in parallel to the storage battery 40. The on-board electrical equipment 13 is, for example, an auxiliary device such as an electric compressor and a step-down converter. The electric compressor constitutes an interior air conditioner and is driven by power supplied from the storage battery 40 to circulate refrigerant in the on-board refrigeration cycle. The step-down converter is driven to step down the output voltage of the storage battery 40 and supply power to a low-voltage battery (not shown) (for example, a 12V auxiliary battery).

[0020] The vehicle 10 includes an MGCU 50 (Motor Generator Control Unit), an EVCU 51 (Electric Vehicle Control Unit), and a brake CU 52. The MGCU 50, the EVCU 51, the brake CU 52, and the ECUs of the in-vehicle electrical equipment 13 exchange information with one another using a predetermined communication format (for example, CAN).

[0021] The vehicle 10 is equipped with a current sensor 32, a voltage sensor 33, and a rotation angle sensor 34. The current sensor 32 detects the current flowing through the windings 21 for at least two of the phases. The voltage sensor 33 detects the terminal voltage of the capacitor 31. The rotation angle sensor 34 is, for example, a resolver, and detects the rotation angle (electrical angle) of the rotor 22. The detection signals of the sensors 32 to 34 are input to the MGCU 50.

[0022] The vehicle 10 is equipped with an accelerator sensor 37, a steering angle sensor 38, and an acceleration sensor 39. The accelerator sensor 37 detects the accelerator stroke, which is the amount of depression of the accelerator pedal, which serves as an accelerator operation member, by the driver. The steering angle sensor 38 detects the steering angle of the steering wheel by the driver. The acceleration sensor 39 is installed near the center of gravity of the vehicle 10, and detects the acceleration of the vehicle 10 in the front-rear, left-right, and up-down directions. Detection signals from the accelerator sensor 37, the steering angle sensor 38, and the acceleration sensor 39 are input to the EVCU 51.

[0023] The vehicle 10 is equipped with a brake stroke sensor 45. The brake stroke sensor 45 detects the brake stroke, which is the amount of depression of a brake pedal, which serves as a brake operation member, by the driver. The detection value of the brake stroke sensor 45 is input to the brake CU 52.

[0024] The vehicle 10 is equipped with a monitoring unit 41. The monitoring unit 41 detects the terminal voltage, SOC, temperature, etc. of each battery cell that constitutes the storage battery 40, and monitors the state of the storage battery 40. In this embodiment, the monitoring unit 41 is capable of communicating with the MGCU 50. Detection signals of the terminal voltage, SOC, and temperature of the storage battery 40 are input to the MGCU 50.

[0025] The MGCU 50, the EVCU 51, and the brake CU 52 are primarily configured with a microcomputer (corresponding to a "computer"), and each microcomputer in the CUs 50 to 52 has a CPU. The functions provided by the microcomputer in each of the CUs 50 to 52 can be provided by software recorded in a physical memory device and a computer that executes the software, by software alone, by hardware alone, or a combination of these. For example, when the microcomputer is provided by a hardware electronic circuit, the function can be provided by a digital circuit including multiple logic circuits or an analog circuit. For example, the microcomputer in each of the CUs 50 to 52 executes a program stored in a non-transitory tangible storage medium that serves as a storage unit included in the microcomputer. The program includes, for example, a program for the processing shown in FIG. 5. Execution of the program results in the execution of a method corresponding to the program. The storage unit is, for example, a non-volatile memory. The program stored in the storage unit can be updated, for example, via a network such as the Internet.

[0026] The EVCU 51 calculates a command rotation speed of the rotor 22 based on the accelerator stroke detected by the accelerator sensor 37 and the steering angle detected by the steering angle sensor 38. The EVCU 51 calculates a command torque Trq* as a manipulated variable for feedback control of the rotation speed of the rotor 22 to the calculated command rotation speed. The EVCU 51 transmits the command torque Trq* to the MGCU 50. The rotation speed of the rotor 22 may be calculated based on, for example, a detection signal from the rotation angle sensor 34. Furthermore, for example, when the vehicle 10 is equipped with an autonomous driving function and the autonomous driving mode is executed, the EVCU 51 may calculate the command rotation speed based on a target driving speed of the vehicle 10 set by an autonomous driving CU included in the vehicle 10.

[0027] The MGCU 50 controls the switching of the switches SWH and SWL constituting the inverter 30 to control the torque of the rotary electric machine 20 to the command torque Trq* received from the EVCU 51. In each phase, the upper arm switch SWH and the lower arm switch SWL are alternately turned on.

[0028] The MGCU 50 performs power running control when the command torque Trq* received from the EVCU 51 has a positive value. The power running control is switching control of the inverter 30 for converting DC power output from the storage battery 40 into AC power and supplying the converted AC power to the windings 21. When the power running control is performed, the rotating electric machine 20 functions as an electric motor. As a result, a driving torque is applied to the driving wheels 11. Furthermore, when the command torque Trq* received from the EVCU 51 has a negative value, the MGCU 50 performs regenerative drive control. The regenerative drive control is switching control of the inverter 30 for converting AC power generated by the rotating electric machine 20 into DC power and supplying the converted DC power to the storage battery 40. When the regenerative drive control is performed, the rotating electric machine 20 functions as a generator. As a result, a braking torque is applied to the driving wheels 11.

[0029] Here, the torque control of the rotary electric machine 20 executed by the MGCU 50 will be described with reference to Fig. 2. In the example shown in Fig. 2, current feedback control is performed as the torque control.

[0030] The command current setting unit 60 sets the d- and q-axis command currents Id* and Iq* based on the command torque Trq*. In torque control, the command current setting unit 60 sets the d- and q-axis command currents Id* and Iq*, for example, by minimum current maximum torque control (MTPA). Note that the command current setting unit 60 may set the d- and q-axis command currents Id* and Iq* based on map information or formula information that associates the command torque Trq* with the d- and q-axis command currents Id* and Iq*.

[0031] The two-phase conversion unit 61 converts the U, V, and W phase currents in the three-phase fixed coordinate system into a d-axis current Idr and a q-axis current Iqr in a two-phase rotating coordinate system (dq coordinate system) based on the detection value of the current sensor 32 and the electrical angle θe detected by the rotation angle sensor 34.

[0032] The d-axis deviation calculation unit 62a calculates the d-axis current deviation ΔId by subtracting the d-axis current Idr from the d-axis command current Id*, and the q-axis deviation calculation unit 62b calculates the q-axis current deviation ΔIq by subtracting the q-axis current Iqr from the q-axis command current Iq*.

[0033] The d-axis command voltage calculation unit 63a calculates a d-axis command voltage Vd as a manipulated variable for feedback-controlling the d-axis current Idr to the d-axis command current Id* based on the d-axis current deviation ΔId. The q-axis command voltage calculation unit 63b calculates a q-axis command voltage Vq as a manipulated variable for feedback-controlling the q-axis current Iqr to the q-axis command current Iq* based on the q-axis current deviation ΔIq. The feedback control used by the d-axis command voltage calculation unit 63a and the q-axis command voltage calculation unit 63b may be, for example, proportional-plus-integral control.

[0034] The three-phase conversion unit 64 converts the d- and q-axis command voltages Vd and Vq in the two-phase rotating coordinate system into U-, V- and W-phase command voltages VU*, VV* and VW* in the three-phase fixed coordinate system based on the d- and q-axis command voltages Vd and Vq and the electrical angle θe output from the d- and q-axis command voltage calculation units 63a and 63b. In this embodiment, the U-, V- and W-phase command voltages VU*, VV* and VW* have sinusoidal waveforms with a phase difference of 120° in electrical angle.

[0035] The signal generator 65 generates drive signals GUH and GUL for the U-phase upper and lower arm switches SWH and SWL, drive signals GVH and GVL for the V-phase upper and lower arm switches SWH and SWL, and drive signals GWH and GWL for the W-phase upper and lower arm switches SWH and SWL, by three-phase modulation based on the U-, V-, and W-phase command voltages VU*, VV*, and VW* and the power supply voltage Vdc. Specifically, taking the U-phase as an example, the signal generator 65 calculates a U-phase normalized command voltage VUS by dividing the U-phase command voltage VU* by half the power supply voltage Vdc. The signal generator 65 calculates a U-phase PWM signal GU* based on a magnitude comparison between the U-phase normalized command voltage VUS and the carrier signal. The signal generating unit 65 generates upper and lower arm drive signals GUH, GUL for the U-phase upper and lower arm switches SWH, SWL based on the U-phase PWM signal GU* and a logically inverted signal of the U-phase PWM signal GU*. Note that the signal generating unit 65 may use a value calculated based on the detection signal of the voltage sensor 33 as the power supply voltage Vdc.

[0036] The signal generating unit 65 outputs the generated U-phase upper and lower arm drive signals GUH and GUL to the gates of the U-phase upper and lower arm switches SWH and SWL, outputs the generated V-phase upper and lower arm drive signals GVH and GVL to the gates of the V-phase upper and lower arm switches SWH and SWL, and outputs the generated W-phase upper and lower arm drive signals GWH and GWL to the gates of the W-phase upper and lower arm switches SWH and SWL. This allows sinusoidal PWM control to be performed as switching control for the inverter 30. The control period of the MGCU 50 is sufficiently shorter than the period of the carrier signal. The carrier signal in this embodiment is a triangular wave signal whose rising and falling speeds are equal.

[0037] Returning to the explanation of Figure 1, the following describes brake control for applying braking torque to the wheels of the vehicle 10. The brake CU52 calculates a total required braking torque to be applied to the wheels based on the brake stroke detected by the brake stroke sensor 45. The brake CU52 transmits the total required braking torque to the EVCU 51.

[0038] The EVCU 51 calculates the regenerative upper limit braking torque. The regenerative upper limit braking torque is the upper limit of the braking torque that can be applied to the drive wheels 11 by the regenerative drive control. The calculation of the regenerative upper limit braking torque will be described later.

[0039] The EVCU 51 calculates the regenerative demand braking torque and the friction demand braking torque based on the regenerative upper limit braking torque and the total demand braking torque received from the brake CU 52. The EVCU 51 transmits the regenerative demand braking torque as a command torque Trq* to the MGCU 50, and transmits the friction demand braking torque to the brake CU 52. In this case, the command torque Trq*, which is a negative value, is transmitted to the MGCU 50. In this embodiment, the EVCU 51 sets the regenerative demand braking torque to the same value as the regenerative upper limit braking torque, and calculates the friction demand braking torque by subtracting the regenerative demand braking torque from the total demand braking torque. In other words, of the regenerative drive control by the rotary electric machine 20 and the application of friction braking torque by the friction brake device 12, the EVCU 51 prioritizes the regenerative drive control by the rotary electric machine 20.

[0040] The MGCU 50 performs regenerative drive control based on the command torque Trq*, which is a negative value, received from the EVCU 51. The brake CU 52 controls the friction brake device 12 based on the friction demand braking torque received from the EVCU 51. By performing regenerative drive control and control of the friction brake device 12, braking torque is applied to the wheels. As a result, the kinetic energy of the vehicle 10 is reduced, and the vehicle 10 decelerates.

[0041] Here, the implementation of regenerative drive control may be restricted due to the storage battery 40 being in a fully charged state. In this embodiment, as shown in FIG. 3, an upper limit standard value Vm of the terminal voltage Vr of the storage battery 40 is set, and a state in which the terminal voltage Vr of the storage battery 40 is at the upper limit standard value Vm is defined as a fully charged state. If the terminal voltage Vr of the storage battery 40 becomes higher than the upper limit standard value Vm, for example, the storage battery 40 may deteriorate. In FIG. 3, the SOC when the terminal voltage Vr of the storage battery 40 is at the upper limit standard value Vm is set as the charge limit value Sm. The SOC of the storage battery 40 is the ratio of the charge amount to the fully charged capacity of the storage battery 40, and corresponds to a "charge parameter."

[0042] The EVCU 51 performs regenerative drive control on the condition that the SOC of the storage battery 40 is lower than the charging limit value Sm. That is, when the SOC of the storage battery 40 is lower than the charging limit value Sm, the EVCU 51 calculates a value greater than 0 as the regenerative upper limit braking torque, and when a total required braking torque is received, the EVCU 51 sets all or part of the total required braking torque as the regenerative required braking torque. On the other hand, when the SOC of the storage battery 40 reaches the charging limit value Sm, the EVCU 51 sets the regenerative upper limit braking torque to 0, and when a total required braking torque is received, the EVCU 51 sets the total required braking torque as the friction required braking torque. In this case, the implementation of regenerative drive control is prohibited.

[0043] When the SOC of the storage battery 40 reaches the charging limit value Sm, instead of setting the regenerative upper limit braking torque to 0, the EVCU 51 may calculate a lower regenerative upper limit braking torque than when the SOC of the storage battery 40 is lower than the charging limit value Sm. In this case, the proportion of the regenerative requested braking torque in the total requested braking torque becomes lower, and the implementation of regenerative drive control is limited. The EVCU 51 may obtain the SOC of the storage battery 40 based on detection information from the monitoring unit 41.

[0044] In this embodiment, the MGCU 50 performs charge suppression control to suppress the restriction on the implementation of the regenerative drive control. The charge suppression control performed by the MGCU 50 will be described below.

[0045] As shown in FIG. 2, the MGCU 50 includes a determination unit 66. The determination unit 66 acquires the SOC of the storage battery 40. The determination unit 66 may acquire the SOC of the storage battery 40 based on detection information from the monitoring unit 41. The determination unit 66 determines whether the SOC of the storage battery 40 is equal to or greater than a charging determination value Sa and whether regenerative drive control is to be performed. As shown in FIG. 3, the charging determination value Sa is a value lower than a charging limit value Sm. For example, the charging determination value Sa may be 60 to 90%, 70 to 90%, or 80 to 90% of the charging limit value Sm.

[0046] The determination unit 66 determines whether or not regenerative drive control is to be performed. In this embodiment, the determination unit 66 acquires the vehicle speed Vs of the vehicle 10, the accelerator stroke Ac detected by the accelerator sensor 37, the brake stroke Br detected by the brake stroke sensor 45, and the road surface gradient Gd. The determination unit 66 may acquire the vehicle speed Vs of the vehicle 10 calculated based on the detection signal of the rotation angle sensor 34, and the road surface gradient Gd calculated based on the detection signal of the acceleration sensor 39.

[0047] The determination unit 66 determines that regenerative drive control is to be performed when it determines that the vehicle speed Vs of the vehicle 10 is higher than a vehicle speed determination value Vth, determines that the driver of the vehicle 10 has not operated the accelerator, determines that the driver of the vehicle 10 has operated the brakes, and determines that the vehicle 10 is traveling downhill. Specifically, the vehicle speed determination value Vth is 0 [km / h]. The determination unit 66 determines that the driver of the vehicle 10 has not operated the accelerator when it determines that the accelerator stroke Ac is equal to or less than the accelerator determination value. The determination unit 66 determines that the driver of the vehicle 10 has operated the brakes when it determines that the brake stroke Br is greater than the brake determination value. The determination unit 66 determines that the vehicle 10 is traveling downhill when it determines that the road surface gradient Gd is greater than the gradient determination value, which indicates a downward gradient. The vehicle speed determination value Vth is not limited to 0 [km / h] and may be set to a value of, for example, 5 to 10 [km / h].

[0048] When the determination unit 66 determines that the SOC of the storage battery 40 exceeds the charging determination value Sa and that regenerative drive control is to be performed, it switches the logic of the command signal Sg from L to H. When the logic of the command signal Sg is L, the determination unit 66 communicates that normal control will be performed. The normal control is regenerative drive control that is performed when the SOC of the storage battery 40 is lower than the charging determination value Sa, and is minimum current maximum torque control in this embodiment. When the logic of the command signal Sg is H, the determination unit 66 communicates that control will be performed to suppress charging of the storage battery 40 by regenerative drive control compared to normal control.

[0049] In this embodiment, the determination unit 66 transmits the command signal Sg to the command current setting unit 60. When the command current setting unit 60 receives a command signal Sg of logic H, it reduces the power generation efficiency of the regenerative drive control compared to normal control. Specifically, in normal control, the command current setting unit 60 sets the d-axis command currents Id* and Iq* using minimum current maximum torque control (MTPA). When the command current setting unit 60 receives a command signal Sg of logic H, it increases the magnitude of the d-axis command current Id* compared to when normal control is performed.

[0050] Fig. 4 shows an example of a case where the d-axis command current Id* is increased. In Fig. 4, the solid line indicates a locus A of the d- and q-axis command currents Id* and Iq* in normal control (specifically, minimum current maximum torque control), and the dashed line indicates a locus B of the d- and q-axis command currents Id* and Iq* when the command signal Sg is switched from L to H. When a negative command torque Trq* is input, if the logic of the command signal Sg is L, the command current setting unit 60 sets the d- and q-axis command currents Id* and Iq* based on a control point Pa on the locus A. On the other hand, when a negative command torque Trq* is input, if the logic of the command signal Sg is H, the command current setting unit 60 sets the d- and q-axis command currents Id* and Iq* based on a control point Pb on the locus B.

[0051] 4 shows a case where the rotating electric machine 20 has a non-salient pole structure, and the command current setting unit 60 keeps the q-axis command current Iq* constant at the control points Pa and Pb, while increasing the d-axis command current Id* at the control point Pb compared to the d-axis command current Id* at the control point Pa. This makes it possible to realize the command torque Trq* input to the MGCU 50 while reducing the power generation efficiency of the regenerative drive control compared to normal control. Note that when the rotating electric machine 20 has a salient pole structure, the command current setting unit 60 may increase the d-axis command current Id* along a constant torque curve, which is the locus of the d- and q-axis command currents Id* and Iq* that generate a constant torque, during the charge suppression control.

[0052] The MGCU 50 includes a notification unit 67 and an auxiliary equipment communication unit 68. A command signal Sg is input to the notification unit 67 and the auxiliary equipment communication unit 68. When the notification unit 67 receives the command signal Sg of logic H, it notifies the user of the vehicle 10 of warning information, such as that the vehicle speed of the vehicle 10 will be limited or that the user is urged to stop the vehicle 10 in a safe place. The notification unit 67 may, for example, notify the user audibly by voice guidance from a speaker provided in the vehicle 10 or visually by a warning display on a display provided in the vehicle 10. When the auxiliary equipment communication unit 68 receives the command signal Sg of logic H, it increases the power supplied from the storage battery 40 to the on-board electrical device 13. For example, the auxiliary equipment communication unit 68 may increase the drive power of an electric compressor serving as the on-board electrical device 13 or increase the power supplied to the low-voltage battery.

[0053] 5 shows the procedure of the process performed by the determination unit 66. This process is repeatedly executed at a predetermined cycle when the SOC of the storage battery 40 reaches a predetermined process start value. The process start value is preferably a value lower than the charging determination value Sa.

[0054] In step S10, it is determined whether the SOC of the storage battery 40 is equal to or greater than the charging determination value Sa. The SOC of the storage battery 40 may be obtained based on the detection signal of the monitoring unit 41. If the determination in step S10 is negative, the process proceeds to step S18. On the other hand, if the determination in step S10 is positive, the process proceeds to step S11.

[0055] In step S11, it is determined whether the vehicle speed Vs of the vehicle 10 is higher than a vehicle speed determination value Vth. As the vehicle speed Vs, a value acquired based on the detection signal of the rotation angle sensor 34 may be used. If a negative determination is made in step S11, the process proceeds to step S18. On the other hand, if a positive determination is made in step S11, the process proceeds to step S12.

[0056] In step S12, it is determined whether or not the driver of the vehicle 10 is operating the accelerator. In this embodiment, if it is determined that the accelerator stroke Ac exceeds the accelerator determination value, it is determined that the driver of the vehicle 10 is operating the accelerator. As the accelerator stroke Ac, it is preferable to use a value acquired based on the detection signal of the accelerator sensor 37. If the determination in step S12 is affirmative, the process proceeds to step S18. On the other hand, if the determination in step S12 is negative, the process proceeds to step S13.

[0057] In step S13, it is determined whether or not the driver of the vehicle 10 has applied the brakes. In this embodiment, if it is determined that the brake stroke Br is greater than the brake determination value, it is determined that the driver of the vehicle 10 has applied the brakes. As the brake stroke Br, it is preferable to use a value acquired based on the detection signal of the brake stroke sensor 45. If the determination in step S13 is negative, the process proceeds to step S18. On the other hand, if the determination in step S13 is positive, the process proceeds to step S14.

[0058] In step S14, it is determined whether the vehicle 10 is traveling downhill. In this embodiment, if it is determined that the road surface gradient Gd is greater than a gradient determination value indicating a downhill gradient, it is determined that the vehicle 10 is traveling downhill. A value acquired based on the detection signal of the acceleration sensor 39 may be used as the road surface gradient Gd. If a negative determination is made in step S14, the process proceeds to step S18. On the other hand, if a positive determination is made in step S14, the process proceeds to step S15. That is, in this embodiment, if a positive determination is made in steps S11, S13, and S14 and a negative determination is made in step S12, it is determined that regenerative drive control is to be performed. The processing in steps S10 to S14 corresponds to a "charge determination unit."

[0059] In step S15, the logic of the command signal Sg is switched from L to H. In this embodiment, when the command current setting unit 60 receives the command signal Sg of logic H, it increases the magnitude of the d-axis command current Id* compared to the d-axis command current Id* in normal control. When the notification unit 67 receives the command signal Sg of logic H, it notifies the user of the vehicle 10 of warning information. When the auxiliary communication unit 68 receives the command signal Sg of logic H, it increases the power supplied from the storage battery 40 to the on-board electrical equipment 13 to be greater than the power supplied from the rotating electrical machine 20 to the storage battery 40 by regenerative drive control. The processing of step S15 corresponds to the "control unit."

[0060] In addition, in step S15, when the logic of the command signal Sg is switched from L to H, any one or two of the following processes may be performed: a process in which the command current setting unit 60 increases the d-axis command current Id*; a process in which the notification unit 67 notifies the user of warning information; and a process in which the auxiliary communication unit 68 increases the power supplied to the in-vehicle electrical equipment 13.

[0061] In step S16, it is determined whether downhill travel has ended. In this embodiment, if it is determined that the road surface gradient Gd is equal to or less than the gradient determination value, it is determined that downhill travel has ended. If the determination in step S16 is affirmative, the process proceeds to step S18. On the other hand, if the determination in step S17 is negative, the process proceeds to step S17.

[0062] In step S17, it is determined whether the SOC of the storage battery 40 has fallen below a release determination value Sb, which is equal to or less than the charging determination value Sa. In this embodiment, as shown in FIG. 3, the release determination value Sb is set to a value lower than the charging determination value Sa. If a negative determination is made in step S17, the process proceeds to step S11. On the other hand, if a positive determination is made in step S17, the process proceeds to step S18. The process of step S17 corresponds to the "release determination unit."

[0063] In step S18, the logic of the command signal Sg is set to L. That is, in this control, if a positive determination is made in step S10, the logic of the command signal Sg is set to H until a negative determination is made in the processing of steps S11, S13, and S14, or a positive determination is made in the processing of steps S12 and S17. During the period in which the logic of the command signal Sg is set to H, the command current setting unit 60 continues to perform the processing of increasing the d-axis command current Id*, the notification unit 67 continues to perform the processing of notifying the user of warning information, and the auxiliary communication unit 68 continues to perform the processing of increasing the power supplied to the in-vehicle electrical device 13. As a result, charging of the storage battery 40 due to the regenerative drive control of the rotating electrical machine 20 is suppressed. The processing of step S18 corresponds to a "cancellation processing unit."

[0064] Here, it is considered that the heat generated by the rotating electric machine 20 increases as the power generation efficiency of the regenerative drive control is reduced in the charge suppression control. In this regard, the present embodiment is configured to suitably release the heat generated by the rotating electric machine 20 into the atmosphere. Hereinafter, the rotating electric machine 20 and its peripheral structure will be described with reference to FIG. 6.

[0065] As shown in Fig. 6, the rotating electric machine 20 is an in-wheel motor provided inside the wheel 14 of the drive wheel 11. The wheel 14 includes a cylindrical rim portion 15 and a circular disk portion 16 provided at the outer end of the rim portion 15 in the vehicle width direction. A tire 17 is attached to the outer periphery of the rim portion 15.

[0066] The rotating electric machine 20 is housed in the inner space of the wheel 14 surrounded by the rim portion 15 and the disk portion 16, and applies rotational power to the wheel 14. The rotating electric machine 20 is an outer rotor type motor including a rotor 22 and a stator 70 disposed radially inside the rotor 22.

[0067] The rotor 22 includes a cylindrical magnet holder 23 and a magnet unit 24 provided on the inner peripheral surface of the magnet holder 23. The magnet holder 23 faces the inner peripheral surface of the rim portion 15 from the outer end to the inner end in the axial direction (vehicle width direction) of the rotating electric machine 20. The magnet unit 24 is cylindrical and concentric with the central axis of rotation of the rotor 22, and includes a plurality of magnets fixed to the inner peripheral surface of the magnet holder 23. In other words, the rotating electric machine 20 of this embodiment is a surface permanent magnet synchronous machine (SPMSM). In the magnet unit 24, the magnets are arranged so that their polarities alternate along the circumferential direction of the rotor 22. The magnets are, for example, sintered neodymium magnets. Incidentally, the rotating electric machine 20 may also be an interior permanent magnet synchronous machine (IPMSM).

[0068] The rotor 22 is provided with a disk-shaped flat plate portion 25 that is provided at the outer end of the magnet holding portion 23 in the vehicle width direction and connects the magnet holding portion 23 and the disk portion 16. The disk portion 16 is fixed to the flat plate portion 25 with bolts. The brake disc 12a of the friction brake device 12 is also fixed to the inner end of the magnet holding portion 23 in the vehicle width direction of the rotor 22. This allows the rotor 22, wheel 14, and brake disc 12a to rotate as a single unit. The brake disc 12a may be a solid disc made of a single circular plate, a ventilated disc with a cavity inside for ventilation, or the like.

[0069] The stator 70 includes a cylindrical winding 21 disposed radially opposite the magnet unit 24, and a cylindrical stator base portion 71 provided radially inside the winding 21. The winding 21 includes a coil side portion provided radially opposite the magnet unit 24, and coil end portions provided at both axial ends of the coil side portion.

[0070] The stator base portion 71 is fixed to the vehicle body via a knuckle 72 and a suspension arm 73, and holds the windings 21 and other components. The knuckle 72 is fixed to the suspension arm 73 with a bolt. The stator base portion 71 has a cylindrical portion 74 that is fixed to the vehicle body. The portion of the cylindrical portion 74 that is radially adjacent to the windings 21 is the stator core 74a.

[0071] The stator base portion 71 has a fixed portion 75 that extends radially inward from one axial end of the cylindrical portion 74. The fixed portion 75 and a bearing 80 rotatably support the rotor 22 relative to the stator base portion 71. The radially outer end of the fixed portion 75 is formed as an annular protruding portion 76 that protrudes toward the flat plate portion 25. The portion of the protruding portion 76 that faces the flat plate portion 25 is formed as a flat surface.

[0072] The bearing 80 is a rolling bearing (e.g., a radial ball bearing) and includes an outer ring 81, an inner ring 82, and a plurality of rolling elements 83 (e.g., balls) arranged between the outer ring 81 and the inner ring 82. The outer ring 81 is fixed to the fixing portion 75 with bolts. The inner ring 82 includes a cylindrical portion 82a that faces the outer ring 81 in the radial direction, and a flange portion 82b that extends radially outward from one axial end of the cylindrical portion 82a. The flange portion 82b is fixed to the flat plate portion 25 and the disk portion 16 with bolts. Note that FIG. 5 shows a state in which the inner ring 82 and the outer ring 81 are coaxial.

[0073] According to the above-described arrangement of the rotating electric machine 20, the rotating electric machine 20 is fixed in contact with the brake disc 12a, the knuckle 72, and the suspension arm 73. Therefore, heat generated by the rotating electric machine 20 is suitably released into the atmosphere via the brake disc 12a, the knuckle 72, and the suspension arm 73.

[0074] According to the present embodiment described above in detail, the following effects can be obtained.

[0075] It is determined whether the SOC of the storage battery 40 is equal to or greater than a charging determination value Sa that is lower than the charging limit value Sm and whether regenerative drive control is to be performed. If the SOC of the storage battery 40 is equal to or greater than the charging determination value Sa and it is determined that regenerative drive control is to be performed, the d-axis command current Id* is increased, warning information is notified to the user, and the power supplied to the in-vehicle electrical device 13 is increased. This suppresses charging of the storage battery 40 by the regenerative drive control. Therefore, an increase in the SOC of the storage battery 40 is suppressed, and the SOC of the storage battery 40 is suppressed from reaching the charging limit value Sm. As a result, it is possible to suppress restrictions on the performance of the regenerative drive control.

[0076] When the SOC of the storage battery 40 is equal to or greater than the charging determination value Sa and it is determined that the regenerative drive control is to be performed, the inverter 30 is controlled to reduce the power generation efficiency of the regenerative drive control compared to normal control. This makes it possible to appropriately suppress charging of the storage battery 40 by the regenerative drive control.

[0077] When the SOC of the storage battery 40 is equal to or greater than the charging determination value Sa and it is determined that the regenerative drive control is to be performed, the magnitude of the d-axis command current Id* is increased compared to the regenerative drive control that is performed when the SOC of the storage battery 40 is lower than the charging determination value Sa. This increases the current flowing through the winding 21, and increases the copper loss of the rotating electrical machine 20. Therefore, the power generation efficiency of the regenerative drive control can be appropriately reduced.

[0078] In the charge suppression control, the d-axis command current Id* is increased, thereby reducing the power generation efficiency of the regenerative drive control. Therefore, charging of the storage battery 40 by the regenerative drive control can be suppressed without adding a configuration to the vehicle 10 for reducing the power generation efficiency of the regenerative drive control.

[0079] When the SOC of the storage battery 40 is equal to or greater than the charging determination value Sa and it is determined that the regenerative drive control is to be performed, the inverter 30 is controlled to suppress charging of the storage battery 40 by the regenerative drive control, and the power supplied from the storage battery 40 to the in-vehicle electrical equipment 13 is increased to be greater than the power supplied from the rotating electrical machine 20 to the storage battery 40 by the regenerative drive control. This makes it possible to reduce the SOC of the storage battery 40 while the regenerative drive control is being performed. In this case, when it is determined that the SOC of the storage battery 40 has fallen below the release determination value Sb, the charge suppression is released. As a result, the period during which the power generation efficiency of the regenerative drive control is reduced can be shortened.

[0080] The rotating electric machine 20 is disposed so that heat generated in the rotating electric machine 20 is transmitted to the brake disc 12a, knuckle 72, and suspension arm 73 of the friction brake device 12. In this case, the heat generated in the rotating electric machine 20 can be suitably released into the atmosphere via the brake disc 12a, knuckle 72, and suspension arm 73 of the friction brake device 12. Therefore, there is a great advantage in applying the above-described rotating electric machine 20 and its peripheral structure to a configuration in which the heat generated in the rotating electric machine 20 is increased during charge suppression control.

[0081] <Other embodiments> The above embodiment may be modified as follows, for example.

[0082] In charge suppression control, when the logic of the command signal Sg is switched from L to H, the switching frequency of the upper and lower arm switches SWH, SWL may be controlled to be lower than when normal control is performed.

[0083] In this embodiment, the determination unit 66 transmits the command signal Sg to the signal generation unit 65. In this case, when the signal generation unit 65 receives the command signal Sg of logic H, it performs low carrier control, which sets the frequency of the carrier signal lower than when normal control is performed. For example, the frequency of the carrier signal in low carrier control may be set to a frequency equivalent to 1 / 2 to 2 / 3 of the frequency of the carrier signal in normal control.

[0084] Fig. 7 shows an example of a case where low carrier control is performed, using the U phase as an example. In Fig. 7, (a) shows the transitions of the carrier signal Sig1 and the U-phase normalized command voltage VUS under normal control, (b) shows the transitions of the U-phase PWM signal GU* under normal control, (c) shows the transitions of the carrier signal Sig1 and the U-phase normalized command voltage VUS under low carrier control, and (d) shows the transitions of the U-phase PWM signal GU* under low carrier control.

[0085] The frequency of carrier signal Sig2 in low-carrier control is set lower than the frequency of carrier signal Sig1 in normal control. In this case, the number of times that the logic H / L of U-phase PWM signal GU* switches per electrical angle period (360°) is less in low-carrier control than in normal control. Therefore, the number of switching times per electrical angle period (360°) is less in low-carrier control than in normal control. In other words, the switching frequency of the U-phase upper and lower arm switches SWH, SWL is lower in low-carrier control than in normal control. As with the U-phase, it is preferable to lower the frequency of the carrier signal for the V- and W-phases as well.

[0086] According to this embodiment, when the SOC of the storage battery 40 is equal to or greater than the charge determination value Sa and it is determined that regenerative drive control is to be performed, the switching frequency of the upper and lower arm switches SWH, SWL is reduced compared to normal control. This increases the amplitude of the ripple current flowing through the winding 21, and increases iron loss in the rotating electric machine 20. This allows the power generation efficiency of the regenerative drive control to be appropriately reduced.

[0087] In the charge suppression control, the power generation efficiency of the regenerative drive control is reduced by lowering the switching frequency, so that charging of the storage battery 40 by the regenerative drive control can be suppressed without adding a configuration to the vehicle 10 for reducing the power generation efficiency of the regenerative drive control.

[0088] During charge suppression control, when the logic of the command signal Sg is switched from L to H, overmodulation control may be performed instead of lowering the frequency of the carrier signal. Overmodulation control generates the drive signals GUH, GUL, GVH, GVL, GWH, and GWL based on a magnitude comparison between the carrier signal and the normalized command voltages VUS, VVS, and VWS for each phase, each of which has an amplitude greater than that of the carrier signal. In this embodiment, the determination unit 66 transmits the command signal Sg to the three-phase conversion unit 64. When the three-phase conversion unit 64 receives the command signal Sg with a logic H, the three-phase conversion unit 64 performs overmodulation control. During overmodulation control, the three-phase conversion unit 64 increases the peak values ​​of the normalized command voltages VU*, VV*, and VW* for each phase to more than half the power supply voltage Vdc. In this case, the amplitudes of the normalized command voltages VUS, VVS, and VWS for each phase are increased beyond the amplitude of the carrier signal.

[0089] Fig. 8 shows an example in which the amplitude of the U-phase normalized command voltage VUS is increased, using the U-phase as an example. In Fig. 8, (a) shows the transitions of the carrier signal Sig and the U-phase normalized command voltage VUS1 under normal control, (b) shows the transitions of the U-phase PWM signal GU* under normal control, (c) shows the transitions of the carrier signal Sig and the U-phase normalized command voltage VUS2 under overmodulation control, and (d) shows the transitions of the U-phase PWM signal GU* under overmodulation control.

[0090] In normal control, the amplitude of U-phase normalized command voltage VUS1 is smaller than the amplitude of carrier signal Sig, whereas in overmodulation control, the amplitude of U-phase normalized command voltage VUS2 is larger than the amplitude of carrier signal Sig. In this case, the number of times that U-phase PWM signal GU* switches between logic H / L in one electrical angle period (360°) is smaller in overmodulation control than in normal control. Therefore, the number of switching times in one electrical angle period (360°) is smaller in overmodulation control than in normal control. In other words, the switching frequency of the U-phase upper and lower arm switches SWH, SWL is lower in overmodulation control than in normal control.

[0091] Instead of determining that regenerative drive control will be performed based on the results of the determination process in steps S11 to S14 in Fig. 5, it may be determined whether the command torque Trq* is a negative value. In this case, if it is determined that the command torque Trq* is a negative value, it may be determined that regenerative drive control will be performed. In this embodiment, the command torque Trq* may be input to the determination unit 66.

[0092] Instead of the SOC of the storage battery 40, the charge suppression control may be performed based on the terminal voltage Vr of the storage battery 40. In this case, the EVCU 51 may perform the regenerative drive control based on the fact that the terminal voltage Vr of the storage battery 40 is lower than the upper limit standard value Vm. In step S10, it may be determined whether the terminal voltage Vr of the storage battery 40 is equal to or higher than a charging determination voltage value Va. The charging determination voltage value Va is the terminal voltage of the storage battery 40 at the charging determination value Sa. In addition, in step S17, it may be determined whether the terminal voltage Vr of the storage battery 40 has fallen below a release voltage value Vb. The release voltage value Vb is the terminal voltage of the storage battery 40 at the release determination value Sb. The terminal voltage of the storage battery 40 may be acquired based on a detection signal from the monitoring unit 41. In this embodiment, the terminal voltage Vr of the storage battery 40 corresponds to the "charging parameter."

[0093] The processes of steps S14 and S16 in Fig. 5 may not be performed. In other words, the determination of whether the vehicle 10 is traveling downhill may be omitted. In this case, the process may proceed to step S15 after the process of step S13, and proceed to step S17 after the process of step S15.

[0094] In step S15 of FIG. 5, when the logic of the command signal Sg is switched from L to H, the command current setting unit 60 may perform a process to increase the d-axis command current Id* and the signal generating unit 65 may perform low carrier control, or the command current setting unit 60 may perform a process to increase the d-axis command current Id* and the three-phase conversion unit 64 may perform overmodulation control.

[0095] The determination unit 66 may obtain the road surface gradient Gd calculated based on a signal other than the detection signal of the acceleration sensor 39. For example, the determination unit 66 may obtain the road surface gradient Gd calculated based on a detection signal of a load sensor provided on each wheel of the vehicle 10. The load sensor may detect the load acting on the suspension of each wheel. Furthermore, for example, the determination unit 66 may obtain the road surface gradient Gd calculated based on a GPS signal received by a navigation device provided on the vehicle 10. In this case, the GPS signal received by the navigation device may include the current position of the vehicle 10 and map information about the surrounding area.

[0096] The rotating electric machine 20 does not have to be an in-wheel motor. For example, as shown in Fig. 9, the rotating electric machine 20 may be provided outside the wheel of the drive wheel 11, and the rotor 22 may be capable of transmitting power to the drive wheel 11 via a shaft 18. In this case, heat generated by the rotating electric machine 20 can be suitably released into the atmosphere via the brake disc 12a of the friction brake device 12.

[0097] The moving body on which the rotating electric machine is mounted is not limited to a vehicle, but may be, for example, an aircraft or a ship.

[0098] The vehicle control device and method described herein may be implemented by a special-purpose computer configured with a processor and memory programmed to execute one or more functions embodied in a computer program. Alternatively, the vehicle control device and method described herein may be implemented by a special-purpose computer configured with a processor comprising one or more dedicated hardware logic circuits. Alternatively, the vehicle control device and method described herein may be implemented by one or more special-purpose computers configured with a combination of a processor and memory programmed to execute one or more functions and a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by the computer.

[0099] The following describes characteristic configurations extracted from the above-described embodiments. [Configuration 1] a rotating electric machine (20) having a winding (21); an inverter (30) having upper and lower arm switches (SWH, SWL) electrically connected to the winding; a storage battery (40) electrically connected to the inverter, the control device (50, 51) determining a charge limit value at which the storage battery is in a fully charged state, and performing regenerative drive control to cause the rotating electric machine to function as a generator on condition that a charge parameter indicating a charge state of the storage battery is lower than the charge limit value, a charge determination unit that determines whether the charging parameter is equal to or greater than a charge determination value that is lower than the charge limit value and whether the regenerative drive control is to be performed; a control unit that, when the charging parameter is equal to or greater than the charging determination value and it is determined that the regenerative drive control is to be performed, performs control to suppress charging of the storage battery by the regenerative drive control. [Configuration 2] The control device according to configuration 1, wherein, when it is determined that the charging parameter is equal to or greater than the charging determination value and the regenerative drive control is to be performed, the control unit controls the inverter to reduce the power generation efficiency of the regenerative drive control compared to the regenerative drive control that is performed when the charging parameter is lower than the charging determination value, thereby suppressing charging of the storage battery by the regenerative drive control. [Configuration 3] The control device according to configuration 2, wherein when it is determined that the charging parameter is equal to or greater than the charging determination value and the regenerative drive control is to be performed, the control unit increases the magnitude of the d-axis current to be passed through the winding compared to the regenerative drive control that is performed when the charging parameter is lower than the charging determination value. [Configuration 4] The control device according to configuration 2, wherein when it is determined that the charging parameter is equal to or greater than the charging determination value and the regenerative drive control is to be performed, the control unit reduces the switching frequency of the switches of the upper and lower arms compared to the regenerative drive control that is performed when the charging parameter is lower than the charging determination value. [Configuration 5] The storage battery is a power source that supplies power to the electrical device (13), a cancellation determination unit that, when the charging parameter is equal to or greater than the charging determination value and it is determined that the regenerative drive control is to be performed, determines whether the charging parameter has fallen below a cancellation determination value that is equal to or less than the charging determination value; a cancellation processing unit that cancels control that suppresses charging of the storage battery by the regenerative drive control when it is determined that the charging parameter falls below the cancellation determination value; Equipped with The control device according to any one of configurations 1 to 4, wherein when it is determined that the charging parameter is equal to or greater than the charging determination value and that the regenerative drive control is to be performed, the control unit performs control to suppress charging to the storage battery by the regenerative drive control, and increases the power supplied from the storage battery to the electrical equipment to be greater than the power supplied from the rotating electric machine to the storage battery by the regenerative drive control. [Configuration 6] The system is an in-vehicle system mounted on a vehicle (10), The system includes a friction brake device (12) that applies friction braking torque to a driving wheel (11) of the vehicle; 6. The control device according to any one of configurations 1 to 5, wherein the rotating electric machine is disposed so that heat generated by the rotating electric machine is transferred to the friction brake device.

[0100] Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments or structures. The present disclosure also encompasses various modifications and equivalent modifications. In addition, various combinations and forms, including only one element, more than one element, or less than one element, are also within the scope and spirit of the present disclosure.

Claims

1. a rotating electric machine (20) having a winding (21); an inverter (30) having upper and lower arm switches (SWH, SWL) electrically connected to the winding; The present invention is applied to a system including a storage battery (40) electrically connected to the inverter, A control device (50, 51) that determines a charge limit value at which the storage battery is in a fully charged state, and performs regenerative drive control to cause the rotating electric machine to function as a generator on the condition that a charge parameter indicating the charge state of the storage battery is lower than the charge limit value, The storage battery is a power source that supplies power to the electrical device (13), a charge determination unit that determines whether the charging parameter is equal to or greater than a charge determination value that is lower than the charge limit value and whether the regenerative drive control is to be performed; a control unit that, when the charging parameter is equal to or greater than the charging determination value and it is determined that the regenerative drive control is to be performed, performs control to suppress charging of the storage battery by the regenerative drive control and increases the power supplied from the storage battery to the electrical device to be greater than the power supplied from the rotating electrical machine to the storage battery by the regenerative drive control; a cancellation determination unit that, when the charging parameter is equal to or greater than the charging determination value and it is determined that the regenerative drive control is to be performed, determines whether the charging parameter has fallen below a cancellation determination value that is equal to or less than the charging determination value; a cancellation processing unit that cancels control that suppresses charging of the storage battery by the regenerative drive control when it is determined that the charging parameter falls below the cancellation determination value; A control device comprising:

2. 2. The control device according to claim 1, wherein, when it is determined that the charging parameter is equal to or greater than the charging determination value and the regenerative drive control is to be performed, the control unit controls the inverter to reduce the power generation efficiency of the regenerative drive control compared to the regenerative drive control that is performed when the charging parameter is lower than the charging determination value, thereby suppressing charging of the storage battery by the regenerative drive control.

3. 3. The control device according to claim 2, wherein, when it is determined that the charging parameter is equal to or greater than the charging determination value and the regenerative drive control is to be performed, the control unit increases the magnitude of the d-axis current to be passed through the winding compared to the regenerative drive control that is performed when the charging parameter is lower than the charging determination value.

4. 3. The control device according to claim 2, wherein, when it is determined that the charging parameter is equal to or greater than the charging determination value and the regenerative drive control is to be performed, the control unit reduces the switching frequency of the switches of the upper and lower arms compared to the regenerative drive control that is performed when the charging parameter is lower than the charging determination value.

5. a rotating electric machine (20) having a winding (21); an inverter (30) having upper and lower arm switches (SWH, SWL) electrically connected to the winding; a storage battery (40) electrically connected to the inverter; a computer (50, 51), the computer determining a charge limit value at which the storage battery is in a fully charged state, and a program applied to a system that performs regenerative drive control to cause the rotating electric machine to function as a generator on the condition that a charge parameter indicating the state of charge of the storage battery is lower than the charge limit value, The storage battery is a power source that supplies power to the electrical device (13), a charge determination step of determining whether the charging parameter is equal to or greater than a charge determination value that is lower than the charge limit value and whether the regenerative drive control is to be performed; a control step of suppressing charging of the storage battery by the regenerative drive control and increasing the power supplied from the storage battery to the electrical device to be greater than the power supplied from the rotating electrical machine to the storage battery by the regenerative drive control when the charging parameter is equal to or greater than the charging determination value and it is determined that the regenerative drive control is to be performed; a step of determining whether the charging parameter has fallen below a release determination value that is equal to or less than the charging determination value when it is determined that the charging parameter is equal to or greater than the charging determination value and the regenerative drive control is to be performed; canceling control that suppresses charging of the storage battery by the regenerative drive control when it is determined that the charging parameter is lower than the cancellation determination value; A program that causes the computer to execute a process including the steps of:

6. A rotating electric machine (20) having a winding (21), an inverter (30) having upper and lower arm switches (SWH, SWL) electrically connected to the winding; a storage battery (40) electrically connected to the inverter; a computer (50, 51), the control method being applied to a system that determines a charge limit value at which the storage battery is in a fully charged state, and performs regenerative drive control that causes the rotating electric machine to function as a generator on the condition that a charge parameter indicating the charge state of the storage battery is lower than the charge limit value, The storage battery is a power source that supplies power to the electrical device (13), a charge determination step of determining whether the charging parameter is equal to or greater than a charge determination value that is lower than the charge limit value and whether the regenerative drive control is to be performed; a control step of suppressing charging of the storage battery by the regenerative drive control and increasing the power supplied from the storage battery to the electrical device to be greater than the power supplied from the rotating electrical machine to the storage battery by the regenerative drive control when the charging parameter is equal to or greater than the charging determination value and it is determined that the regenerative drive control is to be performed; a step of determining whether the charging parameter has fallen below a release determination value that is equal to or less than the charging determination value when it is determined that the charging parameter is equal to or greater than the charging determination value and the regenerative drive control is to be performed; canceling control that suppresses charging of the storage battery by the regenerative drive control when it is determined that the charging parameter is lower than the cancellation determination value; A control method for causing the computer to execute a process including the steps of:

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