Control method for a rotating electric machine, and control device for a rotating electric machine.

Abstract

To provide a control method for a rotary electric machine and a control device for a rotary electric machine that can smoothly switch a rotation state estimation method while maintaining control stability when estimating the rotation state of the rotary electric machine, which is an electric motor or a generator, without using a sensor such as a resolver.SOLUTION: The rotation state of a rotary electric machine is estimated, and the rotary electric machine is controlled according to the estimated rotation state. A first estimated value, which is an estimated value of the rotation state, is calculated by a first estimation method based on the current of the rotary electric machine. A second estimated value, which is the estimated value of the rotation state, is calculated by a second estimation method based on the current and voltage of the rotary electric machine. When switching between the first and second estimation methods, the final estimated value, which is an estimated value of the final rotation state, is calculated using the first estimated value and the second estimated value. Then, when the first estimated value and the second estimated value are calculated, the first estimated value and the second estimated value are corrected on the basis of the previous value of the final estimated value.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a control method for a rotating electric machine and a control device for a rotating electric machine. [Background technology]

[0002] Patent Document 1 discloses a control method for an electric motor that enables continuous speed control across the entire speed range without using position detection sensors such as resolvers. Specifically, the rotational speed of the magnetic shaft is estimated using the sum of a rotational speed command value multiplied by a distribution gain K1 and a speed estimate value multiplied by a distribution gain K2. The distribution gain K1 is set to decrease as the rotational speed command increases, and conversely, the distribution gain K2 is set to increase as the rotational speed command increases. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-174499 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] Several methods are known for estimating the rotational state of an electric motor without using position detection sensors such as resolvers, but all of them have a limited range of suitable rotational speeds. Therefore, it is necessary to switch the method of estimating the rotational state depending on the rotational speed of the electric motor.

[0005] Furthermore, when switching the method for estimating the rotational state, a weighted sum of the rotational state estimates obtained using multiple estimation methods may be used as the final estimate, for example, to ensure control stability. In other words, when the method for estimating the rotational state switches in response to fluctuations in rotational speed, a transient control state may be provided.

[0006] Furthermore, when a transient control state is implemented that uses a weighted sum of estimated values ​​obtained from multiple estimation methods, as described above, a deviation may occur between the estimated value from each estimation method and the final estimated value obtained by the weighted sum of each estimated value. When such a deviation occurs between the estimated value from each estimation method and the final estimated value, the control of the motor may become unstable, such as when the final estimated value deviates significantly from the true value and leads to loss of synchronism.

[0007] The present invention aims to provide a control method for a rotating electric machine, and a control device for a rotating electric machine, that can smoothly switch between methods for estimating the rotation state of a rotating electric machine, such as an electric motor or generator, while maintaining control stability, when estimating the rotation state of the rotating electric machine without using sensors such as resolvers. [Means for solving the problem]

[0008] One aspect of the present invention is a control method for a rotating electric machine that estimates the rotational state of the rotating electric machine and controls the rotating electric machine according to the estimated rotational state. In this control method for a rotating electric machine, a first estimated value, which is an estimated value of the rotational state, is calculated by a first estimation method based on the current of the rotating electric machine, and a second estimated value, which is an estimated value of the rotational state, is calculated by a second estimation method based on the current and voltage of the rotating electric machine. 、 When switching between the first and second estimation methods, the final estimate, which is the estimated value of the final rotation state, is calculated using the first and second estimates. 、 When calculating the first and second estimates, the first and second estimates are corrected based on the previous value of the final estimate. The first estimate includes the first phase estimate, which is an estimate related to the rotor phase; the second estimate includes the second phase estimate, which is an estimate related to the rotor phase; and the final estimate includes the final phase estimate, which is an estimate related to the rotor phase. When calculating the first and second estimates, The first phase estimate is corrected based on the deviation between the previous value of the first phase estimate and the previous value of the final phase estimate, and the second phase estimate is corrected based on the deviation between the previous value of the second phase estimate and the previous value of the final phase estimate. In another embodiment, the final estimate includes a final rotational speed estimate, which is an estimate relating to rotational speed, and when calculating the first and second estimates, the first and second estimates are corrected based on the previous value of the final rotational speed estimate. In yet another embodiment, the final estimate includes a final phase estimate, which is an estimate relating to the rotor phase, and a final rotational speed estimate, which is an estimate relating to the rotational speed, and when calculating the first and second estimates, the first and second estimates are corrected based on the final phase estimate and the final rotational speed estimate. [Effects of the Invention]

[0009] According to the present invention, when estimating the rotational state of a rotating electrical machine, which is an electric motor or a generator, without using a sensor such as a resolver, it is possible to provide a control method for a rotating electrical machine that can smoothly switch the method for estimating the rotational state while maintaining the stability of control, and a control device for a rotating electrical machine.

Brief Description of the Drawings

[0010] [Figure 1] FIG. 1 is a block diagram showing the configuration of a rotating electrical machine control device. [Figure 2] FIG. 2 is a block diagram showing the configuration of a rotational state estimation unit. [Figure 3] FIG. 3 is a block diagram showing the configuration of a first estimation unit and a second estimation unit. [Figure 4] FIG. 4 is a block diagram showing the configuration of a rotational state calculation unit. [Figure 5] FIG. 5 is a graph showing the relationship between an estimated rotational speed value and a weighting coefficient. [Figure 6] FIG. 6 is a flowchart showing the operation related to the estimation of the rotational state. [Figure 7] FIG. 7 is a block diagram showing the configuration of a first estimation unit and a second estimation unit in the second embodiment. [Figure 8] FIG. 8 is a flowchart showing the operation related to the estimation of the rotational state in the second embodiment. [Figure 9] FIG. 9 is a block diagram showing the configuration of a rotational state estimation unit in the third embodiment. [Figure 10] FIG. 10 is a block diagram showing the configuration of a first phase estimated value calculation unit in the third embodiment. [Figure 11] FIG. 11 is a flowchart showing the operation related to the estimation of the rotational state in the third embodiment.

Modes for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0012] [First Embodiment] FIG. 1 is a block diagram showing the configuration of the rotating electrical machine control device 100. As shown in FIG. 1, the rotating electrical machine control device 100 estimates the rotation state of the rotating electrical machine 10 without using a sensor that measures the phase (position) or speed of the rotor of the rotating electrical machine 10, such as a resolver or an encoder, and controls the rotating electrical machine 10 based on the estimated rotation state. That is, the rotating electrical machine control device 100 is a sensorless control device. The rotating electrical machine 10 that is the control target of the rotating electrical machine control device 100 is an electric motor (motor) or a generator (generator). In the present embodiment, the rotating electrical machine 10 is, for example, a salient-pole type three-phase AC IPM (Interior Permanent Magnet) motor, and the q-axis inductance L q and the d-axis inductance L d are assumed to be different (L q ≠L d ).

[0013] The rotating electrical machine control device 100 includes a current command generation unit 11, a first voltage command generation unit 12, a second voltage command generation unit 13, a final voltage command generation unit 14, a control mode signal generation unit 15, a coordinate conversion unit 16, a PWM conversion unit 17, an inverter 18, and a rotation state estimation unit 19. Among these units, the current command generation unit 11, the first voltage command generation unit 12, the second voltage command generation unit 13, the final voltage command generation unit 14, the control mode signal generation unit 15, the coordinate conversion unit 16, and the PWM conversion unit 17 are configured by one or more computers (controllers) and are programmed to execute operations described later at a predetermined control cycle.

[0014] The current command generation unit 11 generates (calculates) a d-axis current command value i dc [V], a torque command value T * [Nm], and an estimated rotation speed N′ [rpm]. d * and a q-axis current command value i q * based on

[0015] The DC voltage V dcV is the output voltage of the battery 21, which is a DC power source for supplying power to drive the rotating electric machine 10. dc This is detected by the voltage sensor 22. The current command generation unit 11 and other components constituting the rotating electric machine control device 100 receive the DC voltage V directly from the voltage sensor 22, or indirectly from a battery controller (not shown), etc. dc They can be obtained as appropriate.

[0016] Torque command value T * This is a command value for the torque that the rotating electric machine 10 should output. In this embodiment, it is predetermined by a higher-level controller (not shown). For example, if the rotating electric machine control device 100 is mounted on a vehicle and the rotating electric machine 10 is a vehicle drive motor, the torque command value T * This is set according to the amount of accelerator operation, the estimated rotational speed N', etc. The current command generation unit 11 and other parts that constitute the rotating electric machine control device 100 set the torque command value T * They can be obtained as appropriate.

[0017] The rotational speed estimate N' is an estimate of the rotational speed of the rotor of the rotating electric machine 10 (hereinafter referred to as the rotational speed N of the rotating electric machine 10). The rotational speed estimate N' is calculated (estimated) by the rotational state estimation unit 19.

[0018] d-axis current command value i d * The d-axis current i of the rotating electric machine 10 d This is the command value for the q-axis current command value i. q * The q-axis current i of the rotating electric machine 10 is q This is the command value for the d-axis current i. d and q-axis current i q dq axis current i d ,i q The d-axis current command value i d * and q-axis current command value i q * The dq axis current command value i d * ,i q* The current command generation unit 11 generates the dq axis current command value i. d * ,i q * This is input to the first voltage command generation unit 12.

[0019] The first voltage command generation unit 12 generates a torque command value T * DC voltage V dc , rotational speed estimated value N′, dq axis current command value i d * ,i q * , and the dq axis current i d ,i q Based on this, the 1st d-axis voltage command value V d1 * and the 1st q-axis voltage command value V q1 * Generate (calculate) the first d-axis voltage command value V d1 * and the 1st q-axis voltage command value V q1 * (The following is the first voltage command value V d1 * ,V q1 * The following is output to the final voltage command generation unit 14.

[0020] First voltage command value V d1 * ,V q1 * This is a voltage command value for controlling the rotating electric machine 10 by so-called current vector control. That is, the first voltage command generation unit 12 generates the dq axis current i according to, for example, the following equation (1). d ,i q and dq axis current command value i d * ,i q * Deviation (i d -i d * ,i q -i q * ) is controlled by PI (Proportional-Integral) control based on ) and decoupling of the dq axis, resulting in the first voltage command value V d1* , V q1 * is calculated.

[0021]

Number

[0022] In Equation (1), "s" is a differential operator. Also, "K p1 ​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​, i w from the dq-axis currents i d , i q is calculated. Specifically, the coordinate conversion unit 23 calculates the dq-axis currents i d , i q according to the following equation (2).

[0024]

Equation

[0025] In this embodiment, the current sensor 24 detects the U-phase current i u and the V-phase current i v of the rotating electrical machine 10, and the coordinate conversion unit 23 obtains the W-phase current i w by calculation according to the following equation (3). The dq-axis currents i d , i q can be appropriately acquired by each part of the rotating electrical machine control device 100, such as the first voltage command generation unit 12. In this embodiment, the dq-axis currents i d , i q are input to the second voltage command generation unit 13 and the rotation state estimation unit 19 in addition to the first voltage command generation unit 12.

[0026]

Equation

[0027] The second voltage command generation unit 13 generates (calculates) the second d-axis voltage command value V * , the DC voltage V dc , the estimated rotational speed N′, and the dq-axis currents i d , i q . Based on these, the second d-axis voltage command value V d2 * and the second q-axis voltage command value V q2 * are generated. Hereinafter, the second d-axis voltage command value V d2 * and the second q-axis voltage command value V q2 * are referred to as the second voltage command values V d2 * , V q2 *That's what they say.

[0028] Second voltage command value V d2 * ,V q2 * This is a voltage command value for controlling the rotating electric machine 10 by so-called voltage phase control. That is, the second voltage command generation unit 13 generates a voltage norm V a The command value for the voltage norm is V. a * And the command value for voltage phase α is the voltage phase command value α. * The second voltage command value V is calculated using the following: d2 * ,V q2 * Perform the calculation.

[0029] Specifically, the second voltage command generation unit 13 generates a DC voltage V according to, for example, the following equation (4): dc And the modulation rate command value MF is the command value for the modulation rate. * Based on this, the voltage norm command value V a * Perform the calculation.

[0030]

number

[0031] The second voltage command generation unit 13 generates a torque command value T * DC voltage V dc Based on the estimated rotational speed N′, the voltage phase target value α ff * The following is calculated: Voltage phase target value α ff * This is the target value of the voltage phase α due to feedforward control. In this embodiment, the second voltage command generation unit 13 generates the torque command value T * DC voltage V dc , and the estimated rotational speed N′ and the voltage phase target value α ff *It has a voltage phase target value table (not shown) that associates these values. Therefore, the second voltage command generation unit 13 refers to this voltage phase target value table to generate the torque command value T * DC voltage V dc , and the voltage phase target value α corresponding to the rotational speed estimate N′ ff * The calculation is performed. The voltage phase target value table is predetermined by experimentation or simulation.

[0032] The second voltage command generation unit 13 generates the dq axis current i d ,i q Based on the rotational speed estimate N′, the torque estimate T is an estimated value of the torque output by the rotating electric machine 10. est The calculation is performed. In this embodiment, the second voltage command generation unit 13 calculates the dq axis current i d ,i q And the rotational speed estimate N′ and the torque estimate T est It has a torque estimation table (not shown) that associates and . Therefore, the second voltage command generation unit 13 refers to this torque estimation table and generates the dq axis current i d ,i q and the torque estimate T corresponding to the rotational speed estimate N′ est The calculation is performed. The torque estimation table is pre-set by experimentation or simulation, etc.

[0033] The second voltage command generation unit 13 generates a torque command value T * and torque estimate T est Based on this, the voltage phase correction value α fb * The following is calculated: Voltage phase correction value α fb * The voltage phase target value α ff * This is a correction value for the torque command value T, and is calculated by feedback control. For example, the second voltage command generation unit 13 calculates the torque command value T according to the following equation (5). * and torque estimate T est The deviation from (T * -T est ) is controlled by PI control, which provides a voltage phase correction value αfb * The operation is performed. In equation (4), "s" is a differential operator. Also, "K p2 " is a proportional gain, and "K i2 This represents the integral gain.

[0034]

number

[0035] The second voltage command generation unit 13 calculates the voltage phase target value α as described above. ff * and voltage phase correction value α fb * For example, by adding this, the voltage phase command value α * The following is calculated. In this embodiment, α * =α ff * +α fb * That is the case.

[0036] The second voltage command generation unit 13 generates a voltage norm command value V as shown in equation (6) below. a * and voltage phase command value α * Based on the vector transformation, the second voltage command value V d2 * ,V q2 * The second voltage command value V is calculated. d2 * ,V q2 * This is output to the final voltage command generation unit 14.

[0037]

number

[0038] The final voltage command generation unit 14, in principle, receives the control mode signal M from the control mode signal generation unit 15. sw Based on this, the first voltage command value V d1 * ,V q1 *Or the second voltage command value V d2 * ,V q2 * Select one of the following, and the final voltage command value V d * ,V q * In other words, the final voltage command generation unit 14 generates the control mode signal M sw Accordingly, the control mode of the rotating electric machine 10 is set to the first voltage command value V d1 * ,V q1 * A current vector control mode using and a second voltage command value V d2 * ,V q2 * The voltage phase control mode is switched using [this method]. Note that the final voltage command value V d * ,V q * This is the final voltage command value used to control the rotating electric machine 10. Also, "V d * " is the final d-axis voltage command, and "V q * This is the final q-axis voltage command.

[0039] The final voltage command generation unit 14 generates the control mode signal M sw The first voltage command value V selected based on this is d1 * ,V q1 * Or the second voltage command value V d2 * ,V q2 * The high-frequency voltage command value V dh * ,V qh * In some cases, the following may be superimposed. Specifically, as will be described later, when the rotation state estimation unit 19 calculates the final rotation speed estimate N' and phase estimate θ' using the estimation result from the first estimation unit 26 (see Figure 2), the final voltage command generation unit 14 generates the control mode signal M sw The first voltage command value V selected based on this is d1 * ,V q1* Or the second voltage command value V d2 * ,V q2 * The high-frequency voltage command value V dh * ,V qh * The final voltage command value V is obtained by adding the value of the sum of the two. d * ,V q * In other words, when the estimation results of the first estimation unit 26 are used in the calculation of the final rotational speed estimate N' and phase estimate θ', the final voltage command value V d * ,V q * The predetermined high-frequency voltage command value V dh * ,V qh * The following is superimposed. This is because the first estimation unit 26 determines the high-frequency voltage command value V dh * ,V qh * Corresponding response high-frequency voltage V dh ,V qh This is because the first rotational speed estimate N1′ and the first phase estimate θ1′ (see Figure 2 for both) are calculated based on (i.e., by the high-frequency voltage application method).

[0040] In this embodiment, the rotation state estimation unit 19 determines that the final rotation speed estimate N' is at a predetermined rotation speed (second rotation speed threshold N B (See Figure 5)) When the value is less than or equal to the value of the first estimation unit 26, the estimation result of the first estimation unit 26 is used, and the final voltage command generation unit 14 generates the high-frequency voltage command value V based on the final rotational speed estimation value N'. dh * ,V qh * It is determined whether or not to superimpose it. Specifically, the final voltage command generation unit 14 determines whether or not the final rotational speed estimate N' is the second rotational speed threshold N B When the following conditions are met, the high-frequency voltage command value V dh * ,V qh * The final voltage command V d * ,Vq * Superimpose it on top of the other.

[0041] The final voltage command generation unit 14 generates the final voltage command value V d * ,V q * The high-frequency voltage command value V superimposed on it dh * ,V qh * This is expressed by the following equation (7). In equation (7), "V h " is the superimposed high-frequency voltage command value V dh * ,V qh * The amplitude is "ω h " is the frequency. High-frequency voltage command value V dh * ,V qh * Amplitude V h and frequency ω h This is pre-set by compatibility. dh * " is the 1st d-axis voltage command value V d1 * Or the 2nd d-axis voltage command value V d2 * The high-frequency component superimposed on it (d-axis high-frequency voltage command value) is "V qh * " is the first q-axis voltage command value V q1 * Or the second q-axis voltage command value V q2 * This is the high-frequency component (q-axis high-frequency voltage command value) superimposed on it.

[0042]

number

[0043] The control mode signal generation unit 15 generates a DC voltage V dc And the final voltage command value V d * ,V q * Based on this, the control mode signal M swSpecifically, the control mode signal generation unit 15 generates a DC voltage V according to the following equation (8). dc and final voltage command value V d * ,V q * Based on this, the modulation rate MF is calculated and this is set to a predetermined threshold (modulation rate threshold TH). MF ) is compared with the modulation rate threshold TH. The control mode signal generation unit 15 generates a control mode signal such that, for example, the modulation rate MF is compared with the modulation rate threshold TH. MF When it is less than the first voltage command value V d1 * ,V q1 * Control mode signal M that selects (current vector control mode) sw It generates and outputs the following. Meanwhile, the control mode signal generation unit 15 generates and outputs the following, for example, when the modulation rate MF is the modulation rate threshold TH. MF When the above is true, the second voltage command value V d2 * ,V q2 * Control mode signal M that selects (voltage phase control mode) sw Generates and outputs.

[0044]

number

[0045] The control mode signal generation unit 15 uses a modulation rate threshold TH to determine whether to switch from current vector control mode to voltage phase control mode. MF The modulation rate threshold TH is used to determine the switching from voltage phase control mode to current vector control mode. MF And can be set to different values. In this case, hysteresis can be introduced into the switching between the current vector control mode and the voltage phase control mode, thereby suppressing frequent switching between the current vector control mode and the voltage phase control mode (so-called chattering).

[0046] The coordinate transformation unit 16 performs a coordinate transformation using, for example, the phase estimated value θ′ output by the rotation state estimation unit 19 to obtain the final voltage command value V d *,V q * From there, the three-phase voltage command value V u * ,V v * ,V w * The coordinate transformation unit 16 calculates the three-phase voltage command value V according to the following equation (9). u * ,V v * ,V w * Perform the calculation.

[0047]

number

[0048] The PWM conversion unit 17 outputs a DC voltage V dc and three-phase voltage command value V u * ,V v * ,V w * Based on this, a PWM (Pulse Width Modulation) signal is generated to drive the power elements of the inverter 18. Specifically, the PWM conversion unit 17 generates a three-phase voltage command value V u * ,V v * ,V w * Power element drive signal D corresponding to this signal uu * ,D ul * ,D vu * ,D vl * ,D wu * ,D wl * This is generated and input to the inverter 18. The PWM conversion unit 17 can perform so-called dead time compensation processing and voltage utilization rate improvement processing when generating the PWM signal.

[0049] The inverter 18 switches the power elements according to the PWM signal, thereby controlling the DC voltage V of the battery 21. dc This is a pseudo-AC voltage V u ,V v ,V w This is converted and input to each of the UVW phases of the rotating electric machine 10. As a result, the rotating electric machine 10 receives the torque command value T. * Torque T corresponding to m It is controlled to output [this].

[0050] The rotation state estimation unit 19 determines the dq axis current i d ,i q and the final voltage command value V d * ,V q * Based on this, the rotational state of the rotating electric machine 10 is estimated. The rotational state of the rotating electric machine 10 refers to parameters that identify the operating state of the rotor of the rotating electric machine 10, such as phase θ (position), mechanical angular velocity, electrical angular velocity ω, or rotational speed (rotational speed N). In this embodiment, the rotational state estimation unit 19 calculates and outputs a phase estimate value θ′, which is an estimated value for phase θ, and a rotational speed estimate value N′, which is an estimated value for rotational speed N, as the rotational state of the rotating electric machine 10.

[0051] Figure 2 is a block diagram showing the configuration of the rotation state estimation unit 19. As shown in Figure 2, the rotation state estimation unit 19 comprises a first estimation unit 26, a second estimation unit 27, and a rotation state calculation unit 28.

[0052] The first estimation unit 26 determines the q-axis inductance L of the rotating electric machine 10. q and d-axis inductance L d By taking advantage of the difference, the dq axis current i d ,i qBased on this, the rotational state of the rotating electric machine 10 is estimated by the high-frequency voltage application method (mirror phase estimation method). In this embodiment, the first estimation unit 26 calculates the angular velocity estimate ω′, the phase estimate θ′, and the rotational speed estimate N′. Hereinafter, in order to distinguish them from the estimation results by the second estimation unit 27, the angular velocity estimate ω′, the phase estimate θ′, and the rotational speed estimate N′ calculated by the first estimation unit 26 will be referred to as the first electrical angular velocity estimate ω1′, the first phase estimate θ1′, and the first rotational speed estimate N1′, respectively. The first estimation unit 26 outputs the first phase estimate θ1′ and the first rotational speed estimate N1′ (hereinafter referred to as the first estimates θ1′ and N1′) to the rotational state calculation unit 28.

[0053] In the following, to simply distinguish between the rotation state estimation method by the first estimation unit 26 and the rotation state estimation method by the second estimation unit 27, the rotation state estimation method by the first estimation unit 26 will be referred to as the first estimation method, and the rotation state estimation method by the second estimation unit 27 will be referred to as the second estimation method.

[0054] The first estimation method is as described above, which involves the current of the rotating electric machine 10 (dq axis current i). d ,i q This is an estimation method based on [the specified formula]. Furthermore, the first estimation method is sometimes simply referred to as the high-frequency voltage application method.

[0055] In addition to the above, when the first estimation unit 26 calculates the first estimated values ​​θ1′,N1′, it performs a correction based on the previous value of the final estimated value output by the rotation state calculation unit 28. In this embodiment, the first estimation unit 26 performs a correction based on the previous value of the final phase estimated value θ′ (hereinafter referred to as the final phase estimated value θ′) output by the rotation state calculation unit 28. The configuration of the first estimation unit 26 will be described in detail later.

[0056] The second estimation unit 27 uses a magnetic flux observer to determine the dq axis current i d ,i q , and the final voltage command value V d * ,V q *Based on this, the rotational state of the rotating electric machine 10 is estimated. In this embodiment, the second estimation unit 27 calculates the angular velocity estimate ω′, the phase estimate θ′, and the rotational speed estimate N′. Hereinafter, in order to distinguish them from the estimation results of the first estimation unit 26, the angular velocity estimate ω′, the phase estimate θ′, and the rotational speed estimate N′ calculated by the second estimation unit 27 will be referred to as the second electrical angular velocity estimate ω2′, the second phase estimate θ2′, and the second rotational speed estimate N2′, respectively. The second estimation unit 27 outputs the second phase estimate θ2′ and the second rotational speed estimate N2′ (hereinafter referred to as the second estimates θ2′ and N2′) to the rotational state calculation unit 28.

[0057] The second estimation method, which is a method for estimating the rotation state by the second estimation unit 27, is as described above, and involves the current of the rotating electric machine 10 (in this embodiment, the dq axis current i d ,i q ) and voltage (in this embodiment, the dq axis voltage command value V d * ,V q * This is an estimation method based on ). Alternatively, the second estimation method can simply be described as an estimation method that uses a magnetic flux observer.

[0058] In addition to the above, when the second estimation unit 27 calculates the second estimated values ​​θ2′,N2′, it performs a correction based on the previous value of the final estimated value output by the rotation state calculation unit 28. In this embodiment, the second estimation unit 27 performs a correction based on the final phase estimated value θ′. The configuration of the second estimation unit 27 will be described in detail later.

[0059] The rotation state calculation unit 28 calculates the final phase estimate θ′ and the final rotation speed estimate N′ (hereinafter referred to as the final rotation speed estimate N′) using the first estimates θ1′, N1′ and the second estimates θ2′, N2′, or the first estimates θ1′, N1′ and the second estimates θ2′, N2′. In other words, the rotation state calculation unit 28 functions as a final estimate calculation unit that calculates the final estimated value of the rotation state. The configuration of the rotation state calculation unit 28 will be described in detail later.

[0060] Figure 3 is a block diagram showing the configurations of the first estimation unit 26 and the second estimation unit 27. As shown in Figure 3, the first estimation unit 26 includes a first phase error estimation unit 31, a first phase estimation unit 32, and a first rotational speed estimation unit 33 as its basic configuration for calculating the first phase estimation value θ1′ and the first rotational speed estimation value N1′. Furthermore, in addition to these basic configurations, the first estimation unit 26 of this embodiment includes a first phase correction value calculation unit 34 and a first phase error correction unit 35.

[0061] First, as a premise, when the first estimation unit 26 is used to estimate the rotation state, the final voltage command value V d * ,V q * The high-frequency voltage command value V dh * ,V qh * The following are superimposed. High-frequency voltage command value V dh * ,V qh * Since the orbit is represented as a circular orbit as shown in equation (7), the corresponding response high-frequency voltage V dh ,V qh Also, the phase error θ with respect to the dq axis γ1 (Hereinafter, the first phase error θ γ1 In the γδ axis having the following characteristics, the orbit is represented as a circular orbit. The angle of the major axis of this circular orbit (the rotation angle with respect to the γ axis, hereafter referred to as the major axis phase θ) is the angle of rotation with respect to the γ axis. re This refers to the response high-frequency voltage V dh ,V qh The resulting response high-frequency current i dh ,i qh It can be calculated using the following. Also, the major axis phase θ re and first phase error θ γ1 When is small, that is, θ γe →0,θ γ1 In the limit as →0, the phase of the major axis θ re This is essentially the first phase error θ γ1 It is equal to θ. γ1 ≒θ re Therefore, the phase of the major axis θ re Determining this is essentially equivalent to determining the first phase error θ γ1This is equivalent to finding the first electrical angular velocity estimate ω1′, the first phase estimate θ1′, and the first rotational speed estimate N1′, which are equal to the first phase error θ γ1 Estimated value of (hereinafter, the first phase error estimate θ) γ1 It can be performed using the following method:

[0062] Therefore, the first estimation unit 26 uses the first phase error estimation unit 31, the first phase estimated value calculation unit 32, and the first rotational speed estimated value calculation unit 33 to determine the dq axis current i d ,i q The response high-frequency current i dh ,i qh Based on this, the first phase error estimate θ γ1 The first estimation unit 26 calculates the first phase error estimate θ. γ1 The first estimated electrical angular velocity ω1′, the first estimated phase θ1′, and the first estimated rotational speed N1′ are calculated using ′.

[0063] Specifically, the first phase error estimation unit 31 performs filtering, for example, by a bandpass filter, to determine the dq-axis current i d ,i q From response high-frequency current i dh ,i qh Extracts the high-frequency voltage command value V. The bandpass filter is, for example, used for high-frequency voltage command values ​​V. dh * ,V qh * The frequency ω h Depending on the current i on the dq axis, d ,i q It is configured to remove or reduce the DC component from it. Then, the first phase error estimation unit 31 calculates the response high-frequency current i according to the following equations (10) and (11). dh ,i qh The positive phase component (in-phase component) of [c p ,s p ] and the reversed phase component (mirror phase component) [c n ,s n The first estimation unit 26 further calculates the positive-sequence component [c using a low-pass filter or the like. p ,s p ] and reversed phase component [cn ,s n ] from the frequency 2ω h Filtering can be performed to remove or reduce harmonic components such as these.

[0064]

number

[0065] These positive phase components [c p ,s p ] and reversed phase component [c n ,s n ] is the phase of the major axis θ re It is symmetrical (mirror phase relationship) with respect to . For this reason, the first phase error estimation unit 31 calculates the positive phase component [c p ,s p ] and reversed phase component [c n ,s n Using ], the first phase error estimate θ is obtained according to equation (12) below. γ1 '(major axis phase θ) re Calculate the estimated value of [the value].

[0066]

number

[0067] The first phase estimate calculation unit 32, in principle, calculates the first phase error estimate θ according to the following equation (13). γ1 The first estimated electrical angular velocity ω1' is calculated by PI control using ′. In equation (13), "K p3 " is a proportional gain, and "K i3 " is the integral gain. "s" is the differential operator. In this embodiment, the first phase estimate calculation unit 32 calculates the first phase error θ, which has been corrected based on the previous value of the final phase estimate θ'. γ1c ′ is input. Therefore, the first phase estimate calculation unit 32 calculates the first phase error estimate θ. γ1 Instead of ′, the corrected first phase error estimate θ γ1cThe first estimated electrical angular velocity ω1′ is calculated by PI control using equation (13) with ′. As a result, the first estimated electrical angular velocity ω1′ is corrected based on the final estimated phase θ′.

[0068]

number

[0069] Furthermore, the first phase estimation unit 32 calculates the first phase estimation value θ1′ by integrating the first electrical angular velocity estimation value ω1′ according to the following equation (14), and outputs it to the rotation state calculation unit 28. The first phase estimation unit 32 also outputs the calculated first electrical angular velocity estimation value ω1′ to the first rotation speed estimation unit 33.

[0070]

number

[0071] The first rotational speed estimation unit 33 calculates the first rotational speed estimation value N1′ based on the first electrical angular velocity estimation value ω1′ [rad / sec] by unit conversion and outputs it to the rotational state calculation unit 28. The first rotational speed estimation unit 33 and the aforementioned first phase estimation unit 32 constitute a PLL (Phase-locked loop) controller (phase-velocity estimator) that estimates parameters indicating the rotational state of the rotating electric machine 10 (first electrical angular velocity estimation value ω1′, first phase estimation value θ1′, and first rotational speed estimation value N1′).

[0072] The first phase correction value calculation unit 34 calculates the first phase error estimate θ based on the previous value of the final estimate output by the rotation state calculation unit 28. γ1A first phase correction value Δθ1, which is a correction value for correcting ', is calculated. In this embodiment, the first phase correction value calculation unit 34 calculates the first phase correction value Δθ1 based on the previous value of the final phase estimate value θ'. For example, the first phase correction value calculation unit 34 calculates the deviation between the previous value of the final phase estimate value θ' and the previous value of the first phase estimate value θ1', and uses this as the first phase correction value Δθ1. In this embodiment, the first phase correction value calculation unit 34 calculates the first phase correction value Δθ1 by subtracting the previous value of the first phase estimate value θ1' from the previous value of the final phase estimate value θ'. In this embodiment, the first phase correction value Δθ1 is input to the first phase error correction unit 35.

[0073] The first phase error correction unit 35 calculates the first phase error estimate value θ based on the first phase correction value Δθ1. γ1 By correcting ′, the corrected first phase error estimate θ is obtained. γ1c The first phase error correction unit 35 is configured, for example, by an adder. Therefore, in this embodiment, the first phase error correction unit 35 calculates the first phase error estimate θ. γ1 By adding the first phase correction value Δθ1 to ′, the corrected first phase error estimate θ is obtained. γ1c Perform the calculation '.

[0074] Corrected first phase error estimate θ γ1c The ' is input to the first phase estimation calculation unit 32. As a result, the first electrical angular velocity estimation value ω1' calculated by the first phase estimation calculation unit 32 is corrected based on the final estimation value (final phase estimation value θ') output by the rotation state calculation unit 28. Consequently, the first phase estimation value θ1' and the first rotation speed estimation value N1', which are calculated based on the first electrical angular velocity estimation value ω1', are also corrected based on the final estimation value (phase estimation value θ') output by the rotation state calculation unit 28. Therefore, in this embodiment, the first estimation values ​​θ1' and N1' are corrected based on the final estimation value (final phase estimation value θ') output by the rotation state calculation unit 28.

[0075] As shown in Figure 3, the second estimation unit 27 comprises a second phase error estimation unit 36, a second phase estimation unit 37, and a second rotational speed estimation unit 38 as its basic configuration for calculating the second phase estimation value θ2' and the second rotational speed estimation value N2'. Furthermore, in addition to these basic configurations, the second estimation unit 27 of this embodiment comprises a second phase correction value calculation unit 39 and a second phase error correction unit 40.

[0076] The second phase error estimation unit 36 ​​is configured using a magnetic flux observer, which will be described below.

[0077] First, the voltage equation for the rotating electric machine 10 is expressed by the following equation (15) on the dq axis. In equation (15), "R" is the winding resistance [Ω] and "s" is the differential operator. d " is the d-axis inductance [H], and "L q " is the q-axis inductance [H]. "ω" is the electrical angular velocity [rad / sec], and "Φ" is the magnetic flux [Wb].

[0078]

number

[0079] The voltage equation in equation (15) along the dq axis is given by a phase error θ with respect to the dq axis. γ2 (Hereinafter, the second phase error θ γ2 When expressed in terms of the γδ axis having ( ), it becomes as shown in equation (16) below. In equation (16) [V γ ,V δ ] is the voltage in the γδ axis (γ-axis voltage and δ-axis voltage), and [i γ ,i δ ] represents the current in the γδ axis (γ-axis current and δ-axis current). Also, [φ iγ ,φ iδ ] is the stator reaction magnetic flux φ in the γδ axis. i (reaction magnetic flux generated by stator current), and [φ mγ ,φ mδ ] is the rotor magnetic flux φ in the γδ axis. m That is the case.

[0080]

number

[0081] Note that the stator reaction flux φ in the δγ axis i (=[φ iγ ,φ iδ ]) is specifically represented by the first equation of equation (17) below. The "L" used in this first equation i " is the positive-sequence (in-phase) inductance of the stator, and "L" is the positive-sequence (in-phase) inductance of the stator. m " is the inverse phase (mirror phase) inductance of the stator. [L i ,L m ] is the d-axis inductance L d and q-axis inductance L q It is expressed using the second equation of equation (17). Also, the rotor magnetic flux φ in the δγ axis m (=[φ mγ ,φ mδ ]) is specifically represented by the third equation of equation (17) below.

[0082]

number

[0083] By transforming the circuit equation in the γδ axis as described above, the rotor magnetic flux φ m We can derive the minimum-dimensional state equation and output equation with the state variable as follows: That is, the rotor magnetic flux φ m Converting this to a state-space representation with state variables, we obtain the following equation (18). The first equation in equation (18) is the state equation, and the second equation is the output equation.

[0084]

number

[0085] Furthermore, according to the state equation and output equation of equation (18) above, the state variable is the rotor magnetic flux φ. m (=[φ mγ ,φmδ The magnetic flux observer that estimates ]) is expressed by the following equation (19) using gain G. The gain G is predetermined by experiment or simulation, etc.

[0086]

number

[0087] Rotor magnetic flux φ in the γδ axis m (=[φ mγ ,φ mδ If the second phase error θ is estimated, γ2 The estimated second phase error θ is an estimated value of θ. γ2 ' can be calculated using the following formula (20).

[0088]

number

[0089] Note that the second phase error θ γ2 When it can be considered sufficiently small, the voltage in the γδ axis ([V γ ,V δ ]) is the voltage ([V) on the dq axis. d ,V q It is essentially equal to the voltage ([V) on the dq axis. d ,V q ]) is effectively its command value ([V d * ,V q * ]) is equal to [V γ ,V δ ]≒[V d * ,V q * ] can be expressed as follows. Similarly, the second phase error θ γ2 When it can be considered sufficiently small, the current in the γδ axis ([i γ ,i δ ]) is the current ([i d ,i q ]) is essentially equivalent. Therefore, [iγ ,i δ ]≒[i d ,i q This can be expressed as follows: Stator reaction flux φ in the γδ axis i (=[φ iγ ,φ iδ As mentioned above, the d-axis inductance L is calculated according to equation (17). d and q-axis inductance L q And the current in the γδ axis ([i γ ,i δ ]) and can be calculated from. The electrical angular velocity ω included in equation (19), etc., can use the previous value of the second electrical angular velocity estimate ω2′, and the previous value of the second electrical angular velocity estimate ω2′ can be calculated from the previous value of the second phase estimate θ2′.

[0090] Therefore, the second phase error estimation unit 36 ​​determines the dq axis current i d ,i q (Current value) and dq axis voltage V d * ,V q * Based on (the current value), the rotor magnetic flux φ is measured using the magnetic flux observer in equation (19). m The rotor magnetic flux estimate φ is an estimated value. m The second phase error estimation unit 36 ​​calculates the rotor magnetic flux estimate φ according to equation (20). m Using ′, the second phase error estimate θ γ2 The ' is calculated. In this embodiment, the second phase error estimation unit 36 ​​is input to the second phase error correction unit 40.

[0091] The second phase estimate calculation unit 37, in principle, calculates the second phase error estimate θ according to the following equation (21). γ2 The second estimated electrical angular velocity ω2' is calculated by PI control using ′. In equation (21), "K p4 " is a proportional gain, and "K i4 " is the integral gain. "s" is the differential operator. In this embodiment, the second phase estimate calculation unit 37 calculates the second phase error θ, which has been corrected based on the previous value of the final phase estimate θ′. r2cThe input is '. Therefore, the second phase estimate calculation unit 37 calculates the second phase error estimate θ. γ2 Instead of ′, use the corrected second phase error estimate θ γ2c The second electrical angular velocity estimate ω2′ is calculated by PI control using equation (21) with ′. As a result, the second electrical angular velocity estimate ω2′ is corrected based on the final phase estimate θ′.

[0092]

number

[0093] Furthermore, the second phase estimation unit 37 calculates the second phase estimation value θ2′ by integrating the second electrical angular velocity estimation value ω2′ according to equation (22) below, and outputs it to the rotation state calculation unit 28. The second phase estimation unit 37 also outputs the calculated second electrical angular velocity estimation value ω2′ to the second rotation speed estimation unit 38.

[0094]

number

[0095] The second rotational speed estimation unit 38 calculates the second rotational speed estimation value N2' based on the second electrical angular velocity estimation value ω2' [rad / sec] by unit conversion and outputs it to the rotational state calculation unit 28. The second rotational speed estimation unit 38 and the aforementioned second phase estimation unit 37 constitute a PLL controller (phase / velocity estimator) that estimates parameters indicating the rotational state of the rotating electric machine 10 (second electrical angular velocity estimation value ω2', second phase estimation value θ2', and second rotational speed estimation value N2').

[0096] The second phase correction value calculation unit 39 calculates the second phase error estimate θ based on the previous value of the final estimate output by the rotation state calculation unit 28. γ2A second phase correction value Δθ2, which is a correction value for correcting ', is calculated. In this embodiment, the second phase correction value calculation unit 39 calculates the second phase correction value Δθ2 based on the previous value of the final phase estimate value θ'. For example, the second phase correction value calculation unit 39 calculates the deviation between the previous value of the final phase estimate value θ' and the previous value of the second phase estimate value θ2', and sets this as the second phase correction value Δθ2. In this embodiment, the second phase correction value Δθ2 is input to the second phase error correction unit 40.

[0097] The second phase error correction unit 40 calculates the second phase error estimate value θ based on the second phase correction value Δθ2. γ2 By correcting ′, the corrected second phase error estimate θ γ2c The second phase error correction unit 40 is composed of, for example, an adder. Therefore, in this embodiment, the second phase error correction unit 40 calculates the second phase error estimate θ. γ2 By adding the second phase correction value Δθ2 to ′, the corrected second phase error estimate θ is obtained. γ2c Perform the calculation '.

[0098] Corrected second phase error estimate θ γ2c The ' is input to the second phase estimation calculation unit 37. As a result, the second electrical angular velocity estimation value ω2' calculated by the second phase estimation calculation unit 37 is corrected based on the final estimation value (final phase estimation value θ') output by the rotation state calculation unit 28. Consequently, the second phase estimation value θ2' and the second rotation speed estimation value N2', which are calculated based on the second electrical angular velocity estimation value ω2', are also corrected based on the final estimation value (final phase estimation value θ') output by the rotation state calculation unit 28. Therefore, in this embodiment, the second estimation values ​​θ2' and N2' are corrected based on the final estimation value (final phase estimation value θ') output by the rotation state calculation unit 28.

[0099] Figure 4 is a block diagram showing the configuration of the rotation state calculation unit 28. As shown in Figure 4, the rotation state calculation unit 28 includes a final phase estimate calculation unit 41 and a final rotation speed estimate calculation unit 42.

[0100] The final phase estimate calculation unit 41 calculates (determines) the final phase estimate θ′ based on the first phase estimate θ1′ calculated by the first estimation unit 26, the second phase estimate θ2′ calculated by the second estimation unit 27, or both the first phase estimate θ1′ and the second phase estimate θ2′.

[0101] Specifically, the final phase estimate calculation unit 41 comprises a first weight coefficient multiplication unit 43, a second weight coefficient multiplication unit 44, and an addition unit 45. The first weight coefficient multiplication unit 43 multiplies the first phase estimate θ1′ by the first weight coefficient w1 and outputs it to the addition unit 45. The second weight coefficient multiplication unit 44 multiplies the second phase estimate θ2′ by the second weight coefficient w2 and outputs it to the addition unit 45. The addition unit 45 then calculates the final phase estimate θ′ by adding the first phase estimate θ1′ multiplied by the first weight coefficient w1 and the second phase estimate θ2′ multiplied by the second weight coefficient w2.

[0102] In other words, the final phase estimate calculation unit 41 calculates the final phase estimate θ′ based on the first phase estimate θ1′ and the second phase estimate θ2′, and the first weight coefficient w1 and the second weight coefficient w2, according to the following equation (23).

[0103]

number

[0104] The final rotational speed estimation unit 42 calculates (determines) the final rotational speed estimation value N' based on the first rotational speed estimation value N1' calculated by the first estimation unit 26, the second rotational speed estimation value N2' calculated by the second estimation unit 27, or both of the first rotational speed estimation value N1' and the second rotational speed estimation value N2'.

[0105] Specifically, the final rotational speed estimation unit 42 comprises a first weight coefficient multiplication unit 46, a second weight coefficient multiplication unit 44, and an addition unit 48. The first weight coefficient multiplication unit 46 multiplies the first rotational speed estimation value N1' by the first weight coefficient w1 and outputs it to the addition unit 48. The second weight coefficient multiplication unit 47 multiplies the second rotational speed estimation value N2' by the second weight coefficient w2 and outputs it to the addition unit 48. The addition unit 48 then calculates the final rotational speed estimation value N' by adding the first rotational speed estimation value N1' (multiplied by the first weight coefficient w1) and the second rotational speed estimation value N2' (multiplied by the second weight coefficient w2).

[0106] In other words, the final rotational speed estimation unit 42 calculates the final rotational speed estimation value N' based on the first rotational speed estimation value N1' and the second rotational speed estimation value N2', and the first weight coefficient w1 and the second weight coefficient w2, according to the following equation (24). The values ​​of the first weight coefficient w1 and the second weight coefficient w2 are the same as those of the final phase estimation unit 41.

[0107]

number

[0108] The first weight coefficient w1 and the second weight coefficient w2 used in the final phase estimation calculation unit 41 and the final rotational speed estimation calculation unit 42 described above are set to values ​​between 0 and 1. In this embodiment, the first weight coefficient w1 is set to a value between 0 and 1, and the second weight coefficient w2 is set so that its sum with the first weight coefficient w1 is 1. Furthermore, the first weight coefficient w1 and the second weight coefficient w2 are predetermined according to the final rotational speed estimation value N' (previous value) as follows.

[0109] Figure 5 is a graph showing the relationship between the estimated final rotation speed N' (previous value) and the weighting coefficients (w1, w2). As shown in Figure 5, the previous value of the estimated final rotation speed N' is the first rotation speed threshold N A If it is smaller than (N′ <N A ), the first weight coefficient w1 is set to "1" (w1=1), and the second weight coefficient w2 is set to "0" (w2=0). Therefore, the previous value of the final rotational speed estimate N' is the first rotational speed threshold NA If it is smaller than the first phase estimate calculation unit 41 effectively selects the first phase estimate θ1′ and outputs it as the final phase estimate θ′ (current value). Similarly, the previous value of the final rotational speed estimate N′ is the first rotational speed threshold N. A If it is smaller than the first rotational speed threshold N, the final rotational speed estimation unit 42 effectively selects the first rotational speed estimation N1' and outputs it as the final rotational speed estimation N' (current value). In other words, the previous value of the final rotational speed estimation N' is the first rotational speed threshold N A When it is smaller than the first estimated value θ1′,N1′ by the first estimation unit 26 becomes the final estimated result (hereinafter referred to as the final estimated value θ′,N′) output by the rotation state calculation unit 28. Therefore, when the rotation speed N of the rotating electric machine 10 (final rotation speed estimated value N′) is less than the first rotation speed threshold N A As the value becomes smaller than the specified value, the method for estimating the rotation state switches to the first estimation method by the first estimation unit 26.

[0110] On the other hand, the previous value of the final rotational speed estimate N' is the second rotational speed threshold N B If it is greater than the second rotation threshold N, the first weight coefficient w1 is set to "0" (w1=0) and the second weight coefficient w2 is set to "1" (w2=1). Therefore, the previous value of the final rotation speed estimate N' is the second rotation speed threshold N B If it is greater than the second phase estimate calculation unit 41 effectively selects the second phase estimate θ2′ and outputs it as the final phase estimate θ′ (current value). Similarly, the previous value of the final rotational speed estimate N′ is the second rotational speed threshold N. B If it is greater than the second rotational speed threshold N, the final rotational speed estimation unit 42 effectively selects the second rotational speed estimation value N2' and outputs it as the final rotational speed estimation value N' (current value). That is, the previous value of the final rotational speed estimation value N' is the second rotational speed threshold N B When it is greater than the second estimated value θ2′,N2′ by the second estimation unit 27 becomes the final estimated value θ′,N′. Therefore, when the rotational speed N of the rotating electric machine 10 (final rotational speed estimated value N′) is greater than the second rotational speed threshold N B When the value becomes larger than the specified value, the method for estimating the rotation state switches to the second estimation method by the second estimation unit 27.

[0111] Then, the previous value of the final rotational speed estimate N′ is the first rotational speed threshold N A The above is the second rotational speed threshold N B If the following conditions are met, the first weight coefficient w1 and the second weight coefficient w2 are set to maintain a sum of "1" (w1+w2=1), while the first weight coefficient w1 is set to decrease according to the previous value of the final rotation speed estimate N', and the second weight coefficient w2 is set to increase according to the previous value of the final rotation speed estimate N'. Therefore, if the previous value of the final rotation speed estimate N' is the first rotation speed threshold N A The above is the second rotational speed threshold N B If the following conditions are met, the current value of the phase estimate θ′ will be the weighted sum of the first phase estimate θ1′ and the second phase estimate θ2′. Similarly, the previous value of the final rotational speed estimate N′ is the first rotational speed threshold N A The above is the second rotational speed threshold N B If the following conditions are met, the current value of the final rotational speed estimate N′ will be the weighted sum of the first rotational speed estimate N1′ and the second rotational speed estimate N2′. That is, the previous value of the final rotational speed estimate N′ is the first rotational speed threshold N A The above is the second rotational speed threshold N B When the following conditions are met, the final estimated values ​​θ′,N′ are calculated based on the first estimated values ​​θ1′,N1′ and the second estimated values ​​θ2′,N2′. Therefore, the final estimated values ​​θ′,N′ will be different from both the first estimated values ​​θ1′,N1′ and the second estimated values ​​θ2′,N2′. Consequently, the rotational speed N of the rotating electric machine 10 (final rotational speed estimate N′) is different from the first rotational speed threshold N. A The above is the second rotational speed threshold N B The following period is a transitional period during which the method for estimating the rotation state switches between the first estimation method by the first estimation unit 26 and the second estimation method by the second estimation unit 27.

[0112] As described above, if the final estimated values ​​θ′,N′ are calculated based on the first estimated values ​​θ1′,N1′ and the second estimated values ​​θ2′,N2′ during the transition period when switching between the first and second estimation methods, the first and second estimation methods can be switched smoothly. On the other hand, if the final estimated values ​​θ′,N′ are calculated based on the first estimated values ​​θ1′,N1′ and the second estimated values ​​θ2′,N2′, the final estimated values ​​θ′,N′ will be different from both the first estimated values ​​θ1′,N1′ and the second estimated values ​​θ2′,N2′. As a result, the final estimated values ​​θ′,N′ will deviate from the true values ​​(actual phase θ and rotational speed N), which may lead to instability in the control of the rotating electric machine 10, such as loss of synchronism. Therefore, as described above, when the first estimation unit 26 and the second estimation unit 27 calculate the first estimated values ​​θ1′, N1′ and the second estimated values ​​θ2′, N2′, they perform corrections based on the final estimated value (in this embodiment, the final phase estimated value θ′) output by the rotation state calculation unit 28. As a result, even during the transient period when switching between the first estimation method and the second estimation method, the discrepancy between the final estimated values ​​θ′, N′ and the true values ​​is reduced or suppressed. Consequently, a transient period is provided for switching between the first estimation method and the second estimation method, allowing for a smooth transition between them while stabilizing the control of the rotating electric machine 10 during the transient period.

[0113] Note that the first rotational speed threshold N A and the second rotational speed threshold N B This is predetermined based on the results of experiments or simulations, etc.

[0114] Figure 6 is a flowchart showing the operation related to the estimation of the rotation state. As shown in Figure 6, in step S10, the rotation state estimation unit 19 determines the final voltage command value V d * ,V q * and dq axis current i d ,i q The following is obtained. In step S11, the first phase correction value calculation unit 34 calculates the first phase correction value Δθ1 based on the previous value of the final phase estimate value θ′, and the second phase correction value calculation unit 39 calculates the second phase correction value Δθ2.

[0115] In step S12, the first phase error estimation unit 31 calculates the dq axis current i d ,i q Based on this, the first phase error estimate θ γ1 The ' is calculated. Also, in step S12, the second phase error estimation unit 36 ​​calculates the dq axis current i d ,i q and final voltage command value V d *,V q Based on *, the second phase error estimate θ γ2 Perform the calculation '.

[0116] In step S13, the first phase error correction unit 35 uses the first phase correction value Δθ1 to calculate the first phase error estimate value θ γ1 By correcting ′, the corrected first phase error estimate θ is obtained. γ1c The second phase error correction unit 40 calculates the second phase error estimate value θ using the second phase correction value Δθ2. γ2 By correcting ′, the corrected second phase error estimate θ γ2c Perform the calculation '.

[0117] In step S14, the first phase estimate calculation unit 32 calculates the corrected first phase error estimate θ. γ1c The first phase estimate θ1′ is calculated using ′. In step S14, the first rotational speed estimate calculation unit 33 calculates the first rotational speed estimate N1′ based on the first electrical angular velocity estimate ω1′ calculated during the calculation process of the first phase estimate θ1′. Similarly, in step S14, the second phase estimate calculation unit 37 calculates the corrected second phase error estimate θ γ2c The second phase estimate θ2′ is calculated using ′. In step S14, the second rotational speed estimate calculation unit 38 calculates the second rotational speed estimate N2′ based on the second electrical angular velocity estimate ω2′ calculated during the calculation process of the second phase estimate θ2′.

[0118] In step S15, the rotation state calculation unit 28 determines the first weight coefficient w1 and the second weight coefficient w2 based on the previous value of the final rotation speed estimate N'. Then, in step S16, the rotation state calculation unit 28 calculates the final estimated values ​​θ', N' based on the first estimated values ​​θ1', N1' and the second estimated values ​​θ2', N2'.

[0119] Since the above-mentioned first estimated values ​​θ1′, N1′ and second estimated values ​​θ2′, N2′ are corrected based on the previous value of the final phase estimated value θ′, the deviation of the final estimated values ​​θ′, N′ from the true value is reduced or suppressed even during the transient period provided for switching between the first and second estimation methods. As a result, the first and second estimation methods switch smoothly according to the rotational speed N (final rotational speed estimated value N′), and the control of the rotating electric machine 10 remains stable even during the transitional period.

[0120] [Second Embodiment] In the first embodiment described above, the first phase correction value Δθ1 and the second phase correction value Δθ2, which are calculated based on the final phase estimate value θ′, are directly equal to the first phase error estimate value θ γ1 and the second phase error correction value θ γ2 It is used for correction of, but is not limited to, the first phase error estimate θ. γ1 and the second phase error correction value θ γ2 The dq axis current i used in the calculation d ,i q By correcting this based on the first phase correction value Δθ1 and the second phase correction value Δθ2, the first phase error estimate θ is indirectly obtained. γ1 ′ and the second phase error estimate θ γ2 ′ may be corrected. In this embodiment, the dq axis current i is corrected based on the first phase correction value Δθ1 and the second phase correction value Δθ2. d ,i q By correcting this, the corrected first phase error estimate θ is obtained from the beginning. γ1 ′ and the second phase error estimate θ γ2 Let's explain an example of how to perform the operation of '.

[0121] Figure 7 is a block diagram showing the configuration of the first estimation unit 26 and the second estimation unit 27 in the second embodiment.

[0122] As shown in Figure 7, the first estimation unit 26 of the second embodiment, similar to the first embodiment, includes a first phase error estimation unit 31, a first phase estimation unit 32, and a first rotational speed estimation unit 33 as basic components for calculating the first phase estimation value θ1′ and the first rotational speed estimation value N1′. The first estimation unit 26 also includes a first phase correction value calculation unit 34, similar to the first embodiment. However, the first estimation unit 26 of the second embodiment includes a first correction current calculation unit 201 instead of the first phase error correction unit 35.

[0123] The first correction current calculation unit 201 calculates the dq axis current i based on the first phase correction value Δθ1. d ,i q By correcting this, the first d-axis correction current i d1 and 1q-axis correction current i q1 (Hereafter, the first correction current i d1 ,i q1 Specifically, the first correction current calculation unit 201 calculates the first correction current i according to the following equation (25). d1 ,i q1 The following is calculated: As shown in equation (25), the first correction current i d1 ,i q1 Based on the first phase correction value Δθ1, the dq axis current i d ,i q This is obtained by correcting the rotation.

[0124]

number

[0125] The first correction current calculation unit 201 calculates the first correction current i d1 ,i q1 This is input to the first phase error estimation unit 31. In this embodiment, the first phase error estimation unit 31 then calculates the dq axis current i d ,i q Instead, the first corrected current i is corrected based on the first phase correction value Δθ1.d1 ,i q1 Using this, the first phase error estimate θ γ1 ' is calculated. First phase error estimate θ γ1 The specific calculation method for ' is the same as in the first embodiment.

[0126] Therefore, in this embodiment, the first phase error estimate θ calculated by the first phase error estimation unit 31 is γ1 ′ is corrected from the beginning based on the first phase correction value Δθ1. That is, the first phase error estimate value θ in this embodiment γ1 ′ represents the "corrected first phase error estimate θ" in the first embodiment. γ1c This is substantially equivalent to '. Therefore, in this embodiment as well, the first estimated values ​​θ1',N1' are corrected based on the final phase estimated value θ'.

[0127] The second estimation unit 27 is also modified in the same way as the first estimation unit 26 in the first embodiment. That is, as shown in Figure 7, the second estimation unit 27 of the second embodiment, like the first embodiment, includes a second phase error estimation unit 36, a second phase estimation unit 37, and a second rotational speed estimation unit 38 as the basic configuration for calculating the second phase estimation value θ2' and the second rotational speed estimation value N2'. The second estimation unit 27 also includes a second phase correction value calculation unit 39, like the first embodiment. However, the second estimation unit 27 of the second embodiment includes a second correction current calculation unit 202 instead of the second phase error correction unit 40.

[0128] The second correction current calculation unit 202 corrects the dq axis currents id and iq based on the second phase correction value Δθ2, thereby calculating the second d axis correction current i d2 and 2q-axis correction current i q2 (Hereafter, the second correction current i d2 ,i q2 The second correction current calculation unit 202 calculates the second correction current i according to the following equation (26). Specifically, the second correction current calculation unit 202 calculates the second correction current i according to the following equation (26). d2 ,i q2 The following is calculated: As shown in equation (26), the second correction current i d2 ,i q2Based on the second phase correction value Δθ2, the dq axis current i d ,i q This is obtained by correcting the rotation.

[0129]

number

[0130] The second correction current calculation unit 202 calculates the second correction current i d2 ,i q2 The second phase error estimation unit 36 ​​inputs this value. The second correction current calculation unit 202 then inputs the acquired final voltage command value V d * ,V q * This is directly input to the second phase error estimation unit 36. Thus, in this embodiment, the second phase error estimation unit 36 ​​determines the dq-axis current i d ,i q Instead, the second correction current i is corrected based on the second phase correction value Δθ2. d2 ,i q2 Using this, the second phase error estimate θ γ2 ' is calculated. Second phase error estimate θ γ2 The specific calculation method for ' is the same as in the first embodiment.

[0131] Therefore, in this embodiment, the second phase error estimate θ calculated by the second phase error estimation unit 36 ​​is γ2 ′ is corrected from the beginning based on the second phase correction value Δθ2. That is, the second phase error estimate value θ in this embodiment. γ2 ′ represents the "corrected second phase error estimate θ" in the first embodiment. γ2c This is substantially equivalent to '. Therefore, in this embodiment as well, the second estimated values ​​θ2',N2' are corrected based on the final phase estimated value θ'.

[0132] Figure 8 is a flowchart showing the operation related to the estimation of the rotation state in the second embodiment. As shown in Figure 8, in step S20, the rotation state estimation unit 19 determines the final voltage command value V d * ,Vq * and dq axis current i d ,i q The following steps are obtained. In step S21, the first phase correction value calculation unit 34 calculates the first phase correction value Δθ1 based on the previous value of the final phase estimate value θ′, and the second phase correction value calculation unit 39 calculates the second phase correction value Δθ2. These steps are the same as steps S10 and S11 of the first embodiment.

[0133] In step S22, the first correction current calculation unit 201 uses the first phase correction value Δθ1 to calculate the dq axis current i d ,i q By correcting this, the first corrected current i d1 ,i q1 The calculation is performed. In step S22, the second correction current calculation unit 202 uses the second phase correction value Δθ2 to calculate the dq axis current i d ,i q By correcting this, the second corrected current i d2 ,i q2 Perform the calculation.

[0134] In step S23, the first phase error estimation unit 31 calculates the first correction current i d1 ,i q1 Using this, the first phase error estimate θ γ1 The ' is calculated. Also, in step S23, the second phase error estimation unit 36 ​​calculates the second correction current i d2 ,i q2 Using this, the second phase error estimate θ γ2 Perform the calculation '.

[0135] In step S24, the first phase estimate calculation unit 32 calculates the first phase error estimate θ. γ1 The first phase estimate θ1′ is calculated using ′. Also in step S24, the first rotational speed estimate calculation unit 33 calculates the first rotational speed estimate N1′ based on the first electrical angular velocity estimate ω1′ calculated in the process of calculating the first phase estimate θ1′. Similarly in step S24, the second phase estimate calculation unit 37 calculates the second phase error estimate θ γ2The second phase estimate θ2′ is calculated using ′. In step S24, the second rotational speed estimate calculation unit 38 calculates the second rotational speed estimate N2′ based on the second electrical angular velocity estimate ω2′ calculated during the calculation process of the second phase estimate θ2′.

[0136] In step S25, the rotation state calculation unit 28 determines the first weight coefficient w1 and the second weight coefficient w2 based on the previous value of the final rotation speed estimate N'. Then, in step S26, the rotation state calculation unit 28 calculates the final estimated values ​​θ', N' based on the first estimated values ​​θ1', N1' and the second estimated values ​​θ2', N2'.

[0137] Since the above-mentioned first estimated values ​​θ1′, N1′ and second estimated values ​​θ2′, N2′ are corrected based on the previous value of the final phase estimated value θ′, the deviation of the final estimated values ​​θ′, N′ from the true value is reduced or suppressed even during the transient period provided for switching between the first and second estimation methods. As a result, the first and second estimation methods switch smoothly according to the rotational speed N (final rotational speed estimated value N′), and the control of the rotating electric machine 10 remains stable even during the transitional period.

[0138] [Third Embodiment] In the first and second embodiments described above, the first estimated values ​​θ1', N1' and the second estimated values ​​θ2', N2' are corrected using the final phase estimated value θ' from the final estimated values ​​θ', N' output by the rotation state calculation unit 28, but this is not limited to this. The first estimated values ​​θ1', N1' and the second estimated values ​​θ2', N2' can be corrected using the final rotation speed estimated value N' from the final estimated values ​​θ', N' output by the rotation state calculation unit 28. In this embodiment, an example of correcting the first estimated values ​​θ1', N1' and the second estimated values ​​θ2', N2' using the final rotation speed estimated value N' from the final estimated values ​​θ', N' output by the rotation state calculation unit 28 will be described.

[0139] Figure 9 is a block diagram showing the configuration of the rotation state estimation unit 19 in the third embodiment. As shown in Figure 9, in the rotation state estimation unit 19 of the third embodiment, the final rotation speed estimate N' is input to the first estimation unit 26 and the second estimation unit 27 from the final estimated values ​​θ',N' output by the rotation state calculation unit 28. Specifically, the final rotation speed estimate N' is input to the first phase estimate calculation unit 32 and the second phase estimate calculation unit 37.

[0140] The first estimation unit 26 is composed of a first phase error estimation unit 31, a first phase estimate calculation unit 32, and a first rotational speed estimate calculation unit 33. In other words, the first estimation unit 26 is composed of a basic configuration for calculating the first phase estimate θ1′ and the first rotational speed estimate N1′. The final rotational speed estimate N′ is then input to the first phase estimate calculation unit 32.

[0141] The first phase error estimation unit 31 calculates the dq axis current i d ,i q Using the first phase error estimate θ γ1 ' is calculated. First phase error estimate θ γ1 The specific calculation method for ′ is the same as in the first embodiment. In this embodiment, the first phase error estimate θ γ1 The ' is input directly to the first phase estimate calculation unit 32.

[0142] The first phase estimate calculation unit 32 calculates the first phase error estimate θ. γ1 Based on ' and the previous value of the final rotational speed estimate N', the first electrical angular velocity estimate ω 1c The first phase estimation unit 32 of this embodiment calculates the first electrical angular velocity estimate ω. 1c ′ is an estimated electrical angular velocity corrected based on the previous value of the final rotational speed estimate N′.

[0143] Figure 10 is a block diagram showing the configuration of the first phase estimate calculation unit 32 in the third embodiment. As shown in Figure 10, the first phase estimate calculation unit 32 calculates, for example, the first phase error estimate θ γ1 The value obtained by multiplying the previous value of ′ by the coefficient a0, and the first phase error estimate θ γ1The first estimated electrical angular velocity ω is obtained by adding the current value of ' multiplied by coefficient a1, and subtracting the previous value of the final rotational speed estimate N' multiplied by coefficient b0. 1c The system is configured to calculate ′. The final rotational speed estimate N′[rpm] is used after converting the unit to the dimension of electrical angular velocity [rad / sec]. Coefficients a0, a1, and b0 are the phase error estimate θ γ1 These are coefficients for discretizing the compensator used to obtain the first estimated electrical angular velocity ω1 from ', and are predetermined by fitting according to experiments or simulations.

[0144] The first phase estimation unit 32 calculates the first electrical angular velocity estimate ω 1c Using ′, the first phase estimate θ1′ is calculated and output. First electrical angular velocity estimate ω 1c Since ' is corrected based on the previous value of the final rotational speed estimate N', the first phase estimate θ1' calculated using this is also corrected based on the previous value of the final rotational speed estimate N'. The specific calculation method for the first phase estimate θ1' is the same as in the first embodiment.

[0145] The first rotational speed estimation unit 33 calculates the first electrical angular velocity estimation value ω. 1c Using ′, the first estimated rotational speed N1′ is calculated and output. First estimated electrical angular velocity ω 1c Since ′ is corrected based on the previous value of the final rotational speed estimate N′, the first phase estimate θ1′ calculated using this is also corrected based on the previous value of the final rotational speed estimate N′. The specific calculation method for the first rotational speed estimate N1′ is the same as in the first embodiment.

[0146] The second estimation unit 27 is composed of a second phase error estimation unit 36, a second phase estimate calculation unit 37, and a second rotational speed estimate calculation unit 38. In other words, the second estimation unit 27 is composed of a basic configuration for calculating the second phase estimate θ2′ and the second rotational speed estimate N2′. The final rotational speed estimate N′ is then input to the second phase estimate calculation unit 37.

[0147] The second phase error estimation unit 36 ​​calculates the dq axis current i d ,i q and final voltage command value V d * ,V q * Using this, the second phase error estimate θ γ2 ' is calculated. Second phase error estimate θ γ2 The specific calculation method for ′ is the same as in the first embodiment. In this embodiment, the second phase error estimate θ γ2 The ' is input directly to the second phase estimate calculation unit 37.

[0148] The second phase estimate calculation unit 37 calculates the second phase error estimate θ. γ2 Based on ' and the previous value of the final rotational speed estimate N', the second electrical angular velocity estimate ω 2c The second electrical angular velocity estimate ω is calculated by the second phase estimation unit 37 of this embodiment. 2c ′ is an estimated value of the electrical angular velocity corrected based on the previous value of the final rotational speed estimate N′. The second phase estimate calculation unit 37 is configured in the same way as the first phase estimate calculation unit 32 (see Figure 10). That is, the second phase estimate calculation unit 37 is configured, for example, the second phase error estimate θ γ2 The value obtained by multiplying the previous value of ′ by a predetermined coefficient (e.g., coefficient a0), and the second phase error estimate θ γ2 The second estimated electrical angular velocity ω is obtained by adding the value obtained by multiplying the current value of ′ by a predetermined coefficient (e.g., coefficient a1) and subtracting the value obtained by multiplying the previous value of the final rotational speed estimate N′ by a predetermined coefficient (e.g., coefficient b0). 2c It is configured to perform the calculation '.

[0149] The second phase estimation unit 37 calculates the second electrical angular velocity estimate ω 2c Using ′, the second phase estimate θ2′ is calculated and output. Second electrical angular velocity estimate ω 2c Since ′ is corrected based on the previous value of the final rotational speed estimate N′, the second phase estimate θ2′ calculated using this is also corrected based on the previous value of the final rotational speed estimate N′. The specific calculation method for the second phase estimate θ2′ is the same as in the first embodiment.

[0150] The second rotational speed estimation unit 38 calculates the second electrical angular velocity estimation value ω. 2c Using ′, the second rotational speed estimate N2′ is calculated and output. Second electrical angular velocity estimate ω 2c Since ′ is corrected based on the previous value of the final rotational speed estimate N′, the second phase estimate θ2′ calculated using this is also corrected based on the previous value of the final rotational speed estimate N′. The specific calculation method for the second rotational speed estimate N2′ is the same as in the first embodiment.

[0151] Figure 11 is a flowchart showing the operation related to the estimation of the rotation state in the third embodiment. As shown in Figure 11, in step S30, the rotation state estimation unit 19 determines the final voltage command value V d * ,V q * and dq axis current i d ,i q Obtain it.

[0152] In step S31, the first phase error estimation unit 31 calculates the dq axis current i d ,i q Based on this, the first phase error estimate θ γ1 The ' is calculated. Also, in step S31, the second phase error estimation unit 36 ​​calculates the dq axis current i d ,i q and final voltage command value V d * ,V q * Based on this, the second phase error estimate θ γ2 Perform the calculation '.

[0153] In step S32, the first phase estimate calculation unit 32 calculates the first phase error estimate θ. γ1 Based on ' and the previous value of the final rotational speed estimate N', the first electrical angular velocity estimate ω 1c The first electrical angular velocity estimate ω is calculated based on the final rotational speed estimate N′. 1c The ' is calculated. Also, in step S32, the second phase estimate calculation unit 37 calculates the second phase error estimate θ. γ2Based on ' and the previous value of the final rotational speed estimate N', the second electrical angular velocity estimate ω 2c The second electrical angular velocity estimate ω is calculated based on the final rotational speed estimate N′. 2c The ' is calculated.

[0154] In step S33, the first phase estimate calculation unit 32 calculates the first phase error estimate θ γ1 The first phase estimate θ1' is calculated using ′. In step S33, the first rotational speed estimate calculation unit 33 calculates the first electrical angular velocity estimate ω 1c The first rotational speed estimate N1' is calculated using '. Similarly, in step S33, the second phase estimate calculation unit 37 calculates the second phase error estimate θ. γ2 The second phase estimate θ2' is calculated using ′. Also, in step S33, the second rotational speed estimate calculation unit 38 calculates the second electrical angular velocity estimate ω 2c The second rotational speed estimate N2' is calculated using '.

[0155] In step S34, the rotation state calculation unit 28 determines the first weight coefficient w1 and the second weight coefficient w2 based on the previous value of the final rotation speed estimate N'. Then, in step S35, the rotation state calculation unit 28 calculates the final estimated values ​​θ', N' based on the first estimated values ​​θ1', N1' and the second estimated values ​​θ2', N2'.

[0156] Since the above-mentioned first estimated values ​​θ1′, N1′ and second estimated values ​​θ2′, N2′ are corrected based on the previous value of the final phase estimated value θ′, the deviation of the final estimated values ​​θ′, N′ from the true value is reduced or suppressed even during the transient period provided for switching between the first and second estimation methods. As a result, the first and second estimation methods switch smoothly according to the rotational speed N (final rotational speed estimated value N′), and the control of the rotating electric machine 10 remains stable even during the transitional period.

[0157] Furthermore, the control (correction method) of the first, second, and third embodiments described above can be implemented in combination. That is, one or more of the controls from each of the above embodiments can be implemented simultaneously. For example, when the control of the first or second embodiment is combined with the control of the third embodiment, the rotating electric machine control device 100 is configured to correct the first estimated values ​​θ1', N1' and the second estimated values ​​θ2', N2' based on the final phase estimated value θ' and the final rotational speed estimated value N' when calculating the first estimated values ​​θ1', N1' and the second estimated values ​​θ2', N2'.

[0158] In the first, second, and third embodiments described above, the first estimation unit 26 is configured to estimate the rotation state by the high-frequency voltage application method, and the second estimation unit 27 is configured to estimate the rotation state using a magnetic flux observer, but the invention is not limited to this configuration. The first estimation method performed by the first estimation unit 26 and the second estimation method performed by the second estimation unit 27 may be at least different from each other. Therefore, the second estimation unit 27 can be replaced with a configuration that estimates the rotation state using, for example, an observer that estimates the induced voltage of the rotating electric machine 10 (induced voltage observer). However, the high-frequency voltage application method is a method that can particularly suitably estimate the rotation state at low rotational speeds, and the estimation method using a magnetic flux observer is a method that can particularly suitably estimate the rotation state at high rotational speeds. For this reason, as in each of the embodiments described above, it is particularly preferable that the first estimation method performed by the first estimation unit 26 is the high-frequency voltage application method, and the second estimation method performed by the second estimation unit 27 is the magnetic flux observer method.

[0159] In each of the above embodiments, the "previous value" of the final estimated value θ′,N′ output by the rotation state calculation unit 28 is used to estimate the rotation state of the rotating electric machine. The "previous value" here can be the value calculated one control cycle ago (the previous value in the strict sense), or a value calculated before that. In other words, the "previous value" in each of the above embodiments means the previous value in the strict sense, or a past value from before that.

[0160] In addition, in each of the above embodiments, estimated values ​​of the rotor phase θ and rotational speed N are calculated as the rotational state of the rotating electric machine 10. However, the rotating electric machine control device 100 can be configured to estimate either the rotor phase θ or the rotational speed N. Furthermore, the rotating electric machine control device 100 can be configured to estimate rotational states other than the rotor phase θ and rotational speed N. In other words, the rotating electric machine control device 100 is not limited to the specific examples of each of the above embodiments, but can be configured to estimate one or more arbitrary rotational states.

[0161] As described above, the control methods for the rotating electric machine according to each embodiment are methods for controlling the rotating electric machine that estimate the rotation state of the rotating electric machine 10 and control the rotating electric machine 10 according to the estimated rotation state. In this control method for the rotating electric machine, the current (i d ,i q Based on the first estimation method, the first estimated value (θ1′,N1′), which is an estimated value of the rotation state, is calculated, and the current (i d ,i q ) and voltage (V d * ,V q * The second estimation method, based on the above, calculates the second estimated value (θ2′,N2′), which is an estimate of the rotation state. When switching between the first and second estimation methods, the final estimated value (θ′,N′), which is an estimate of the final rotation state, is calculated using the first estimated value (θ1′,N1′) and the second estimated value (θ2′,N2′). When calculating the first estimated value (θ1′,N1′) and the second estimated value (θ2′,N2′), the first estimated value (θ1′,N1′) and the second estimated value (θ2′,N2′) are corrected based on the previous value of the final estimated value (θ′,N′).

[0162] In this way, by correcting the first estimated values ​​θ1′,N1′ and the second estimated values ​​θ2′,N2′ based on the previous values ​​of the final estimated values ​​θ′,N′, the discrepancy between the final estimated values ​​θ′,N′ and the true values ​​is reduced or suppressed during the transition period related to switching estimation methods in which the final estimated values ​​θ′,N′ are calculated using the first estimated values ​​θ1′,N1′ and the second estimated values ​​θ2′,N2′. As a result, the control of the rotating electric machine 10 can be stabilized even during the transition period while smoothly switching between the first and second estimation methods.

[0163] In the control methods for the rotating electric machine according to the first and second embodiments described above, the final estimated value (θ', N') includes the final phase estimated value θ', which is an estimated value relating to the rotor phase θ. When calculating the first estimated value (θ1', N1') and the second estimated value (θ1', N1'), the first estimated value (θ1', N1') and the second estimated value (θ1', N1') are corrected based on the previous value of the final phase estimated value θ'. In this way, by specifically correcting the first estimated value θ1', N1' and the second estimated value θ2', N2', it is possible to smoothly switch between the first estimation method and the second estimation method, and to stabilize the control of the rotating electric machine 10 even during the transient period of the switch.

[0164] In the control method for a rotating electric machine according to the first and second embodiments described above, the first estimated value (θ1′, N1′) includes the first phase estimated value θ1′, which is an estimated value relating to the rotor phase θ, and the second estimated value (θ2′, N2′) includes the second phase estimated value θ2′, which is an estimated value relating to the rotor phase θ. The first estimated value (θ1′, N1′) is corrected based on the deviation between the previous value of the first phase estimated value θ1′ and the previous value of the final phase estimated value θ′, and the second estimated value (θ2′, N2′) is corrected based on the deviation between the previous value of the second phase estimated value θ2′ and the previous value of the final phase estimated value θ′. In this way, by specifically correcting the first estimated value θ1′,N1′ and the second estimated value θ2′,N2′ based on the deviation between the previous value of the first phase estimated value θ1′ or the second phase estimated value θ2′ and the previous value of the final phase estimated value θ′, it is possible to smoothly switch between the first estimation method and the second estimation method, and to stabilize the control of the rotating electric machine 10 even during the transient period of the switch.

[0165] In the control method for a rotating electric machine according to the second embodiment described above, the first estimated value (θ1′, N1′) includes the first phase estimated value θ1′, which is an estimated value relating to the rotor phase θ, and the second estimated value (θ2′, N2′) includes the second phase estimated value θ2′, which is an estimated value relating to the rotor phase θ. Then, based on the deviation between the previous value of the first phase estimated value θ1′ and the previous value of the final phase estimated value θ′, the first correction current (i d1 ,i q1 ) is calculated, and its first correction current (i d1 ,i q1 The first estimated value (θ1′, N1′) is calculated using ). Also, based on the deviation between the previous value of the second phase estimated value θ2′ and the previous value of the final phase estimated value θ′, the second correction current (i d1 ,i q1 ) is calculated, and its second correction current (i d1 ,i q1 The second estimated value (θ2′,N2′) is calculated using ). In this way, the dq axis current i used in the calculation of the first estimated values ​​θ1′,N1′ and the second estimated values ​​θ2′,N2′ is used. d ,i qBy correcting these values, the first estimated values ​​θ1′, N1′ and the second estimated values ​​θ2′, N2′ can be corrected in such a way that the first estimation method and the second estimation method can be switched smoothly, and the control of the rotating electric machine 10 can be stabilized even during the transition period.

[0166] In the control method for the rotating electric machine according to the third embodiment described above, the final estimated value (θ', N') includes the final rotational speed estimate (final rotational speed estimate N'), which is an estimated value related to the rotational speed (rotational speed N). When calculating the first estimated value (θ1', N1') and the second estimated value (θ2', N2'), the first estimated value (θ1', N1') and the second estimated value (θ2', N2') are corrected based on the previous value of the final rotational speed estimate (final rotational speed estimate N'). In this way, by correcting the first estimated value θ1', N1' and the second estimated value θ2', N2' using the final rotational speed estimate N' from the final estimated values ​​θ', N', it is possible to smoothly switch between the first estimation method and the second estimation method, and to stabilize the control of the rotating electric machine 10 even during the transient period of the switch.

[0167] In the control method for the rotating electric machine according to the third embodiment described above, the first estimated electrical angular velocity ω is calculated based on the final rotational speed estimate (final rotational speed estimate N'). 1c ′ is calculated, and this first estimated electrical angular velocity ω 1c The first estimated value (θ1', N1') is calculated using ′. Furthermore, based on the final rotational speed estimate (final rotational speed estimate N'), the second estimated electrical angular velocity ω, which is an estimate related to the electrical angular velocity ω, is calculated ω. 2c ′ is calculated, and this second electrical angular velocity estimate ω 2c Based on ′, the second estimate (θ2′, N2′) is calculated. In this way, when correcting the first estimates θ1′, N1′ and the second estimates θ2′, N2′ using the final rotational speed estimate N′, the first electrical angular velocity estimate ω which has been corrected in advance based on the final rotational speed estimate N′ is used. 1c ′ and second estimated electrical angular velocity ω 2c By calculating ', it is possible to smoothly switch between the first estimation method and the second estimation method, and to stabilize the control of the rotating electric machine 10 even during the transient period of the switch.

[0168] In each of the above embodiments, the control method for the rotating electric machine includes, as the final estimated value (θ′,N′), a final phase estimated value θ′, which is an estimated value relating to the rotor phase θ, and a final rotational speed estimated value (final rotational speed estimated value N′), which is an estimated value relating to the rotational speed (rotational speed N). Furthermore, when calculating the first estimated value (θ1′,N1′) and the second estimated value (θ2′,N2′), the control method can be configured to correct the first estimated value (θ1′,N1′) and the second estimated value (θ1′,N1′) based on the final phase estimated value θ′ and the final rotational speed estimated value (final rotational speed estimated value N′). In other words, a control configuration can be formed by combining the control of the first and / or second embodiment with the control of the third embodiment. In this case as well, the control of the rotating electric machine 10 can be stabilized while smoothly switching between the first estimation method and the second estimation method, even during the transient period of the switch.

[0169] In the control method for the rotating electric machine according to each of the above embodiments, the first estimated value (θ1′,N1′) is the voltage of the rotating electric machine 10 (V d * ,V q * ) with high-frequency voltage (V dh * ,V qh * ) is superimposed, and a high-frequency voltage (V dh * ,V qh * The calculation is performed according to the response of ). In other words, the first estimation method is the so-called high-frequency voltage application method. When the high-frequency voltage application method is adopted as the first estimation method, the rotational state can be estimated particularly accurately when the rotating electric machine 10 is at a relatively low rotational speed.

[0170] In the control methods for the rotating electric machine according to each of the above embodiments, the second estimated value (θ2′, N2′) is the rotor magnetic flux φ of the rotating electric machine 10. mAlternatively, it is calculated by estimating the induced voltage with an observer. That is, an estimation method using a magnetic flux observer or an induced voltage observer is adopted as the second estimation method. In this way, when an estimation method using a magnetic flux observer or an induced voltage observer is adopted as the second estimation method, the rotational state can be estimated particularly accurately when the rotating electric machine 10 is at a relatively high rotational speed.

[0171] In the control method for the rotating electric machine according to each embodiment described above, the final estimated value (θ′, N′) is calculated by summing a first estimated value (θ1′, N1′) obtained by multiplying it by a first weight coefficient w1 set to be between 0 and 1, and a second estimated value (θ2′, N2′) obtained by multiplying it by a second weight coefficient w2 set to be equal to 1. The first weight coefficient w1 and the second weight coefficient w2 are set according to the rotational speed N of the rotating electric machine 10 (final estimated rotational speed N′). By setting the first weight coefficient w1 and the second weight coefficient w2 in this way, the first estimation method and the second estimation method are gradually switched. Therefore, the switching between the first estimation method and the second estimation method can be performed particularly smoothly. In addition, chattering, which occurs when the first estimation method and the second estimation method are frequently switched, is suppressed.

[0172] The control device for the rotating electric machine according to each of the above embodiments is a rotating electric machine control device 100 that estimates the rotation state of the rotating electric machine 10 and controls the rotating electric machine 10 according to the estimated rotation state. This rotating electric machine control device 100 controls the current (i d ,i q A first estimation unit 26 calculates a first estimated value (θ1′, N1′), which is an estimated value of the rotation state, based on a first estimation method, and the current (i d ,i q ) and voltage (V d * ,V q *The system includes a second estimation unit 27 that calculates a second estimated value (θ2', N2'), which is an estimated value of the rotation state, using a second estimation method based on the first estimation method, and a final estimated value calculation unit (rotation state calculation unit 28) that, when switching between the first and second estimation methods, uses the first estimated value (θ1', N1') and the second estimated value (θ2', N2') to calculate a final estimated value (θ', N'), which is an estimated value of the final rotation state. The first estimation unit 26 is configured to correct the first estimated value (θ2', N2') based on the previous value of the final estimated value (θ', N') when calculating the first estimated value (θ1', N1'), and the second estimation unit 27 is configured to correct the second estimated value (θ2', N2') based on the previous value of the final estimated value (θ', N') when calculating the second estimated value (θ2', N2').

[0173] In this way, by correcting the first estimated values ​​θ1′,N1′ and the second estimated values ​​θ2′,N2′ based on the previous values ​​of the final estimated values ​​θ′,N′, the discrepancy between the final estimated values ​​θ′,N′ and the true values ​​is reduced or suppressed during the transition period related to switching estimation methods in which the final estimated values ​​θ′,N′ are calculated using the first estimated values ​​θ1′,N1′ and the second estimated values ​​θ2′,N2′. As a result, the control of the rotating electric machine 10 can be stabilized even during the transition period while smoothly switching between the first and second estimation methods.

[0174] Although embodiments of the present invention have been described above, the configurations described in the above embodiments and each of the modifications represent only a part of the application examples of the present invention and are not intended to limit the technical scope of the present invention. [Explanation of Symbols]

[0175] 10: Rotating electric machine, 11: Current command generation unit, 12: First voltage command generation unit, 13: Second voltage command generation unit, 14: Final voltage command generation unit, 15: Control mode signal generation unit, 16: Coordinate transformation, 17: PWM conversion unit, 18: Inverter, 19: Rotation state estimation unit, 21: Battery, 22: Voltage sensor, 23: Coordinate transformation unit, 24: Current sensor, 26: First estimation unit, 27: Second estimation unit, 28: Rotation state calculation unit, 31: First phase error estimation unit, 32: First phase estimated value calculation unit, 33: First rotation speed estimated value calculation unit, 34: First phase Correction value calculation unit, 35: First phase error correction unit, 36: Second phase error estimation unit, 37: Second phase estimated value calculation unit, 38: Second rotational speed estimated value calculation unit, 39: Second phase correction value calculation unit, 40: Second phase error correction unit, 41: Final phase estimated value calculation unit, 42: Final rotational speed estimated value calculation unit, 43: First weight coefficient multiplication unit, 44: Second weight coefficient multiplication unit, 45: Addition unit, 46: First weight coefficient multiplication unit, 47: Second weight coefficient multiplication unit, 48: Addition unit, 100: Rotating electric machine control device, 201: First correction current calculation unit, 202: Second correction current calculation unit

Claims

1. A method for controlling a rotating electric machine, which involves estimating the rotational state of the rotating electric machine and controlling the rotating electric machine according to the estimated rotational state, A first estimated value, which is an estimated value of the rotation state, is calculated using the first estimation method based on the current of the rotating electric machine. A second estimation value, which is an estimated value of the rotation state, is calculated using a second estimation method based on the current and voltage of the rotating electric machine. When switching between the first estimation method and the second estimation method, the final estimated value, which is the final estimated value of the rotation state, is calculated using the first estimated value and the second estimated value. The first estimated value includes a first phase estimate, which is an estimated value relating to the rotor phase. The second estimated value includes a second phase estimate, which is an estimated value relating to the rotor phase. The aforementioned final estimate includes the final phase estimate, which is an estimate related to the rotor phase. When calculating the first and second estimates, Based on the deviation between the previous value of the first phase estimate and the previous value of the final phase estimate, the first estimate is corrected. The second estimated value is corrected based on the deviation between the previous value of the second estimated value and the previous value of the final estimated value. Control methods for rotating electric machines.

2. A method for controlling a rotating electric machine according to Claim 1, When calculating the first estimate and the second estimate, Based on the deviation between the previous value of the first phase estimate and the previous value of the final phase estimate, the first correction current is calculated. The first estimated value is corrected using the first correction current. Based on the deviation between the previous value of the second phase estimate and the previous value of the final phase estimate, the second correction current is calculated. The second estimated value is calculated using the second correction current. Control methods for rotating electric machines.

3. A method for controlling a rotating electric machine, which involves estimating the rotational state of the rotating electric machine and controlling the rotating electric machine according to the estimated rotational state, A first estimated value, which is an estimated value of the rotation state, is calculated using the first estimation method based on the current of the rotating electric machine. A second estimation value, which is an estimated value of the rotation state, is calculated using a second estimation method based on the current and voltage of the rotating electric machine. When switching between the first estimation method and the second estimation method, the final estimated value, which is the final estimated value of the rotation state, is calculated using the first estimated value and the second estimated value. The aforementioned final estimate includes the final rotational speed estimate, which is an estimate related to the rotational speed. When calculating the first and second estimated values, the first and second estimated values ​​are corrected based on the previous value of the final rotational speed estimate. Control methods for rotating electric machines.

4. A method for controlling a rotating electric machine according to claim 3, Based on the aforementioned estimated final rotational speed, a first estimated electrical angular velocity, which is an estimated value relating to the electrical angular velocity, is calculated. The first estimated value is calculated using the first estimated electrical angular velocity, Based on the aforementioned final rotational speed estimate, a second electrical angular velocity estimate, which is an estimate related to the electrical angular velocity, is calculated. The second estimated value is calculated using the second estimated electrical angular velocity. Control methods for rotating electric machines.

5. A method for controlling a rotating electric machine, which involves estimating the rotational state of the rotating electric machine and controlling the rotating electric machine according to the estimated rotational state, A first estimated value, which is an estimated value of the rotation state, is calculated using the first estimation method based on the current of the rotating electric machine. A second estimation value, which is an estimated value of the rotation state, is calculated using a second estimation method based on the current and voltage of the rotating electric machine. When switching between the first estimation method and the second estimation method, the final estimated value, which is the final estimated value of the rotation state, is calculated using the first estimated value and the second estimated value. The aforementioned final estimate includes a final phase estimate, which is an estimate related to the rotor phase, and a final rotational speed estimate, which is an estimate related to the rotational speed. When calculating the first and second estimated values, the first and second estimated values ​​are corrected based on the final phase estimated value and the final rotational speed estimated value. Control methods for rotating electric machines.

6. A method for controlling a rotating electric machine according to any one of claims 1 to 5, The first estimated value is calculated by superimposing a high-frequency voltage on the voltage of the rotating electric machine and according to the response of the high-frequency voltage. Control methods for rotating electric machines.

7. A method for controlling a rotating electric machine according to any one of claims 1 to 5, The second estimate is calculated by estimating the rotor magnetic flux or induced voltage of the rotating electric machine using an observer. Control methods for rotating electric machines.

8. A method for controlling a rotating electric machine according to any one of claims 1 to 5, The final estimated value is calculated by summing the first estimated value obtained by multiplying it by a first weight coefficient set to be between 0 and 1, and the second estimated value obtained by multiplying it by a second weight coefficient set to be such that the sum of the first and second weight coefficients is 1. The first weighting coefficient and the second weighting coefficient are set according to the rotational speed of the rotating electric machine. Control methods for rotating electric machines.

9. A control device for a rotating electric machine that estimates the rotational state of the rotating electric machine and controls the rotating electric machine according to the estimated rotational state, A first estimation unit calculates a first estimated value, which is an estimated value of the rotation state, based on a first estimation method that uses the current of the rotating electric machine, A second estimation unit calculates a second estimated value, which is an estimated value of the rotation state, based on a second estimation method that uses the current and voltage of the rotating electric machine, When switching between the first estimation method and the second estimation method, a final estimation calculation unit calculates a final estimation value, which is the final estimated value of the rotation state, using the first estimation value and the second estimation value. Equipped with, The first estimated value includes a first phase estimate, which is an estimated value relating to the rotor phase. The second estimated value includes a second phase estimate, which is an estimated value relating to the rotor phase. The aforementioned final estimate includes the final phase estimate, which is an estimate related to the rotor phase. The first estimation unit is configured to correct the first estimated value based on the deviation between the previous value of the first phase estimated value and the previous value of the final phase estimated value when calculating the first estimated value. The second estimation unit is configured to correct the second estimated value based on the deviation between the previous value of the second phase estimated value and the previous value of the final phase estimated value when calculating the second estimated value. Control device for rotating electric machines.

10. A control device for a rotating electric machine that estimates the rotational state of the rotating electric machine and controls the rotating electric machine according to the estimated rotational state, A first estimation unit calculates a first estimated value, which is an estimated value of the rotation state, based on a first estimation method that uses the current of the rotating electric machine, A second estimation unit calculates a second estimated value, which is an estimated value of the rotation state, based on a second estimation method that uses the current and voltage of the rotating electric machine, When switching between the first estimation method and the second estimation method, a final estimation calculation unit calculates a final estimation value, which is the final estimated value of the rotation state, using the first estimation value and the second estimation value. Equipped with, The aforementioned final estimate includes the final rotational speed estimate, which is an estimate related to the rotational speed. The first estimation unit is configured to correct the first estimated value based on the previous value of the final rotational speed estimate when calculating the first estimated value. The second estimation unit is configured to correct the second estimated value based on the previous value of the final rotational speed estimate when calculating the second estimated value. Control device for rotating electric machines.

11. A control device for a rotating electric machine that estimates the rotational state of the rotating electric machine and controls the rotating electric machine according to the estimated rotational state, A first estimation unit calculates a first estimated value, which is an estimated value of the rotation state, based on a first estimation method that uses the current of the rotating electric machine, A second estimation unit calculates a second estimated value, which is an estimated value of the rotation state, based on a second estimation method that uses the current and voltage of the rotating electric machine, When switching between the first estimation method and the second estimation method, a final estimation calculation unit calculates a final estimation value, which is the final estimated value of the rotation state, using the first estimation value and the second estimation value. Equipped with, The aforementioned final estimate includes a final phase estimate, which is an estimate related to the rotor phase, and a final rotational speed estimate, which is an estimate related to the rotational speed. The first estimation unit is configured to correct the first estimated value based on the final phase estimated value and the final rotational speed estimated value when calculating the first estimated value. The second estimation unit is configured to correct the second estimation value based on the final phase estimation value and the final rotational speed estimation value when calculating the second estimation value. Control device for rotating electric machines.

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