Control device for rotary electric machine, program, and control method for rotary electric machine

Abstract

A control device (70) comprises: a command voltage calculation unit (86) that calculates command voltages (Vd*, Vq*, Vz*) to be applied to armature windings (51U to 51W, 151U to 151W, 152U to 152W, 251U to 251W) of rotary electric machines (40, 140, 240); a switch control unit (85) that performs switching control of inverters (20, 30, 260) on the basis of the calculated command voltages; and feedback calculation units (90d to 90z, 91d to 91z, 101d to 101z) that calculate feedback operation amounts for performing feedback control of currents flowing through the armature windings to command currents. The command voltage calculation unit, on the basis of the calculated feedback operation amounts and electrical angles of the rotary electric machines, calculates command voltages that reduce inter-axis interference of the currents flowing through the armature windings.

Description

Rotating electric machine control device, program, and rotating electric machine control method CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on Japanese Application No. 2024-018743 filed on February 9, 2024, the contents of which are incorporated herein by reference.

[0002] The present disclosure relates to a control device for a rotating electric machine, a program, and a control method for a rotating electric machine.

[0003] Conventionally, a system including a rotating electric machine having a multi-phase armature winding and an inverter connecting the armature winding and a DC power supply is known. Among such systems, a system configured so that a zero-axis current flows through the armature winding is also known. An example of such a system configured so that a zero-axis current flows is the system disclosed in Patent Document 1.

[0004] JP 2017-169251 A

[0005] In the above system, there is a concern that inter-axis interference of the current flowing through the armature windings may increase due to the switching control of the inverter. New technology to reduce inter-axis interference is desired.

[0006] A primary object of the present disclosure is to provide a control device, a program, and a control method for a rotating electric machine that can reduce inter-axis interference of currents flowing through armature windings.

[0007] The present disclosure provides a control device for a rotating electric machine that is applied to a system including a rotating electric machine having a multi-phase armature winding and an inverter that connects the armature winding and a DC power source, and that is configured so that a zero-axis current flows through the armature winding, the control device including: a command voltage calculation unit that calculates a command voltage to be applied to the armature winding; and a switch control unit that performs switching control of the inverter based on the calculated command voltage.

[0008] The present disclosure includes a feedback calculation unit that calculates a feedback manipulation amount for feedback-controlling a current flowing through an armature winding to a command current, and the command voltage calculation unit calculates the command voltage that reduces inter-axis interference of the current flowing through the armature winding based on the calculated feedback manipulation amount and the electrical angle of the rotating electric machine.

[0009] In the present disclosure, the degree of deviation between the current flowing through the armature winding and the command current is determined based on the feedback manipulated variable, and the inter-axis interference is determined based on the electrical angle, and then the command voltage is calculated. By performing switching control of the inverter based on the command voltage calculated in this manner, the inter-axis interference can be reduced.

[0010] The above and other objects, features, and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which Fig. 1 is an overall configuration diagram of a control system according to a first embodiment, Fig. 2 is a functional block diagram of control processing executed by a control device, Fig. 3 is a flowchart of the control processing executed by the control device, Fig. 4 is a functional block diagram of control processing executed by a control device according to a second embodiment, Fig. 5 is a functional block diagram of control processing executed by a control device according to a fourth embodiment, Fig. 6 is a flowchart of the control processing executed by the control device, Fig. 7 is an overall configuration diagram of a control system according to a fifth embodiment, and Fig. 8 is an overall configuration diagram of a control system according to a sixth embodiment.

[0011] A first embodiment of a control device according to the present disclosure will be described below with reference to the drawings. The control device of the present embodiment is applied to a control system mounted on an electrically powered vehicle such as an electric vehicle or a hybrid vehicle.

[0012] As shown in Fig. 1, the control system 120 includes a battery 10, which is a DC power supply, a first inverter 20, a second inverter 30, and a rotating electrical machine 40. The battery 10 is, for example, a battery pack including a series connection of unit cells. The unit cell is a single battery cell or a series connection of multiple battery cells. The battery cell is, for example, a secondary battery such as a lithium-ion battery.

[0013] The first inverter 20 and the second inverter 30 are power conversion circuits that convert DC power supplied from the battery 10 into three-phase AC power and supply it to the rotating electric machine 40 .

[0014] The first inverter 20 includes a series connection of U-, V-, and W-phase first upper arm switches SUHa, SVHa, and SWHa and U-, V-, and W-phase first lower arm switches SULa, SVLa, and SWLa. The second inverter 30 includes a series connection of U-, V-, and W-phase second upper arm switches SUHb, SVHb, and SWHb and U-, V-, and W-phase second lower arm switches SULb, SVLb, and SWLb.

[0015] In this embodiment, each of the switches SUHa to SWLa and SUHb to SWLb is a voltage-controlled semiconductor switching element, more specifically, an IGBT. In this case, the high-potential terminal of each of the switches SUHa to SWLa and SUHb to SWLb is the collector, and the low-potential terminal is the emitter. A freewheel diode is connected in anti-parallel to each of the switches SUHa to SWLb. Specifically, U-, V-, and W-phase first upper-arm diodes DUHa, DVHa, and DWHa are connected in anti-parallel to the U-, V-, and W-phase first upper-arm switches SUHa, SVHa, and SWHa, respectively, and U-, V-, and W-phase first lower-arm diodes DULa, DVLa, and DWLa are connected in anti-parallel to the U-, V-, and W-phase first lower-arm switches SULa, SVLa, and SWLa, respectively. U, V, W-phase second upper-arm diodes DUHb, DVHb, DWHb are connected in anti-parallel to the U, V, W-phase second upper-arm switches SUHb, SVHb, SWHb, and U, V, W-phase second lower-arm diodes DULb, DVLb, DWLb are connected in anti-parallel to the U, V, W-phase second lower-arm switches SULb, SVLb, SWLb.

[0016] The collectors of the first upper arm switches SUHa, SVHa, SWHa for each phase and the collectors of the second upper arm switches SUHb, SVHb, SWHb for each phase are connected via a positive bus 11, which is an electrical path such as a bus bar. The emitters of the first lower arm switches SULa, SVLa, SWLa for each phase and the emitters of the second lower arm switches SULb, SVLb, SWLb for each phase are connected via a negative bus 12, which is an electrical path such as a bus bar. The emitters of the second lower arm switches SULb, SVLb, SWLb for each phase are connected to the negative bus 12.

[0017] The control system 120 includes a power switch 13. The power switch 13 is, for example, a semiconductor switching element or a mechanical relay. The power switch 13 connects the positive bus 11 and the positive terminal of the battery 10. When the power switch 13 is turned on, the positive terminal of the battery 10 is electrically connected to the collectors of the first upper arm switches SUHa, SVHa, and SWHa of each phase. When the power switch 13 is turned off, the positive terminal of the battery 10 is electrically disconnected from the collectors of the first upper arm switches SUHa, SVHa, and SWHa of each phase.

[0018] The control system 120 includes a capacitor 15. The capacitor 15 functions as a smoothing capacitor. The capacitor 15 is connected in parallel to the series-connected body of the first upper arm switches SUHa to SWHa of each phase and the first lower arm switches SULa to SWLa of each phase.

[0019] The rotating electric machine 40 is an on-board main engine that serves as a power source for running the vehicle. The rotating electric machine 40 includes a rotor 41 and a stator 50. The rotor 41 is capable of transmitting power to the drive wheels of the vehicle. In this embodiment, the rotating electric machine 40 is a permanent magnet field type synchronous machine. The rotor 41 includes permanent magnets 42 (e.g., neodymium magnets) as field poles.

[0020] The stator 50 includes a U-phase winding 51U, a V-phase winding 51V, and a W-phase winding 51W as armature windings. The phase windings 51U, 51V, and 51W are arranged at intervals of 120 electrical degrees on the stator core that constitutes the stator 50. The phase windings 51U, 51V, and 51W are open windings.

[0021] In each phase, the emitters of first upper switches SUHa, SVHa, SWHa and the collectors of first lower switches SULa, SVLa, SWLa are connected to first ends 51Ua, 51Va, 51Wa of the windings 51U, 51V, 51W, respectively. In each phase, the emitters of second upper switches SUHb, SVHb, SWHb and the collectors of second lower switches SULb, SVLb, SWLb are connected to second ends 51Ub, 51Vb, 51Wb of the windings 51U, 51V, 51W, respectively.

[0022] The control system 120 includes a current sensor 60, a rotation angle sensor 61, and a voltage sensor 62. The current sensor 60 detects the phase current flowing through each of the phase windings 51U, 51V, and 51W. In this embodiment, the current sensor 60 is provided on one of both ends of each of the phase windings 51U, 51V, and 51W that is closer to the first inverter 20. Note that the current sensor 60 may also be provided on one of both ends of each of the phase windings 51U, 51V, and 51W that is closer to the second inverter 30.

[0023] The rotation angle sensor 61 is, for example, a resolver, and detects the electrical angle of the rotor 41. The voltage sensor 62 detects the voltage between the terminals of the capacitor 15.

[0024] The detection values ​​of the sensors 60 to 62 are input to a control device 70 included in the control system 120. The control device 70 is an electronic control unit (ECU) that performs various controls of the control system 120, and includes a processor 71 as hardware, a storage unit 72, and a communication bus 73 that connects the processor 71 and the storage unit 72. In the control system 120, each on-board device can be controlled by an ECU corresponding to that device. However, for convenience, multiple ECUs are shown as a single control device 70 in FIG. 1.

[0025] The memory unit 72 includes a memory and a storage as hardware. The memory is a storage device for storing data used in the processing of the control device 70. The memory provides the processor 71 with a working area for temporary use when the processor 71 performs processing, for example. The memory includes, for example, a ROM or a RAM. The storage is a storage device for storing various programs and data to be read and executed by the processor 71, and is a non-transitory tangible storage medium. The storage includes, for example, an HDD or a flash memory. The storage stores program information and the like for the processing shown in FIGS. 2 and 3, which will be described later.

[0026] For example, program information stored on a non-transient physical recording medium is installed in the storage unit 72. The recording medium is, for example, a USB memory, a CD-ROM, or a DVD. Also, for example, program information transmitted via a communication network, such as over the air (OTA), is installed in the storage unit 72.

[0027] The control device 70 controls the on / off of the switches SUHa to SWLa of the first inverter 20 and the switches SUHb to SWLb of the second inverter 30 while the power switch 13 is on, in order to control the control variable of the rotating electric machine 40 to a command value. More specifically, the control device 70 performs H drive control. The H drive control is control in which the switches SUHa to SWLa of the first inverter 20 are switched on and the switches SUHb to SWLb of the second inverter 30 are switched on and off. In this embodiment, the control variable is torque.

[0028] Next, the control process of the rotary electric machine 40 executed by the control device 70 will be described with reference to Fig. 2. Fig. 2 is a block diagram of the control process.

[0029] The command value calculation unit 80 calculates a first d-axis command current Id* and a first q-axis command current Iq* in a dq coordinate system, which is a two-phase rotating coordinate system, based on a command torque Trq* received from a control device higher than the control device 70.

[0030] The current conversion unit 81 calculates the d-axis current Idr, the q-axis current Iqr, and the zero-axis current Izr in the dq0-axis coordinate system, which is a rotating coordinate system, based on the phase currents Iur, Ivr, and Iwr detected by the current sensor 60 and the electrical angle θr detected by the rotation angle sensor 61.

[0031] The speed calculation unit 83 calculates the electrical angular speed ωr of the rotor 41 based on the electrical angle θr. The speed calculation unit 83 calculates the electrical angular speed ωr as, for example, a time differential value of the electrical angle θr.

[0032] The setting unit 84 generates drive signals for the switches SUHa to SWLa and SUHb to SWLb of the first and second inverters 20 and 30, based on the d-axis command voltage Vd*, the q-axis command voltage Vq*, and the zero-axis command voltage Vz* calculated by a command voltage calculation unit 86 (described later). The drive signals include on and off commands for the switches.

[0033] Based on the generated drive signal, the switch control unit 85 controls the charge / discharge current of the gates of the switches SUHa-SWLa and SUHb-SWLb of the first and second inverters 20 and 30. As a result, the switching of the switches SUHa-SWLa and SUHb-SWLb of the first and second inverters 20 and 30 is controlled in accordance with the drive signal. The switching patterns of the switches of the inverters 20 and 30, which are switched in accordance with the drive signal, are shifted in phase by 120° electrical angle in each phase.

[0034] The control device 70 of this embodiment reduces the third-order harmonic component of the zero-axis current flowing through the armature winding when controlling the torque of the rotating electric machine 40 to the command torque Trq*. Below, the principle by which the third-order harmonic component can be reduced will be explained, and then the processing of the control device 70 that reflects the reduction method will be explained.

[0035] First, the principle of reducing the third harmonic component will be described.

[0036] The voltage equation of an open-winding rotating electric machine is expressed by the following equation (eq1): The matrices included on the right-hand side of the following equation (eq1) are expressed by the following equations (eq2) to (eq4).

[0037]

[0038]

[0039]

[0040] In the above equation (eq1), Vd, Vq, and Vz are the d-, q-, and zero-axis voltages applied to the armature winding, and Id, Iq, and Iz are the d-, q-, and zero-axis currents flowing through the armature winding. θ is the rotor electrical angle, and ω is the rotor electrical angular velocity. ψq is the fundamental component of the armature flux linkage, and ψz is the third-order component of the armature flux linkage.

[0041] In the above equation (eq2), R is the resistance of the armature winding, Ldd and Lqq are d-axis and q-axis inductances, and Lzz is the zero-axis inductance.

[0042] [DE1] in the above equation (eq3) is a first interference matrix that represents the influence of interference that any one of the d, q, and zero axes receives from the other two axes.

[0043] In the above equation (eq3), Ldzs is a first coefficient indicating the amplitude of the interference inductance between the d-axis and the zero-axis. The first coefficient Ldzs is a coefficient indicating the influence of the zero-axis current Iz on the d-axis voltage Vd and the influence of the d-axis current Id on the zero-axis voltage Vz. Lqzc is a second coefficient indicating the amplitude of the interference inductance between the q-axis and the zero-axis. The second coefficient Lqzc is a coefficient indicating the influence of the zero-axis current Iz on the q-axis voltage Vq and the influence of the q-axis current Iq on the zero-axis voltage Vz.

[0044] [DE2] in the above equation (eq4) is a second interference matrix that represents the influence of interference that the d and q axes receive from the zero axis and the influence of interference that the zero axis receives from the d and q axes.

[0045] In the above equation (eq4), Lqzs is a third coefficient indicating the amplitude of the interference inductance between the q-axis and the zero-axis. The third coefficient Lqzs is a coefficient indicating the influence of the time derivative dIq / dt of the q-axis current on the zero-axis voltage Vz and the influence of the time derivative dIz / dt of the zero-axis current on the q-axis voltage Vq. Ldzc is a fourth coefficient indicating the amplitude of the interference inductance between the d-axis and the zero-axis. The fourth coefficient Ldzc is a coefficient indicating the influence of the time derivative dIz / dt of the zero-axis current on the d-axis voltage Vd and the influence of the time derivative dId / dt of the d-axis current on the zero-axis voltage Vz.

[0046] The third harmonic component of the zero-axis current is generated due to the existence of the second, third, and fifth terms on the right-hand side of the above equation (eq1), which includes "sin3θ, cos3θ." If the second, third, and fifth terms are added to the left-hand side of the above equation (eq1), the third harmonic component will not theoretically be generated.

[0047] The component of the fifth term on the right-hand side can be feedforward compensated based on ψz, which is a parameter of the rotary electric machine, the electrical angular velocity ω, and the electrical angle θ. This embodiment is characterized by the method of compensating for inter-axis interference expressed by the second and third terms on the right-hand side.

[0048] As shown in the following equation (eq5), the control device 70 defines a second d-axis command current Id**, a second q-axis command current Iq**, and a second zero-axis command current Iz**.

[0049] In the above equation (eq5), Lcd is the d-axis transfer function, Lcq is the q-axis transfer function, and Lcz is the zero-axis transfer function. The second d-axis command current Id** is a manipulated variable for feedback-controlling the first d-axis command current Id* to the d-axis current Id. The second q-axis command current Iq** is a manipulated variable for feedback-controlling the first q-axis command current Iq* to the q-axis current Iq. The second zero-axis command current Iz** is a manipulated variable for feedback-controlling the first zero-axis command current Iz* to the zero-axis current Iz. In this embodiment, the first zero-axis command current Iz* is set to 0.

[0050] When Id, Iq, and Iz in the above equation (eq1) are replaced with Id**, Iq**, and Iz** in the above equation (eq5), the following equation (eq6) is derived.

[0051] By using the second command currents Id**, Iq**, and Iz**, the currents Id, Iq, and Iz are controlled to match the first command currents Id*, Iq*, and Iz*, respectively, and as a result, the third-order harmonic component of the zero-axis current caused by the second and third terms on the right side of the above equation (eq1) can be reduced.

[0052] In order to make the above equation (eq6) compatible with the calculation processing in the control device 70, by setting "θ=θr, ω=ωr, Vd=Vd*, Vq=Vq*", the following equations (eq7) to (eq9) are derived. The d-axis command voltage Vd*, the q-axis command voltage Vq*, and the zero-axis command voltage Vz* can be calculated using the following equations (eq7) to (eq9).

[0053]

[0054]

[0055] By configuring the controller in this way, the controller has calculations using voltage equations that correspond to the inverse model of the motor to be controlled, and the open-loop transfer functions of the control system become Lcd, Lcq, and Lcz.

[0056] The parameters R, Ldd, Lqq, Ldzs, Ldzc, Lqzc, Lqzs, ψq, Lzz, and ψz of the rotating electric machine in the above equations (eq7) to (eq9) are stored in the storage unit 72. Even if the stored parameters deviate from the actual parameters, the second command currents Id**, Iq**, and Iz** are calculated so as to compensate for the excess or deficiency of the current resulting from the deviation.

[0057] The interference between the zero axis and the d and q axes varies depending on the structure of the rotating electric machine. To effectively reduce the third-order harmonic component of the zero-axis current, a calculation method for the command voltages Vd*, Vq*, and Vz* that accurately reflects the interference is required. Therefore, in this embodiment, the coefficients Ldzs, Ldzc, Lqzc, and Lqzs, which indicate the interference with the zero axis, can be set individually.

[0058] Next, the processing of the control device 70 that reflects the method for reducing the third-order harmonic component will be described with reference to Fig. 2. A d-axis current deviation calculation unit 90d calculates a d-axis current deviation, which is the difference between the first d-axis command current Id* and the d-axis current Idr calculated by the current conversion unit 81. A d-axis feedback control unit 91d calculates a second d-axis command current Id** as a manipulated variable for feedback control of the calculated d-axis current deviation to zero. An arbitrary transfer function, such as a transfer function for integral control or proportional-integral control, is used as the d-axis transfer function Lcd used in the d-axis feedback control unit 91d.

[0059] The q-axis current deviation calculation unit 90q calculates a q-axis current deviation, which is the difference between the first q-axis command current Iq* and the q-axis current Iqr calculated by the current conversion unit 81. The q-axis feedback control unit 91q calculates a second q-axis command current Iq** as a manipulated variable for feedback control of the calculated q-axis current deviation to zero. Any transfer function, such as a transfer function for integral control or proportional-integral control, is used as the q-axis transfer function Lcq used in the q-axis feedback control unit 91q.

[0060] The zero-axis current deviation calculation unit 90z calculates a zero-axis current deviation, which is the difference between the first zero-axis command current Iz* (=0) and the zero-axis current Izr calculated by the current conversion unit 81. The zero-axis feedback control unit 91z calculates a second zero-axis command current Iz** as a manipulated variable for feedback control of the calculated zero-axis current deviation to 0. Any transfer function is used as the zero-axis transfer function Lcz used in the zero-axis feedback control unit 91z, and for example, a transfer function of integral control or proportional-integral control is used.

[0061] In this embodiment, the d-axis current deviation calculation unit 90d, the d-axis feedback control unit 91d, the q-axis current deviation calculation unit 90q, the q-axis feedback control unit 91q, the zero-axis current deviation calculation unit 90z, and the zero-axis feedback control unit 91z correspond to the "feedback calculation unit."

[0062] The control device 70 includes a command voltage calculation unit 86 that calculates a command voltage capable of reducing the third-order harmonic component. In the command voltage calculation unit 86, a base voltage calculation unit 92 calculates a d-axis base voltage Vdb represented by the first term on the right side of the above equation (eq7) based on the calculated second d-axis command current Id**, a time differential value of the calculated second d-axis command current Id**, and the parameters R and Ldd stored in the storage unit 72.

[0063] The base voltage calculation unit 92 calculates the q-axis base voltage Vqb represented by the first term on the right-hand side of the above equation (eq8) based on the calculated second q-axis command current Iq**, the time differential value of the calculated second q-axis command current Iq**, and the parameters R and Lqq stored in the storage unit 72.

[0064] The base voltage calculation unit 92 calculates a zero-axis base voltage Vzb represented by the first term on the right-hand side of the above equation (eq9), based on the calculated second zero-axis command current Iz**, the time differential value of the calculated second zero-axis command current Iz**, and the parameters R and Lzz stored in the storage unit 72.

[0065] The command voltage calculation unit 86 includes a non-interference control unit 93 and a first calculation unit 94 as processing units for performing calculation processing of the d-axis first interference voltage Vdinf1, the q-axis first interference voltage Vqinf1, and the zero-axis first interference voltage Vzinf1, which are represented by the second term on the right-hand side of the above equations (eq7) to (eq9).

[0066] The non-interference control unit 93 inputs the calculated electrical angular velocity ωr, electrical angle θr, and the parameters Lqq, Ldzs, Ldd, Lqzc, Ldzs, and Lqzs stored in the storage unit 72 to the first calculation unit 94.

[0067] The first calculation unit 94 calculates the first d-axis interference voltage Vdinf1 expressed by the second term on the right-hand side of the above equation (eq7) based on the input electrical angular velocity ωr, electrical angle θr, and each parameter Lqq, Ldzs, and the calculated second q-axis command current Iq** and second zero-axis command current Iz**.

[0068] The first calculation unit 94 calculates the first q-axis interference voltage Vqinf1 represented by the second term on the right-hand side of the above equation (eq8) based on the input electrical angular velocity ωr, electrical angle θr, and each parameter Ldd, Lqzc, and the calculated second d-axis command current Id** and second zero-axis command current Iz**.

[0069] The first calculation unit 94 calculates a first zero-axis interference voltage Vzinf1 expressed by the second term on the right-hand side of the above equation (eq9), based on the input electrical angular velocity ωr, electrical angle θr, and parameters Ldzs, Lqzc, and the calculated second d-axis command current Id** and second q-axis command current Iq**.

[0070] The command voltage calculation unit 86 includes a non-interference control unit 93, a differentiator 95, and a second calculation unit 96 as processing units for performing calculation processing of the d-axis second interference voltage Vdinf2, the q-axis second interference voltage Vqinf2, and the zero-axis second interference voltage Vzinf2, which are represented by the third term on the right-hand side of the above equations (eq7) to (eq9).

[0071] The non-interference control unit 93 inputs the electrical angle θr and the parameters Ldzc, Lqzs, and Lqzc stored in the storage unit 72 to the second calculation unit 96 .

[0072] The differentiator 95 calculates the time derivative values ​​of the calculated second command currents Id**, Iq**, and Iz**.

[0073] The second calculation unit 96 calculates the second d-axis interference voltage Vdinf2 represented by the third term on the right-hand side of the above equation (eq7) based on the input electrical angle θr and fourth coefficient Ldzc, and the time differential value of the calculated second zero-axis command current Iz**.

[0074] The second calculation unit 96 calculates the second q-axis interference voltage Vqinf2 represented by the third term on the right-hand side of the above equation (eq8) based on the input electrical angle θr and third coefficient Lqzs, and the time differential value of the calculated second zero-axis command current Iz**.

[0075] The second calculation unit 96 calculates a second zero-axis interference voltage Vzinf2 expressed by the third term on the right-hand side of the above equation (eq9), based on the input electrical angle θr, the fourth coefficient Ldzc, the third coefficient Lqzs, and the time derivative values ​​of the calculated second d- and q-axis command currents Id**, Iq**.

[0076] The decoupling control unit 93 performs a process of calculating the fundamental component Vqv of the back electromotive force represented by the fourth term on the right side of the above equation (eq8) and the third harmonic component Vzv of the back electromotive force represented by the fourth term on the right side of the above equation (eq9). More specifically, the decoupling control unit 93 calculates the fundamental component Vqv of the back electromotive force based on the calculated electrical angular velocity ωr and the fundamental component ψq of the armature flux linkage stored in the storage unit 72. The decoupling control unit 93 calculates the third harmonic component Vzv of the back electromotive force based on the calculated electrical angular velocity ωr, the electrical angle θr, and the third component ψz of the armature flux linkage stored in the storage unit 72.

[0077] The first superimposing unit 97 calculates the sum of the calculated d-axis base voltage Vdb and the first d-axis interference voltage Vdinf1. The second superimposing unit 98 calculates the d-axis command voltage Vd* by adding the second d-axis interference voltage Vdinf2 to this sum. The calculated d-axis command voltage Vd* is input to the setting unit 84.

[0078] The first superimposing unit 97 calculates the sum of the calculated q-axis fundamental voltage Vqb and the first q-axis interference voltage Vqinf1. The second superimposing unit 98 adds the second q-axis interference voltage Vqinf2 to this sum. The third superimposing unit 99 calculates the q-axis command voltage Vq* by adding the fundamental wave component Vqv of the back electromotive force to this sum (Vqb + Vqinf1 + Vqinf2). The calculated q-axis command voltage Vq* is input to the setting unit 84.

[0079] The first superimposing unit 97 calculates the sum of the calculated zero-axis fundamental voltage Vzb and the first zero-axis interference voltage Vzinf1. The second superimposing unit 98 adds the second zero-axis interference voltage Vzinf2 to this sum. The fourth superimposing unit 100 calculates the zero-axis command voltage Vz* by adding the third-order harmonic component Vzv of the back electromotive force to this sum (Vzb + Vzinf1 + Vzinf2). The calculated zero-axis command voltage Vz* is input to the setting unit 84.

[0080] An example of a method for generating drive signals in the setting unit 84 will be described. The setting unit 84 calculates U-, V-, and W-phase command voltages Vu*, Vv*, and Vw* in a three-phase fixed coordinate system based on the calculated d-, q-, and zero-axis command voltages Vd*, Vq*, and Vz* and the electrical angle θr. The command voltages Vu*, Vv*, and Vw* are shifted in phase by 120° in electrical angle. The setting unit 84 generates drive signals for the switches SUHa to SWLb of the first and second inverters 20 and 30 based on a magnitude comparison between the U-, V-, and W-phase command voltages Vu*, Vv*, and Vw* and a carrier signal (e.g., a triangular wave signal).

[0081] 3 is a flowchart showing a drive control process for the rotary electric machine 40 executed by the control device 70. The process shown in FIG. 3 is repeatedly executed by the processor 71 of the control device 70, for example, at a predetermined control cycle.

[0082] In step S10, a d-axis current deviation calculation unit 90d and a d-axis feedback control unit 91d calculate a second d-axis command current Id**. A q-axis current deviation calculation unit 90q and a q-axis feedback control unit 91q calculate a second q-axis command current Iq**. A zero-axis current deviation calculation unit 90z and a zero-axis feedback control unit 91z calculate a second zero-axis command current Iz**.

[0083] In step S11, the base voltage calculation unit 92 calculates a d-axis base voltage Vdb based on the calculated second d-axis command current Id**, the time differential value of the calculated second d-axis command current Id**, and the parameters R and Ldd. The base voltage calculation unit 92 also calculates a q-axis base voltage Vqb based on the calculated second q-axis command current Iq**, the time differential value of the calculated second q-axis command current Iq**, and the parameters R and Lqq. The base voltage calculation unit 92 also calculates a zero-axis base voltage Vzb based on the calculated second zero-axis command current Iz**, the time differential value of the calculated second zero-axis command current Iz**, and the parameters R and Lzz.

[0084] In step S12, the decoupling control unit 93 and the first calculation unit 94 calculate a first d-axis interference voltage Vdinf1 based on the electrical angular velocity ωr, the electrical angle θr, the parameters Lqq and Ldzs, and the calculated second q-axis command current Iq** and second zero-axis command current Iz**. The decoupling control unit 93 and the first calculation unit 94 also calculate a first q-axis interference voltage Vqinf1 based on the electrical angular velocity ωr, the electrical angle θr, the parameters Ldd and Lqzc, and the calculated second d-axis command current Id** and second zero-axis command current Iz**. The decoupling control unit 93 and the first calculation unit 94 also calculate a first zero-axis interference voltage Vzinf1 based on the electrical angular velocity ωr, the electrical angle θr, the parameters Ldzs and Lqzc, and the calculated second d-axis command current Id** and second q-axis command current Iq**.

[0085] In step S13, the de-interference control unit 93 and the second calculation unit 96 calculate a second d-axis interference voltage Vdinf2 based on the electrical angle θr, the fourth coefficient Ldzc, and the calculated time differential value of the second zero-axis command current Iz**. The de-interference control unit 93 and the second calculation unit 96 also calculate a second q-axis interference voltage Vqinf2 based on the electrical angle θr, the third coefficient Lqzs, and the calculated time differential value of the second zero-axis command current Iz**. The de-interference control unit 93 and the second calculation unit 96 also calculate a second zero-axis interference voltage Vzinf2 based on the electrical angle θr, the fourth coefficient Ldzc, the third coefficient Lqzs, and the calculated time differential values ​​of the second d- and q-axis command currents Id** and Iq**.

[0086] In step S14, the non-interference control unit 93 calculates the fundamental wave component Vqv of the upper back electromotive force voltage and the third harmonic component Vzv of the back electromotive force voltage.

[0087] In step S15, the first superimposing unit 97 and the second superimposing unit 98 calculate a d-axis command voltage Vd* based on the calculated d-axis fundamental voltage Vdb, first d-axis interference voltage Vdinf1, and second d-axis interference voltage Vdinf2. The first to third superimposing units 97 to 99 calculate a q-axis command voltage Vq* based on the calculated q-axis fundamental voltage Vqb, first q-axis interference voltage Vqinf1, second q-axis interference voltage Vqinf2, and fundamental component Vqv of the back electromotive force. The first superimposing unit 97, the second superimposing unit 98, and the fourth superimposing unit 100 calculate a zero-axis command voltage Vz* based on the calculated zero-axis fundamental voltage Vzb, first zero-axis interference voltage Vzinf1, second zero-axis interference voltage Vzinf2, and third harmonic component Vzv of the back electromotive force.

[0088] In step S16, the setting unit 84 generates drive signals for the switches SUHa to SWLa and SUHb to SWLb of the first and second inverters 20 and 30 based on the calculated d-, q-, and zero-axis command voltages Vd*, Vq*, and Vz*.

[0089] According to the present embodiment described above, when the H drive control is executed, the third harmonic component of the zero-axis current can be reduced.

[0090] Second Embodiment A second embodiment will be described below with reference to the drawings, focusing on differences from the first embodiment. In this embodiment, as shown in Fig. 4, the method of calculating the second command currents Id**, Iq**, and Iz** is changed. As a result of this change, integral control transfer functions are used as the transfer functions Lcd, Lcq, and Lcz.

[0091] The d-axis feedback control unit 101d calculates a second d-axis time differential value Iddif, which is a time differential value of the second d-axis command current Id**, by multiplying a coefficient ωcd, which is a d-axis transfer function Lcd, by the d-axis current deviation. The q-axis feedback control unit 101q calculates a second q-axis time differential value Iqdif, which is a time differential value of the second q-axis command current Iq**, by multiplying a coefficient ωcq, which is a q-axis transfer function Lcq, by the q-axis current deviation. The zero-axis feedback control unit 101z calculates a second zero-axis time differential value Izdif, which is a time differential value of the second zero-axis command current Iz**, by multiplying a coefficient ωcz, which is a zero-axis transfer function Lcz, by the zero-axis current deviation. The coefficients ωcd, ωcq, and ωcz are integral term gains and may be set to the same value or different values.

[0092] In this embodiment, the d-axis current deviation calculation unit 90d, the d-axis feedback control unit 101d, the q-axis current deviation calculation unit 90q, the q-axis feedback control unit 101q, the zero-axis current deviation calculation unit 90z, and the zero-axis feedback control unit 101z correspond to the "feedback calculation unit."

[0093] The integrator 102 calculates second d-, q-, and zero-axis command currents Id**, Iq**, and Iz** by time-integrating the calculated second d-, q-, and zero-axis time differential values ​​Iddif, Iqdif, and Izdif.

[0094] The basic voltage calculation unit 92 calculates a d-axis basic voltage Vdb expressed by the following equation (eq10) based on the calculated second d-axis command current Id**, the calculated second d-axis time differential value Iddif, and the parameters R and Ldd stored in the storage unit 72. The following equation (eq10) corresponds to the first term on the right-hand side of the above equation (eq7).

[0095] The basic voltage calculation unit 92 calculates a q-axis basic voltage Vqb expressed by the following equation (eq11) based on the calculated second q-axis command current Iq**, the calculated second q-axis time differential value Iqdif, and the parameters R and Lqq stored in the storage unit 72. The following equation (eq11) corresponds to the first term on the right-hand side of the above equation (eq8).

[0096] The base voltage calculation unit 92 calculates a zero-axis base voltage Vzb expressed by the following equation (eq12), based on the calculated second zero-axis command current Iz**, the calculated second zero-axis time differential value Izdif, and the parameters R and Lzz stored in the storage unit 72. The following equation (eq12) corresponds to the first term on the right-hand side of the above equation (eq9).

[0097] The first calculation unit 94 calculates the first d-axis interference voltage Vdinf1, which is represented by the second term in the above equation (eq7), based on the input electrical angular velocity ωr, electrical angle θr, and parameters Lqq, Ldzs, and the calculated second q-axis and zero-axis command currents Iq**, Iz**.

[0098] The first calculation unit 94 calculates the first q-axis interference voltage Vqinf1 represented by the second term on the right-hand side of the above equation (eq8) based on the input electrical angular velocity ωr, electrical angle θr, and parameters Ldd, Lqzc, and the calculated second d-axis and zero-axis command currents Id**, Iz**.

[0099] The first calculation unit 94 calculates a first zero-axis interference voltage Vzinf1 expressed by the second term on the right-hand side of the above equation (eq9), based on the input electrical angular velocity ωr, electrical angle θr, and parameters Ldzs, Lqzc, and the calculated second d- and q-axis command currents Id**, Iq**.

[0100] In this embodiment, the feedback control for calculating the second command currents Id**, Iq**, and Iz** does not include integral control. Therefore, the second calculation unit 96 receives, as input, the second time differential values ​​Iddif, Iqdif, and Izdif, which are feedback manipulated variables calculated by the feedback control units 101d, 101q, and 101z, rather than the output value of the differentiator 95 described in the first embodiment. This eliminates the need for differentiation in the differentiator 95, and reduces the impact of high-frequency errors contained in the detection values ​​of the current sensors 60 on the calculation accuracy of the command voltages Vd*, Vq*, and Vz*.

[0101] The second calculation unit 96 calculates a second d-axis interference voltage Vdinf2 expressed by the following equation (eq13), based on the input electrical angle θr, the fourth coefficient Ldzc, and the calculated second zero-axis time differential value Izdif. The following equation (eq13) corresponds to the third term on the right-hand side of the above equation (eq7).

[0102] The second calculation unit 96 calculates a second q-axis interference voltage Vqinf2 expressed by the following equation (eq14), based on the input electrical angle θr, the third coefficient Lqzs, and the calculated second zero-axis time differential value Izdif. The following equation (eq14) corresponds to the third term on the right-hand side of the above equation (eq8).

[0103] The second calculation unit 96 calculates a second zero-axis interference voltage Vzinf2 expressed by the following equation (eq15) based on the input electrical angle θr, the fourth coefficient Ldzc, the third coefficient Lqzs, and the calculated second d-axis and q-axis time differential values ​​Iddif and Iqdif. The following equation (eq15) corresponds to the third term on the right-hand side of the above equation (eq9).

[0104] According to the present embodiment described above, it is possible to reduce the influence of high-frequency errors contained in the detection values ​​of the current sensor 60 on the calculation accuracy of the command voltages Vd*, Vq*, and Vz*, while reducing the third-order harmonic component of the zero-axis current.

[0105] Third Embodiment A third embodiment will be described below with reference to the drawings, focusing on differences from the first embodiment. In this embodiment, the transfer function Lcz of the zero-axis feedback control unit 91z in FIG. 2 is changed. Specifically, the transfer function expressed by the following equation (eq16) is used. Note that the transfer functions Lcd and Lcq of the d- and q-axis feedback control units 91d and 91q are the integral control transfer functions expressed by the following equation (eq16).

[0106] The zero-axis transfer function Lcz(s) is a resonant regulator that extracts the third-order harmonic component of the zero-axis current, and its characteristics are determined based on the calculated electrical angular velocity ωr. By using the resonant regulator, the third-order harmonic component of the zero-axis current can be effectively reduced. As a result, losses (e.g., iron loss) in the rotating electrical machine 40 can be effectively reduced.

[0107] Fourth Embodiment A fourth embodiment will be described below with reference to the drawings, focusing on differences from the first embodiment. In this embodiment, as shown in FIG. 5, the control device 70 is provided with a d-axis control unit 110d, a q-axis control unit 110q, and a zero-axis control unit 110z as feedforward control units.

[0108] The d-axis control unit 110d calculates a third d-axis command current Idf (= Id* × Tcd) based on the first d-axis command current Id* and the d-axis feedforward transfer function Tcd. The q-axis control unit 110q calculates a third q-axis command current Iqf (= Iq* × Tcq) based on the first q-axis command current Iq* and the q-axis feedforward transfer function Tcq. The zero-axis control unit 110z calculates a third zero-axis command current Izf (= Iz* × Tcz) based on the first zero-axis command current Iz* and the zero-axis feedforward transfer function Tcz.

[0109] In this embodiment, the transfer functions Tcd, Tcq, and Tcz are transfer functions expressed by the following equation (eq17).

[0110] In the above equation (eq17), the transfer functions Lcd, Lcq, and Lcz are, for example, transfer functions of integral control expressed by the following equation (eq18).

[0111] The control device 70 includes a first calculation unit 111 as a processing unit for calculating the first interference voltage.

[0112] The first calculator 111 calculates a first d-axis interference voltage Vdinf1 expressed by the following equation (eq19), based on the input electrical angular velocity ωr, electrical angle θr, and parameters Lqq and Ldzs, and the calculated third q-axis command current Iqf and third zero-axis command current Izf. The following equation (eq19) corresponds to the second term on the right-hand side of the above equation (eq7).

[0113] The first calculator 111 calculates a first q-axis interference voltage Vqinf1 expressed by the following equation (eq20), based on the input electrical angular velocity ωr, electrical angle θr, and parameters Ldd and Lqzc, as well as the calculated third d-axis command current Idf and third zero-axis command current Izf. The following equation (eq20) corresponds to the second term on the right-hand side of the above equation (eq8).

[0114] The first calculator 111 calculates a first zero-axis interference voltage Vzinf1 expressed by the following equation (eq21), based on the input electrical angular velocity ωr, electrical angle θr, and parameters Ldzs, Lqzs, and the calculated third d-axis command current Idf and third q-axis command current Iqf. The following equation (eq21) corresponds to the second term on the right-hand side of the above equation (eq9).

[0115] The control device 70 includes, as processing units for calculating the second interference voltage, a differentiator 112 and a second calculation unit 113. The differentiator 112 calculates the time differential values ​​of the calculated third command currents Idf, Iqf, and Izf.

[0116] The second calculator 113 calculates a second d-axis interference voltage Vdinf2 expressed by the following equation (eq22), based on the input electrical angle θr, the fourth coefficient Ldzc, and the time differential value of the calculated third zero-axis command current Izf. The following equation (eq22) corresponds to the third term on the right-hand side of the above equation (eq7):

[0117] The second calculator 113 calculates a second q-axis interference voltage Vqinf2 expressed by the following equation (eq23), based on the input electrical angle θr, the third coefficient Lqzs, and the time differential value of the calculated third zero-axis command current Izf. The following equation (eq23) corresponds to the third term on the right-hand side of the above equation (eq8).

[0118] The second calculator 113 calculates a second zero-axis interference voltage Vzinf2 expressed by the following equation (eq24) based on the input electrical angle θr, the fourth coefficient Ldzc, the second coefficient Lqzc, and the calculated time differential values ​​of the third d- and q-axis command currents Idf and Iqf. The following equation (eq24) corresponds to the third term on the right-hand side of the above equation (eq9).

[0119] According to the present embodiment described above, even when the first command currents Id*, Iq*, and Iz* change, it is possible to reduce the third-order harmonic component of the zero-axis current while improving the ability to follow the changes.

[0120] Furthermore, the first and second interference voltages are calculated using the first command currents Id*, Iq*, and Iz*, rather than the second command currents Id**, Iq**, and Iz** based on the detection values ​​of the current sensors 60. This makes it possible to suppress the effect of detection errors of the current sensors 60 on the calculation accuracy of the first and second interference voltages.

[0121] 6 is a flowchart showing the drive control process for the rotary electric machine 40 executed by the control device 70. The process shown in FIG. 6 is repeatedly executed by the processor 71, for example, at a predetermined control cycle.

[0122] After completing the process of step S11, the process proceeds to step S20, where the d-axis control unit 110d calculates a third d-axis command current Idf based on the first d-axis command current Id* and the d-axis feedforward transfer function Tcd. The q-axis control unit 110q calculates a third q-axis command current Iqf based on the first q-axis command current Iq* and the q-axis feedforward transfer function Tcq. The zero-axis control unit 110z calculates a third zero-axis command current Izf based on the first zero-axis command current Iz* and the zero-axis feedforward transfer function Tcz.

[0123] In step S21, the first calculator 111 calculates a first d-axis interference voltage Vdinf1 based on the electrical angular velocity ωr, the electrical angle θr, the parameters Lqq and Ldzs, and the calculated third q-axis command current Iqf and third zero-axis command current Izf. The first calculator 111 also calculates a first q-axis interference voltage Vqinf1 based on the electrical angular velocity ωr, the electrical angle θr, the parameters Ldd and Lqzc, and the calculated third d-axis command current Idf and third zero-axis command current Izf. The first calculator 111 also calculates a first zero-axis interference voltage Vzinf1 based on the electrical angular velocity ωr, the electrical angle θr, the parameters Ldzs and Lqzc, and the calculated third d-axis command current Idf and third q-axis command current Iqf.

[0124] In step S22, the differentiator 112 and the second calculator 113 calculate a second d-axis interference voltage Vdinf2 based on the electrical angle θr, the fourth coefficient Ldzc, and the calculated time differential of the third zero-axis command current Izf. The differentiator 112 and the second calculator 113 also calculate a second q-axis interference voltage Vqinf2 based on the electrical angle θr, the third coefficient Lqzs, and the calculated time differential of the third zero-axis command current Izf. The differentiator 112 and the second calculator 113 also calculate a second zero-axis interference voltage Vzinf2 based on the electrical angle θr, the fourth coefficient Ldzc, the third coefficient Lqzs, and the calculated time differential of the third d-axis and q-axis command currents Idf and Iqf. The voltages calculated in steps S21 and S22 are used in step S15.

[0125] <Modification of Fourth Embodiment> The resonant regulator described in the third embodiment may be used as the zero-axis transfer function Lcz of the zero-axis feedback control section 91z shown in FIG.

[0126] Fifth Embodiment A fifth embodiment will now be described with reference to the drawings, focusing on differences from the first to fourth embodiments. In this embodiment, as shown in FIG. 7 , the configuration of the rotating electrical machine 140 included in the control system 200 is modified.

[0127] The rotating electric machine 140 includes a rotor 141 and a stator 150. The rotor 141 is capable of transmitting power to the drive wheels of the vehicle. The rotor 141 includes permanent magnets 142 (e.g., neodymium magnets) as field poles.

[0128] The stator 150 has two sets of armature windings. One rotor 141 is provided for the two sets of armature windings. The stator 150 has a first set of armature windings, which are a first U-phase winding 151U, a first V-phase winding 151V, and a first W-phase winding 151W. The first phase windings 151U, 151V, and 151W are arranged on the stator core that constitutes the stator 150, with a 120° electrical angle offset between them.

[0129] The stator 150 includes a second set of armature windings, namely, a second U-phase winding 152U, a second V-phase winding 152V, and a second W-phase winding 152W. The second phase windings 152U, 152V, and 152W are arranged on the stator core with a 120° electrical angle offset between them.

[0130] First ends of the first U-phase winding 151U, the first V-phase winding 151V, and the first W-phase winding 151W are connected to a first inverter 20. First ends of the second U-phase winding 152U, the second V-phase winding 152V, and the second W-phase winding 152W are connected to a second inverter 30. Second ends of the first U-phase winding 151U, the first V-phase winding 151V, and the first W-phase winding 151W and second ends of the second U-phase winding 152U, the second V-phase winding 152V, and the second W-phase winding 152W are connected at a common neutral point.

[0131] The control system 200 includes a first current sensor 60A and a second current sensor 60B. The first current sensor 60A detects the phase currents flowing through the first phase windings 151U, 151V, and 151W. The second current sensor 60B detects the phase currents flowing through the second phase windings 152U, 152V, and 152W. The detected values ​​Iur1, Ivr1, Iwr1, Iur2, Ivr2, and Iwr2 of the current sensors 60A and 60B are input to the control device 70.

[0132] In the control system 200 shown in FIG. 7 , a zero-axis current also flows between the first and second armature windings via the neutral point. The control for reducing the third-order harmonic components described in the first to fourth embodiments and shown in FIGS. 2 to 6 can be applied to both the first group including the first inverter 20 and the first phase windings 151U, 151V, and 151W, and the second group including the second inverter 30 and the second phase windings 152U, 152V, and 152W. Using FIG. 2 as an example, in the first group, the current converter 81 may use the detected values ​​Iur1, Ivr1, and Iwr1 of the first current sensor 60A. In the second group, the current converter 81 may use the detected values ​​Iur2, Ivr2, and Iwr2 of the second current sensor 60B.

[0133] According to the present embodiment described above, it is possible to achieve the same effects as those of the first to fourth embodiments.

[0134] Sixth Embodiment A sixth embodiment will now be described with reference to the drawings, focusing on differences from the first to fourth embodiments. In this embodiment, as shown in FIG. 8, the configurations of the rotating electric machine 240 and the inverter 260 included in the control system 300 are changed.

[0135] The rotating electric machine 240 includes a rotor 241 and a stator 250. The rotor 241 is capable of transmitting power to the drive wheels of the vehicle. The rotor 241 includes permanent magnets 242 (e.g., neodymium magnets) as field poles.

[0136] The stator 250 includes a U-phase winding 251U, a V-phase winding 251V, and a W-phase winding 251W. The phase windings 251U, 251V, and 251W are arranged on the stator core that constitutes the stator 250, with a 120° electrical angle offset between them.

[0137] First ends of the U-phase winding 251U, the V-phase winding 251V, and the W-phase winding 251W are connected to an inverter 260. The inverter 260 includes a series connection of U-, V-, and W-phase upper-arm switches SUH, SVH, and SWH and U-, V-, and W-phase lower-arm switches SUL, SVL, and SWL. U-, V-, and W-phase upper-arm diodes DUH, DVH, and DWH are connected in anti-parallel to the U-, V-, and W-phase upper-arm switches SUH, SVH, and SWH. U-, V-, and W-phase lower-arm diodes DUL, DVL, and DWL are connected in anti-parallel to the U-, V-, and W-phase lower-arm switches SUL, SVL, and SWL. Second ends of the U-phase winding 251U, the V-phase winding 251V, and the W-phase winding 251W are connected at the neutral point.

[0138] The control system 300 includes a series connection of a first capacitor 115A and a second capacitor 115B, and a connection path 116. The series connection of the first capacitor 115A and the second capacitor 115B connects high-potential side terminals of the upper-arm switches SUH, SVH, and SWH to low-potential side terminals of the lower-arm switches SUL, SVL, and SWL. The connection path 116 connects a connection point between the first capacitor 115A and the second capacitor 115B and a neutral point. A current sensor 60 detects phase currents flowing through the phase windings 251U, 251V, and 251W.

[0139] In the control system 300 shown in Fig. 8, a zero-axis current also flows through the neutral point and the connection path 116. The control for reducing the third-order harmonic component described in Figs. 2 to 6 and the like in the first to fourth embodiments can be applied to this embodiment. This makes it possible to achieve the same effects as those of the first to fourth embodiments.

[0140] Other Embodiments The above embodiment may be modified as follows.

[0141] The phase of the third harmonic component may be shifted from the d-axis depending on the structure of the rotating electric machine. If the amount of shift from the d-axis is α, the first and second interference matrices in the above equations (eq3) and (eq4) are expressed by the following equations (eq25) and (eq26). In this case, the control device 70 can use "3θr + α" instead of "3θr" in the reduction control of the third harmonic component.

[0142]

[0143] The DC power source is not limited to a battery, and may be, for example, a fuel cell.

[0144] The rotating electric machine is not limited to a permanent magnet field type synchronous machine, and may be, for example, an induction machine.

[0145] The rotating electric machine is not limited to a three-phase one, but may be a two-phase one or a four-phase or more phase one.

[0146] The semiconductor switches constituting the inverter are not limited to IGBTs, but may be, for example, N-channel MOSFETs. In this case, the high-potential terminal of the switch is the drain, and the low-potential terminal is the source. Each switch also has a body diode.

[0147] The inverter, rotating electric machine, and control device may be installed in a mobile body other than a vehicle, such as an aircraft or a ship. If the mobile body is an aircraft, the rotating electric machine serves as a power source for the aircraft's flight, and if the mobile body is a ship, the rotating electric machine serves as a power source for the ship's navigation. Furthermore, the inverter, rotating electric machine, and control device may be installed in a mobile body other than a vehicle.

[0148] The present disclosure reduces interference between multiple currents, and includes within its technical scope configurations that perform processing equivalent to the arithmetic processing described in the above embodiments. Configurations that perform equivalent processing include, for example, configurations represented by block diagrams that change the order of operations or omit offsetting operations in the arithmetic processing described in the above embodiments.

[0149] The control unit and method described herein may be implemented by a special-purpose computer configured by configuring a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the control unit and method described herein may be implemented by a special-purpose computer configured by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and method described herein may be implemented by one or more special-purpose computers configured by combining a processor and memory programmed to perform one or more functions with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by a computer.

[0150] The following describes characteristic configurations extracted from the above-described embodiments. [Configuration 1] A control device (70) for a rotating electric machine applied to a system (120, 200, 300) including: a rotating electric machine (40, 140, 240) having armature windings (51U-51W, 151U-151W, 152U-152W, 251U-251W) of multiple phases; and an inverter (20, 30, 260) connecting the armature windings and a DC power supply (10, 10A, 10B), wherein the system is configured so that a zero-axis current flows through the armature windings, the control device (70) comprising: a command voltage calculation unit (86) that calculates command voltages (Vd*, Vq*, Vz*) to be applied to the armature windings; and a switch control unit (85) that performs switching control of the inverter based on the calculated command voltages. a feedback calculation unit (90d-90z, 91d-91z, 101d-101z) that calculates feedback manipulated variables (Id**, Iq**, Iz**, Iddif, Iqdif, Izdif) for feedback-controlling currents (Idr, Iqr, Izr) flowing through the armature windings to command currents (Id*, Iq*, Iz*), wherein the command voltage calculation unit calculates the command voltages that reduce inter-axis interference of currents flowing through the armature windings, based on the calculated feedback manipulated variables and an electrical angle of the rotary electric machine. [Configuration 2] The control device for a rotary electric machine according to Configuration 1, wherein the command voltage calculation unit calculates interference voltages (Vdinf1, Vdinf2, Vqinf1, Vqinf2) that reduce the inter-axis interference, based on the calculated command currents, and calculates the command voltages based on the calculated interference voltages.[Configuration 3] The command current is a first command current, and the feedback calculation unit calculates, as the feedback manipulated variable, a second d-axis command current (Id**) which is a manipulated variable for feedback-controlling a d-axis current (Idr) flowing through the armature winding to a first d-axis command current (Id*) as the first command current, a second q-axis command current (Iq**) which is a manipulated variable for feedback-controlling a q-axis current (Iqr) flowing through the armature winding to a first q-axis command current (Iq*) as the first command current, and a second zero-axis command current (Iz**) which is a manipulated variable for feedback-controlling a zero-axis current (Izr) flowing through the armature winding to a first zero-axis command current (Iz*) as the first command current, and the command voltage calculation unit calculates, as the interference voltage, 3. The control device for a rotary electric machine according to configuration 2, wherein the control device calculates: a d-axis interference voltage (Vdinf1+Vdinf2) for reducing the inter-axis interference, based on the electrical angle, the second q-axis command current, and the second zero-axis command current; a q-axis interference voltage (Vqinf1+Vqinf2) for reducing the inter-axis interference, based on the electrical angle, the second d-axis command current, and the second zero-axis command current; and a zero-axis interference voltage (Vzinf1+Vzinf2) for reducing the inter-axis interference, based on the electrical angle, the second d-axis command current, the second q-axis command current, a time differential value of the second d-axis command current, and a time differential value of the second q-axis command current.[Configuration 4] The command current is a first command current, and the feedback calculation unit calculates, as the feedback manipulated variables, a time differential value (Iddif) of a second d-axis command current (Id**) which is a manipulated variable for feedback-controlling a d-axis current (Idr) flowing through the armature winding to a first d-axis command current (Id*) as the first command current, a time differential value (Iqdif) of a second q-axis command current (Iq**) which is a manipulated variable for feedback-controlling a q-axis current (Iqr) flowing through the armature winding to a first q-axis command current (Iq*) as the first command current, and a time differential value (Izdif) of a second zero-axis command current (Iz**) which is a manipulated variable for feedback-controlling a zero-axis current (Izr) flowing through the armature winding to a first zero-axis command current (Iz*) as the first command current, and the feedback control in the feedback calculation unit is proportional control, an integrator (102) that calculates the second d-axis command current, the second q-axis command current, and the second zero-axis command current by integrating with respect to time the calculated time differential value of the second d-axis command current, the time differential value of the second q-axis command current, and the time differential value of the second zero-axis command current, wherein the command voltage calculation unit calculates, as the interference voltage, a d-axis interference voltage (Vdinf1+Vdinf2) for reducing the inter-axis interference based on the time differential values ​​of the electrical angle, the second q-axis command current, the second zero-axis command current, and the second zero-axis command current, and a q-axis interference voltage (Vqinf1+Vqinf2) for reducing the inter-axis interference based on the time differential values ​​of the electrical angle, the second d-axis command current, the second zero-axis command current, and the second zero-axis command current, and a zero-axis interference voltage (Vzinf1+Vzinf2) for reducing the inter-axis interference, based on the electrical angle, the second d-axis command current, the second q-axis command current, a time differential value of the second d-axis command current, and a time differential value of the second q-axis command current.[Configuration 5] The command current is a first command current, and the feedback calculation unit calculates, as the feedback manipulated variable, a second d-axis command current (Id**) which is a manipulated variable for feedback-controlling a d-axis current (Idr) flowing through the armature winding to a first d-axis command current (Id*) as the first command current, a second q-axis command current (Iq**) which is a manipulated variable for feedback-controlling a q-axis current (Iqr) flowing through the armature winding to a first q-axis command current (Iq*) as the first command current, and a second zero-axis command current (Iz**) which is a value obtained by extracting a frequency component three times the electrical angular velocity of the rotary electric machine from a deviation between a zero-axis current (Izr) flowing through the armature winding and a first zero-axis command current (Iz*) as the first command current, and the command voltage calculation unit calculates, as the interference voltage, 3. The control device for a rotary electric machine according to configuration 2, wherein the control device calculates a d-axis interference voltage (Vdinf1+Vdinf2) for reducing the inter-axis interference, based on the electrical angle, the second q-axis command current, and the second zero-axis command current, a q-axis interference voltage (Vqinf1+Vqinf2) for reducing the inter-axis interference, based on the electrical angle, the second d-axis command current, and the second zero-axis command current, and a zero-axis interference voltage (Vzinf1+Vzinf2) for reducing the inter-axis interference, based on the electrical angle, the second d-axis command current, and the second q-axis command current.[Configuration 6] The command current is a first command current, and the feedback calculation unit calculates, as the feedback manipulated variables, a second d-axis command current (Id**) which is a manipulated variable for feedback-controlling a d-axis current (Idr) flowing through the armature winding to a first d-axis command current (Id*) as the first command current, a second q-axis command current (Iq**) which is a manipulated variable for feedback-controlling a q-axis current (Iqr) flowing through the armature winding to a first q-axis command current (Iq*) as the first command current, and a second zero-axis command current (Iz**) which is a manipulated variable for feedback-controlling a zero-axis current (Izr) flowing through the armature winding to a first zero-axis command current (Iz*) as the first command current, a d-axis control unit (110d) that calculates, based on the first d-axis command current, a third d-axis command current (Idf) that is a manipulated variable for feedforward controlling the d-axis current flowing through the armature winding to the first d-axis command current; a q-axis control unit (110q) that calculates, based on the first q-axis command current, a third q-axis command current (Iqf) that is a manipulated variable for feedforward controlling the q-axis current flowing through the armature winding to the first q-axis command current; and a zero-axis control unit (110z) that calculates, based on the first zero-axis command current, a third zero-axis command current (Idf) that is a manipulated variable for feedforward controlling the zero-axis current flowing through the armature winding to the first zero-axis command current, the control device for a rotary electric machine according to configuration 2, wherein the control device calculates a q-axis interference voltage (Vqinf1+Vqinf2) for reducing the inter-axis interference based on the electrical angle, the third d-axis command current, and the third q-axis command current; and a zero-axis interference voltage (Vzinf1+Vzinf2) for reducing the inter-axis interference based on the electrical angle, the third d-axis command current, and the third q-axis command current.[Configuration 7] The control device for a rotating electric machine according to any one of Configurations 3 to 6, wherein the command voltage calculation unit further uses, in calculating the d-axis interference voltage, the q-axis interference voltage, and the zero-axis interference voltage, information (Ldzs, Ldzc) indicating a first degree of interference between the zero axis and the d axis, and information (Lqzs, Lqzc) indicating a second degree of interference between the zero axis and the q axis, which is different from the information indicating the first degree of interference. [Configuration 8] The control device for a rotary electric machine according to any one of Configurations 3 to 7, wherein the command voltage calculation unit calculates: a d-axis fundamental voltage (Vdb) for reducing an influence of a d-axis current flowing through the armature winding on a d-axis voltage of the armature winding, based on the calculated second d-axis command current and a time differential value of the second d-axis command current; a q-axis fundamental voltage (Vqb) for reducing an influence of a q-axis current flowing through the armature winding on a q-axis voltage of the armature winding, based on the calculated second q-axis command current and a time differential value of the second q-axis command current; and a zero-axis fundamental voltage (Vzb) for reducing an influence of a zero-axis current flowing through the armature winding on a zero-axis voltage of the armature winding, based on the calculated second zero-axis command current and a time differential value of the second zero-axis command current; and calculates the command voltage further using the calculated d-axis fundamental voltage, the q-axis fundamental voltage, and the zero-axis fundamental voltage.[Configuration 9] The inverter is a first inverter (20) having first upper arm switches (SUHa to SWHa) and first lower arm switches (SULa to SWLa) connected in series for the number of phases, and the series connection of the first upper arm switches and the first lower arm switches is connected in parallel to the DC power source, and the system (120) includes a second inverter (30) having second upper arm switches (SUHb to SWHb) and second lower arm switches (SULb to SWLb) connected in series for the number of phases, and in each phase, a high potential side terminal of the first upper arm switch and a high potential side terminal of the second upper arm switch are electrically connected, and in each phase, a low potential side terminal of the first lower arm switch and a low potential side terminal of the second lower arm switch are electrically connected, A control device for a rotating electric machine according to any one of configurations 1 to 8, wherein, in each phase, a low potential side terminal of the first upper arm switch and a high potential side terminal of the first lower arm switch are electrically connected to first ends (51Ua to 51Wa) of the armature windings (51U to 51W) of the rotating electric machine (40), and, in each phase, a low potential side terminal of the second upper arm switch and a high potential side terminal of the second lower arm switch are electrically connected to second ends (51Ub to 51Wb) of the armature windings.[Configuration 10] The inverter is a first inverter (20) having first upper arm switches (SUHa to SWHa) and first lower arm switches (SULa to SWLa) connected in series for the number of phases, and the series connection of the first upper arm switches and the first lower arm switches is connected in parallel to the DC power source, and the system (200) includes a second inverter (30) having second upper arm switches (SUHb to SWHb) and second lower arm switches (SULb to SWLb) connected in series for the number of phases, and in each phase, a high potential side terminal of the first upper arm switch and a high potential side terminal of the second upper arm switch are electrically connected, and in each phase, a low potential side terminal of the first lower arm switch and a low potential side terminal of the second lower arm switch are electrically connected, The rotating electric machine (140) comprises, as the armature windings, star-connected first armature windings (151U to 151W) of multiple phases and star-connected second armature windings (152U to 152W) of multiple phases, wherein in each phase, a low potential side terminal of the first upper arm switch and a high potential side terminal of the first lower arm switch are electrically connected to a first end of the first armature winding, and in each phase, a low potential side terminal of the second upper arm switch and a high potential side terminal of the second lower arm switch are electrically connected to a first end of the second armature winding, and a second end of the first armature winding of each phase and a second end of the second armature winding of each phase are electrically connected at a common neutral point. [Configuration 11] The control device for a rotary electric machine according to any one of Configurations 1 to 8, wherein the DC power supply includes a series-connected body of a first power storage unit (10A) and a second power storage unit (10B), the armature windings (251U to 251W) of the rotary electric machine (240) are star-connected, a high potential side terminal of an upper arm switch (SUH to SWH) of each phase included in the inverter (260) is electrically connected to a positive terminal of the first power storage unit, and a low potential side terminal of a lower arm switch (SUL to SWL) of each phase included in the inverter (260) is electrically connected to a negative terminal of the second power storage unit, and the system (300) includes a connection path (116) that electrically connects a neutral point of the armature winding to a negative terminal of the first power storage unit and a positive terminal of the second power storage unit.

[0151] Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments or structures. The present disclosure also encompasses various modifications and equivalent modifications. In addition, various combinations and forms, including only one element, more than one element, or less than one element, are also within the scope and spirit of the present disclosure.

Claims

1. Rotating electric machines (40, 140, 240) having multiple phase armature windings (51U-51W, 151U-151W, 152U-152W, 251U-251W), An inverter (20, 30, 260) connects the armature winding to a DC power supply (10, 10A, 10B), In a control device (70) for a rotating electric machine that is equipped with and configured such that a zero-axis current flows through the armature winding, A command voltage calculation unit (86) that calculates the command voltages (Vd*, Vq*, Vz*) to be applied to the armature winding, A switch control unit (85) performs switching control of the inverter based on the calculated command voltage, Feedback calculation unit (90d-90z, 91d-91z, 101d-101z), Equipped with, The aforementioned feedback calculation unit, The second d-axis command current (Id**) is an manipulated variable for feedback control of the d-axis current (Idr) flowing through the armature winding to the first d-axis command current (Id*), The second q-axis command current (Iq**) is a manipulated variable used to feedback control the q-axis current (Iqr) flowing through the armature winding to the first q-axis command current (Iq*), The second zero-axis command current (Iz**) is an manipulated variable for feedback control of the zero-axis current (Izr) flowing through the armature winding to the first zero-axis command current (Iz*), Calculate, The command voltage calculation unit is: Based on the electrical angle of the rotating electric machine, the second q-axis command current, and the second zero-axis command current, a d-axis interference voltage (Vdinf1 + Vdinf2) is determined to reduce inter-axis interference of the current flowing through the armature winding, Based on the aforementioned electrical angle, the second d-axis command current, and the second zero-axis command current, a q-axis interference voltage (Vqinf1 + Vqinf2) is determined to reduce the inter-axis interference. Based on the electrical angle, the second d-axis command current, the second q-axis command current, the time derivative of the second d-axis command current, and the time derivative of the second q-axis command current, a zero-axis interference voltage (Vzinf1 + Vzinf2) for reducing the inter-axis interference is determined, Calculate, A control device for a rotating electric machine, which calculates the command voltage for reducing inter-axis interference based on the calculated d-axis interference voltage, q-axis interference voltage, and zero-axis interference voltage.

2. A rotating electric machine (40, 140, 240) having multiple phase armature windings (51U to 51W, 151U to 151W, 152U to 152W, 251U to 251W), An inverter (20, 30, 260) connects the armature winding to a DC power supply (10, 10A, 10B), In a control device (70) for a rotating electric machine that is equipped with and configured such that a zero-axis current flows through the armature winding, A command voltage calculation unit (86) that calculates the command voltages (Vd*, Vq*, Vz*) to be applied to the armature winding, A switch control unit (85) performs switching control of the inverter based on the calculated command voltage, Feedback calculation unit (90d-90z, 91d-91z, 101d-101z), Equipped with, The aforementioned feedback calculation unit, The time derivative (Iddif) of the second d-axis command current (Id**), which is an manipulated variable for feedback control of the d-axis current (Idr) flowing through the armature winding to the first d-axis command current (Id*), The time derivative (Iqdiff) of the second q-axis command current (Iq**), which is a manipulated variable for feedback control of the q-axis current (Iqr) flowing through the armature winding to the first q-axis command current (Iq*), The time derivative (Izdiff) of the second zero-axis command current (Iz**), which is a manipulated variable for feedback control of the zero-axis current (Izr) flowing through the armature winding to the first zero-axis command current (Iz*), Calculate, The feedback control in the feedback calculation unit is proportional control. The system includes an integrator (102) that calculates the second d-axis command current, the second q-axis command current, and the second zero-axis command current by integrating the time derivatives of the calculated second d-axis command current, the second q-axis command current, and the second zero-axis command current over time. The command voltage calculation unit is: Based on the electrical angle of the rotating electric machine, the second q-axis command current, the second zero-axis command current, and the time derivative of the second zero-axis command current, a d-axis interference voltage (V d in f 1 + V d in f 2) is determined to reduce inter-axis interference of the current flowing through the armature winding, Based on the electrical angle, the second d-axis command current, the second zero-axis command current, and the time derivative of the second zero-axis command current, a q-axis interference voltage (Vqinf1 + Vqinf2) is used to reduce the inter-axis interference. Based on the electrical angle, the second d-axis command current, the second q-axis command current, the time derivative of the second d-axis command current, and the time derivative of the second q-axis command current, a zero-axis interference voltage (Vzinf1 + Vzinf2) for reducing the inter-axis interference is determined, Calculate, A control device for a rotating electric machine, which calculates the command voltage for reducing inter-axis interference based on the calculated d-axis interference voltage, q-axis interference voltage, and zero-axis interference voltage.

3. A rotating electric machine (40, 140, 240) having multiple phase armature windings (51U to 51W, 151U to 151W, 152U to 152W, 251U to 251W), An inverter (20, 30, 260) connects the armature winding to a DC power supply (10, 10A, 10B), In a control device (70) for a rotating electric machine that is equipped with and configured such that a zero-axis current flows through the armature winding, A command voltage calculation unit (86) that calculates the command voltages (Vd*, Vq*, Vz*) to be applied to the armature winding, A switch control unit (85) performs switching control of the inverter based on the calculated command voltage, Feedback calculation unit (90d-90z, 91d-91z, 101d-101z), Equipped with, The aforementioned feedback calculation unit, The second d-axis command current (Id**) is an manipulated variable for feedback control of the d-axis current (Idr) flowing through the armature winding to the first d-axis command current (Id*), The second q-axis command current (Iq**) is a manipulated variable used to feedback control the q-axis current (Iqr) flowing through the armature winding to the first q-axis command current (Iq*), The second zero-axis command current (Iz**) is a value obtained by extracting the frequency component at three times the electrical angular velocity of the rotating electric machine from the deviation between the zero-axis current (Izr) flowing through the armature winding and the first zero-axis command current (Iz*), Calculate, The command voltage calculation unit is: Based on the electrical angle of the rotating electric machine, the second q-axis command current, and the second zero-axis command current, a d-axis interference voltage (Vdinf1 + Vdinf2) is determined to reduce inter-axis interference of the current flowing through the armature winding, Based on the aforementioned electrical angle, the second d-axis command current, and the second zero-axis command current, a q-axis interference voltage (Vqinf1 + Vqinf2) for reducing the inter-axis interference is determined, Based on the aforementioned electrical angle, the second d-axis command current, and the second q-axis command current, a zero-axis interference voltage (Vzinf1 + Vzinf2) is determined to reduce the inter-axis interference. Calculate, A control device for a rotating electric machine, which calculates the command voltage for reducing inter-axis interference based on the calculated d-axis interference voltage, q-axis interference voltage, and zero-axis interference voltage.

4. A rotating electric machine (40, 140, 240) having multiple phase armature windings (51U to 51W, 151U to 151W, 152U to 152W, 251U to 251W), An inverter (20, 30, 260) connects the armature winding to a DC power supply (10, 10A, 10B), In a control device (70) for a rotating electric machine that is equipped with and configured such that a zero-axis current flows through the armature winding, A command voltage calculation unit (86) that calculates the command voltages (Vd*, Vq*, Vz*) to be applied to the armature winding, A switch control unit (85) performs switching control of the inverter based on the calculated command voltage, Feedback calculation unit (90d-90z, 91d-91z, 101d-101z), Equipped with, The aforementioned feedback calculation unit, The second d-axis command current (Id**) is an manipulated variable for feedback control of the d-axis current (Idr) flowing through the armature winding to the first d-axis command current (Id*), The second q-axis command current (Iq**) is a manipulated variable used to feedback control the q-axis current (Iqr) flowing through the armature winding to the first q-axis command current (Iq*), The second zero-axis command current (Iz**) is an manipulated variable for feedback control of the zero-axis current (Izr) flowing through the armature winding to the first zero-axis command current (Iz*), Calculate, A d-axis control unit (110d) calculates a third d-axis command current (Idf), which is an operating variable for feedforward control of the d-axis current flowing through the armature winding to the first d-axis command current, based on the first d-axis command current, A q-axis control unit (110q) calculates a third q-axis command current (Iqf), which is an operation variable for feedforward control of the q-axis current flowing through the armature winding to the first q-axis command current, based on the first q-axis command current, A zero-axis control unit (110z) calculates a third zero-axis command current (Idf), which is an operating variable for forward-controlling the zero-axis current flowing through the armature winding to the first zero-axis command current, based on the first zero-axis command current. Equipped with, The command voltage calculation unit is: Based on the electrical angle of the rotating electric machine, the third q-axis command current, and the third zero-axis command current, a d-axis interference voltage (Vdinf1 + Vdinf2) is determined to reduce inter-axis interference of the current flowing through the armature winding, Based on the electrical angle, the third d-axis command current, and the third zero-axis command current, a q-axis interference voltage (Vqinf1 + Vqinf2) is determined to reduce the inter-axis interference. Based on the aforementioned electrical angle, the 3d-axis command current, and the 3q-axis command current, a zero-axis interference voltage (Vzinf1 + Vzinf2) is determined to reduce the inter-axis interference. Calculate, A control device for a rotating electric machine, which calculates the command voltage for reducing inter-axis interference based on the calculated d-axis interference voltage, q-axis interference voltage, and zero-axis interference voltage.

5. The command voltage calculation unit is: In calculating the d-axis interference voltage, the q-axis interference voltage, and the zero-axis interference voltage, Information indicating the first degree of interference between the zero axis and the d axis (Ldzs, Ldzc), Information separate from the information indicating the first degree of interference, including information indicating the second degree of interference between the zero axis and the q axis (Lqzs, Lqzc), A control device for a rotating electric machine according to any one of claims 1 to 4, further using the

6. The command voltage calculation unit is: Based on the calculated second d-axis command current and the time derivative of the second d-axis command current, a d-axis fundamental voltage (Vdb) is determined to reduce the influence of the d-axis current flowing through the armature winding on the d-axis voltage of the armature winding. Based on the calculated second q-axis command current and the time derivative of the second q-axis command current, a q-axis fundamental voltage (Vqb) is determined to reduce the influence of the q-axis current flowing through the armature winding on the q-axis voltage of the armature winding. Based on the calculated second zero-axis command current and the time derivative of the second zero-axis command current, a zero-axis fundamental voltage (Vzb) is determined to reduce the effect of the zero-axis current flowing through the armature winding on the zero-axis voltage of the armature winding. Calculate, A control device for a rotating electric machine according to any one of claims 1 to 4, further using the calculated d-axis basic voltage, q-axis basic voltage, and zero-axis basic voltage to calculate the command voltage.

7. The inverter is a first inverter (20) having a number of first upper arm switches (SUHa to SWHa) and first lower arm switches (SULa to SWLa) connected in series, corresponding to the number of phases. The series connection of the first upper arm switch and the first lower arm switch is connected in parallel to the DC power supply. The system (120) includes a second inverter (30) having a number of second upper arm switches (SUHb to SWHb) and second lower arm switches (SULb to SWLb) connected in series for each phase. In each phase, the high-potential terminal of the first upper arm switch and the high-potential terminal of the second upper arm switch are electrically connected. In each phase, the low-potential terminal of the first lower arm switch and the low-potential terminal of the second lower arm switch are electrically connected. In each phase, the low-potential terminal of the first upper arm switch and the high-potential terminal of the first lower arm switch are electrically connected to the first ends (51Ua to 51Wa) of the armature windings (51U to 51W) of the rotating electric machine (40). A control device for a rotating electric machine according to any one of claims 1 to 4, wherein in each phase, the low-potential terminal of the second upper arm switch and the high-potential terminal of the second lower arm switch are electrically connected to the second end (51Ub to 51Wb) of the armature winding.

8. The inverter is a first inverter (20) having a number of first upper arm switches (SUHa to SWHa) and first lower arm switches (SULa to SWLa) connected in series, corresponding to the number of phases. The series connection of the first upper arm switch and the first lower arm switch is connected in parallel to the DC power supply. The system (200) includes a second inverter (30) having a number of second upper arm switches (SUHb to SWHb) and second lower arm switches (SULb to SWLb) connected in series for each phase. In each phase, the high-potential terminal of the first upper arm switch and the high-potential terminal of the second upper arm switch are electrically connected. In each phase, the low-potential terminal of the first lower arm switch and the low-potential terminal of the second lower arm switch are electrically connected. The rotating electric machine (140) comprises, as the armature winding, a multi-phase first armature winding (151U to 151W) connected in a star configuration, and a multi-phase second armature winding (152U to 152W) connected in a star configuration. In each phase, the low-potential terminal of the first upper arm switch and the high-potential terminal of the first lower arm switch are electrically connected to the first end of the first armature winding. In each phase, the low-potential terminal of the second upper arm switch and the high-potential terminal of the second lower arm switch are electrically connected to the first end of the second armature winding. A control device for a rotating electric machine according to any one of claims 1 to 4, wherein the second end of the first armature winding of each phase and the second end of the second armature winding of each phase are electrically connected at a common neutral point.

9. The DC power supply comprises a series connection of a first energy storage unit (115A) and a second energy storage unit (115B). The armature windings (251U to 251W) of the rotating electric machine (240) are connected in a star configuration. The high-potential side terminals of the upper arm switches (SUH to SWH) of each phase of the inverter (260) are electrically connected to the positive terminals of the first energy storage unit. The low-potential terminals of the lower arm switches (SUL to SWL) of each phase of the inverter (260) are electrically connected to the negative terminals of the second energy storage unit. The control device for a rotating electric machine according to any one of claims 1 to 4, wherein the system (300) comprises a connection path (116) that electrically connects the neutral point of the armature winding to the negative terminal of the first energy storage unit and the positive terminal of the second energy storage unit.

10. Rotating electric machines (40, 140, 240) having multiple phase armature windings (51U-51W, 151U-151W, 152U-152W, 251U-251W), An inverter (20, 30, 260) connects the armature winding to a DC power supply (10, 10A, 10B), In a program applied to a system (120, 200, 300) equipped with such a system, configured such that a zero-axis current flows through the armature winding, The processor (71) A command voltage calculation process for calculating the command voltages (Vd*, Vq*, Vz*) to be applied to the armature winding, A process to control the switching of the inverter based on the calculated command voltage, Feedback calculation process, Make it run, In the feedback calculation process, The second d-axis command current (Id**) is an manipulated variable for feedback control of the d-axis current (Idr) flowing through the armature winding to the first d-axis command current (Id*), The second q-axis command current (Iq**) is a manipulated variable used to feedback control the q-axis current (Iqr) flowing through the armature winding to the first q-axis command current (Iq*), The second zero-axis command current (Iz**) is an manipulated variable for feedback control of the zero-axis current (Izr) flowing through the armature winding to the first zero-axis command current (Iz*), Calculate, In the command voltage calculation process, Based on the electrical angle of the rotating electric machine, the second q-axis command current, and the second zero-axis command current, a d-axis interference voltage (Vdinf1 + Vdinf2) is determined to reduce inter-axis interference of the current flowing through the armature winding, Based on the aforementioned electrical angle, the second d-axis command current, and the second zero-axis command current, a q-axis interference voltage (Vqinf1 + Vqinf2) is determined to reduce the inter-axis interference. Based on the electrical angle, the second d-axis command current, the second q-axis command current, the time derivative of the second d-axis command current, and the time derivative of the second q-axis command current, a zero-axis interference voltage (Vzinf1 + Vzinf2) for reducing the inter-axis interference is determined, Calculate, A program that calculates the command voltage to reduce the inter-axis interference based on the calculated d-axis interference voltage, q-axis interference voltage, and zero-axis interference voltage.

11. A rotating electric machine (40, 140, 240) having multiple phase armature windings (51U to 51W, 151U to 151W, 152U to 152W, 251U to 251W), An inverter (20, 30, 260) connects the armature winding to a DC power supply (10, 10A, 10B), In a program applied to a system (120, 200, 300) equipped with such a system, configured such that a zero-axis current flows through the armature winding, The processor (71) A command voltage calculation process for calculating the command voltages (Vd*, Vq*, Vz*) to be applied to the armature winding, A process to control the switching of the inverter based on the calculated command voltage, Feedback calculation process, Make it run, In the feedback calculation process, The time derivative (Iddif) of the second d-axis command current (Id**), which is an manipulated variable for feedback control of the d-axis current (Idr) flowing through the armature winding to the first d-axis command current (Id*), The time derivative (Iqdiff) of the second q-axis command current (Iq**), which is a manipulated variable for feedback control of the q-axis current (Iqr) flowing through the armature winding to the first q-axis command current (Iq*), The time derivative (Izdiff) of the second zero-axis command current (Iz**), which is a manipulated variable for feedback control of the zero-axis current (Izr) flowing through the armature winding to the first zero-axis command current (Iz*), Calculate, The feedback control in the feedback calculation process is proportional control. The processor is instructed to perform a process to calculate the second d-axis command current, the second q-axis command current, and the second zero-axis command current by integrating the time derivatives of the calculated second d-axis command current, the second q-axis command current, and the second zero-axis command current over time. In the command voltage calculation process, Based on the electrical angle of the rotating electric machine, the second q-axis command current, the second zero-axis command current, and the time derivative of the second zero-axis command current, a d-axis interference voltage (V d in f 1 + V d in f 2) is determined to reduce inter-axis interference of the current flowing through the armature winding, Based on the electrical angle, the second d-axis command current, the second zero-axis command current, and the time derivative of the second zero-axis command current, a q-axis interference voltage (Vqinf1 + Vqinf2) is used to reduce the inter-axis interference. Based on the electrical angle, the second d-axis command current, the second q-axis command current, the time derivative of the second d-axis command current, and the time derivative of the second q-axis command current, a zero-axis interference voltage (Vzinf1 + Vzinf2) for reducing the inter-axis interference is determined, Calculate, A program that calculates the command voltage to reduce the inter-axis interference based on the calculated d-axis interference voltage, q-axis interference voltage, and zero-axis interference voltage.

12. A rotating electric machine (40, 140, 240) having multiple phase armature windings (51U to 51W, 151U to 151W, 152U to 152W, 251U to 251W), An inverter (20, 30, 260) connects the armature winding to a DC power supply (10, 10A, 10B), In a program applied to a system (120, 200, 300) equipped with such a system, configured such that a zero-axis current flows through the armature winding, The processor (71) A command voltage calculation process for calculating the command voltages (Vd*, Vq*, Vz*) to be applied to the armature winding, A process to control the switching of the inverter based on the calculated command voltage, Feedback calculation process, Make it run, In the feedback calculation process, The second d-axis command current (Id**) is an manipulated variable for feedback control of the d-axis current (Idr) flowing through the armature winding to the first d-axis command current (Id*), The second q-axis command current (Iq**) is a manipulated variable used to feedback control the q-axis current (Iqr) flowing through the armature winding to the first q-axis command current (Iq*), The second zero-axis command current (Iz**) is a value obtained by extracting the frequency component at three times the electrical angular velocity of the rotating electric machine from the deviation between the zero-axis current (Izr) flowing through the armature winding and the first zero-axis command current (Iz*), Calculate, In the command voltage calculation process, Based on the electrical angle of the rotating electric machine, the second q-axis command current, and the second zero-axis command current, a d-axis interference voltage (Vdinf1 + Vdinf2) is determined to reduce inter-axis interference of the current flowing through the armature winding, Based on the aforementioned electrical angle, the second d-axis command current, and the second zero-axis command current, a q-axis interference voltage (Vqinf1 + Vqinf2) for reducing the inter-axis interference is determined, Based on the aforementioned electrical angle, the second d-axis command current, and the second q-axis command current, a zero-axis interference voltage (Vzinf1 + Vzinf2) is determined to reduce the inter-axis interference. Calculate, A program that calculates the command voltage to reduce the inter-axis interference based on the calculated d-axis interference voltage, q-axis interference voltage, and zero-axis interference voltage.

13. A rotating electric machine (40, 140, 240) having multiple phase armature windings (51U to 51W, 151U to 151W, 152U to 152W, 251U to 251W), An inverter (20, 30, 260) connects the armature winding to a DC power supply (10, 10A, 10B), In a program applied to a system (120, 200, 300) equipped with such a system, configured such that a zero-axis current flows through the armature winding, The processor (71) A command voltage calculation process for calculating the command voltages (Vd*, Vq*, Vz*) to be applied to the armature winding, A process to control the switching of the inverter based on the calculated command voltage, Feedback calculation process, Make it run, In the feedback calculation process, The second d-axis command current (Id**) is an manipulated variable for feedback control of the d-axis current (Idr) flowing through the armature winding to the first d-axis command current (Id*), The second q-axis command current (Iq**) is a manipulated variable used to feedback control the q-axis current (Iqr) flowing through the armature winding to the first q-axis command current (Iq*), The second zero-axis command current (Iz**) is an manipulated variable for feedback control of the zero-axis current (Izr) flowing through the armature winding to the first zero-axis command current (Iz*), Calculate, The aforementioned processor, A process to calculate a third d-axis command current (Idf), which is an manipulated variable for feedforward control of the d-axis current flowing through the armature winding to the first d-axis command current, based on the first d-axis command current, A process to calculate a third q-axis command current (Iqf), which is an manipulated variable for feedforward control of the q-axis current flowing through the armature winding to the first q-axis command current, based on the first q-axis command current, A process to calculate a third zero-axis command current (Idf), which is an manipulated variable for forward-controlling the zero-axis current flowing through the armature winding to the first zero-axis command current, based on the first zero-axis command current, Make it run, In the command voltage calculation process, Based on the electrical angle of the rotating electric machine, the third q-axis command current, and the third zero-axis command current, a d-axis interference voltage (Vdinf1 + Vdinf2) is determined to reduce inter-axis interference of the current flowing through the armature winding, Based on the electrical angle, the third d-axis command current, and the third zero-axis command current, a q-axis interference voltage (Vqinf1 + Vqinf2) is determined to reduce the inter-axis interference. Based on the aforementioned electrical angle, the 3d-axis command current, and the 3q-axis command current, a zero-axis interference voltage (Vzinf1 + Vzinf2) is determined to reduce the inter-axis interference. Calculate, A program that calculates the command voltage to reduce the inter-axis interference based on the calculated d-axis interference voltage, q-axis interference voltage, and zero-axis interference voltage.

14. Rotating electric machines (40, 140, 240) having multiple phase armature windings (51U-51W, 151U-151W, 152U-152W, 251U-251W), An inverter (20, 30, 260) connects the armature winding to a DC power supply (10, 10A, 10B), A control method for a rotating electric machine applied to a system (120, 200, 300) equipped with such a system, configured such that a zero-axis current flows through the armature winding, A command voltage calculation step for calculating the command voltage (Vd*, Vq*, Vz*) to be applied to the armature winding, The steps include: performing switching control of the inverter based on the calculated command voltage; Feedback calculation step, Equipped with, In the feedback calculation step, The second d-axis command current (Id**) is an manipulated variable for feedback control of the d-axis current (Idr) flowing through the armature winding to the first d-axis command current (Id*), The second q-axis command current (Iq**) is a manipulated variable used to feedback control the q-axis current (Iqr) flowing through the armature winding to the first q-axis command current (Iq*), The second zero-axis command current (Iz**) is an manipulated variable for feedback control of the zero-axis current (Izr) flowing through the armature winding to the first zero-axis command current (Iz*), Calculate, In the command voltage calculation step, Based on the electrical angle of the rotating electric machine, the second q-axis command current, and the second zero-axis command current, a d-axis interference voltage (Vdinf1 + Vdinf2) is determined to reduce inter-axis interference of the current flowing through the armature winding, Based on the aforementioned electrical angle, the second d-axis command current, and the second zero-axis command current, a q-axis interference voltage (Vqinf1 + Vqinf2) is determined to reduce the inter-axis interference. Based on the electrical angle, the second d-axis command current, the second q-axis command current, the time derivative of the second d-axis command current, and the time derivative of the second q-axis command current, a zero-axis interference voltage (Vzinf1 + Vzinf2) for reducing the inter-axis interference is determined, Calculate, A control method for a rotating electric machine, which calculates a command voltage to reduce inter-axis interference based on the calculated d-axis interference voltage, q-axis interference voltage, and zero-axis interference voltage.

15. A rotating electric machine (40, 140, 240) having multiple phase armature windings (51U to 51W, 151U to 151W, 152U to 152W, 251U to 251W), An inverter (20, 30, 260) connects the armature winding to a DC power supply (10, 10A, 10B), A control method for a rotating electric machine applied to a system (120, 200, 300) equipped with such a system, configured such that a zero-axis current flows through the armature winding, A command voltage calculation step for calculating the command voltage (Vd*, Vq*, Vz*) to be applied to the armature winding, The steps include: performing switching control of the inverter based on the calculated command voltage; Feedback calculation step, Equipped with, In the feedback calculation step, The time derivative (Iddif) of the second d-axis command current (Id**), which is an manipulated variable for feedback control of the d-axis current (Idr) flowing through the armature winding to the first d-axis command current (Id*), The time derivative (Iqdiff) of the second q-axis command current (Iq**), which is a manipulated variable for feedback control of the q-axis current (Iqr) flowing through the armature winding to the first q-axis command current (Iq*), The time derivative (Izdiff) of the second zero-axis command current (Iz**), which is a manipulated variable for feedback control of the zero-axis current (Izr) flowing through the armature winding to the first zero-axis command current (Iz*), Calculate, The feedback control in the feedback calculation step is proportional control, The method includes the step of calculating the second d-axis command current, the second q-axis command current, and the second zero-axis command current by integrating the time derivatives of the calculated second d-axis command current, the second q-axis command current, and the second zero-axis command current over time. In the command voltage calculation step, Based on the electrical angle of the rotating electric machine, the second q-axis command current, the second zero-axis command current, and the time derivative of the second zero-axis command current, a d-axis interference voltage (V d in f 1 + V d in f 2) is determined to reduce inter-axis interference of the current flowing through the armature winding, Based on the electrical angle, the second d-axis command current, the second zero-axis command current, and the time derivative of the second zero-axis command current, a q-axis interference voltage (Vqinf1 + Vqinf2) is used to reduce the inter-axis interference. Based on the electrical angle, the second d-axis command current, the second q-axis command current, the time derivative of the second d-axis command current, and the time derivative of the second q-axis command current, a zero-axis interference voltage (Vzinf1 + Vzinf2) for reducing the inter-axis interference is determined, Calculate, A control method for a rotating electric machine, comprising calculating the command voltage for reducing inter-axis interference based on the calculated d-axis interference voltage, q-axis interference voltage, and zero-axis interference voltage.

16. A rotating electric machine (40, 140, 240) having multiple phase armature windings (51U to 51W, 151U to 151W, 152U to 152W, 251U to 251W), An inverter (20, 30, 260) connects the armature winding to a DC power supply (10, 10A, 10B), A control method for a rotating electric machine applied to a system (120, 200, 300) equipped with such a system, configured such that a zero-axis current flows through the armature winding, A command voltage calculation step for calculating the command voltage (Vd*, Vq*, Vz*) to be applied to the armature winding, The steps include: performing switching control of the inverter based on the calculated command voltage; Feedback calculation step, Equipped with, In the feedback calculation step, The second d-axis command current (Id**) is an manipulated variable for feedback control of the d-axis current (Idr) flowing through the armature winding to the first d-axis command current (Id*), The second q-axis command current (Iq**) is a manipulated variable used to feedback control the q-axis current (Iqr) flowing through the armature winding to the first q-axis command current (Iq*), The second zero-axis command current (Iz**) is a value obtained by extracting the frequency component at three times the electrical angular velocity of the rotating electric machine from the deviation between the zero-axis current (Izr) flowing through the armature winding and the first zero-axis command current (Iz*), Calculate, In the command voltage calculation step, Based on the electrical angle of the rotating electric machine, the second q-axis command current, and the second zero-axis command current, a d-axis interference voltage (Vdinf1 + Vdinf2) is determined to reduce inter-axis interference of the current flowing through the armature winding, Based on the aforementioned electrical angle, the second d-axis command current, and the second zero-axis command current, a q-axis interference voltage (Vqinf1 + Vqinf2) for reducing the inter-axis interference is determined, Based on the aforementioned electrical angle, the second d-axis command current, and the second q-axis command current, a zero-axis interference voltage (Vzinf1 + Vzinf2) is determined to reduce the inter-axis interference. Calculate, A control method for a rotating electric machine, comprising calculating the command voltage for reducing inter-axis interference based on the calculated d-axis interference voltage, q-axis interference voltage, and zero-axis interference voltage.

17. A rotating electric machine (40, 140, 240) having multiple phase armature windings (51U to 51W, 151U to 151W, 152U to 152W, 251U to 251W), An inverter (20, 30, 260) connects the armature winding to a DC power supply (10, 10A, 10B), A control method for a rotating electric machine applied to a system (120, 200, 300) equipped with such a system, configured such that a zero-axis current flows through the armature winding, A command voltage calculation step for calculating the command voltage (Vd*, Vq*, Vz*) to be applied to the armature winding, The steps include: performing switching control of the inverter based on the calculated command voltage; Feedback calculation step, Equipped with, In the feedback calculation step, The second d-axis command current (Id**) is an manipulated variable for feedback control of the d-axis current (Idr) flowing through the armature winding to the first d-axis command current (Id*), The second q-axis command current (Iq**) is a manipulated variable used to feedback control the q-axis current (Iqr) flowing through the armature winding to the first q-axis command current (Iq*), The second zero-axis command current (Iz**) is an manipulated variable for feedback control of the zero-axis current (Izr) flowing through the armature winding to the first zero-axis command current (Iz*), Calculate, The steps include: calculating a third d-axis command current (Idf), which is an manipulated variable for feedforward control of the d-axis current flowing through the armature winding to the first d-axis command current, based on the first d-axis command current; The steps include: calculating a third q-axis command current (Iqf), which is an manipulated variable for feedforward control of the q-axis current flowing through the armature winding to the first q-axis command current, based on the first q-axis command current; The steps include: calculating a third zero-axis command current (Idf), which is an operating variable for forward-controlling the zero-axis current flowing through the armature winding to the first zero-axis command current based on the first zero-axis command current; Equipped with, In the command voltage calculation step, Based on the electrical angle of the rotating electric machine, the third q-axis command current, and the third zero-axis command current, a d-axis interference voltage (Vdinf1 + Vdinf2) is determined to reduce inter-axis interference of the current flowing through the armature winding, Based on the electrical angle, the third d-axis command current, and the third zero-axis command current, a q-axis interference voltage (Vqinf1 + Vqinf2) is determined to reduce the inter-axis interference. Based on the aforementioned electrical angle, the 3d-axis command current, and the 3q-axis command current, a zero-axis interference voltage (Vzinf1 + Vzinf2) is determined to reduce the inter-axis interference. Calculate, A control method for a rotating electric machine, comprising calculating the command voltage for reducing inter-axis interference based on the calculated d-axis interference voltage, q-axis interference voltage, and zero-axis interference voltage.