Rotary machine control device and rotary machine control method

Abstract

A rotary machine control device (1) comprises: a voltage command specifying unit (212) that outputs a voltage for controlling a synchronous rotary machine (7); a position estimation unit (208) for controlling a γ axis and a δ axis which are estimated axes in control so as to follow a dm axis and a qm axis, respectively; and a ripple suppression unit (218) having a ripple compensation specifying unit (226) that specifies a ripple compensation current (iripple) on the basis of qm-axis current (iqm), a harmonic component (nθdm), and magnetic energy (W'qmcn, W'qmsn).The voltage command specifying unit (212) superimposes the ripple compensation current (iripple) output by the ripple compensation specifying unit (226) on the qm-axis current (iqm) and outputs voltage for controlling the synchronous rotary machine (7).

Description

Rotating machine control device and rotating machine control method

[0001] The present disclosure relates to a rotating machine control device and the like, and more particularly to a rotating machine control device and the like that applies voltage to a synchronous rotating machine and performs control to generate a target torque.

[0002] Conventionally, there has been known a control device that estimates the rotor position of a synchronous rotating machine without a position sensor and controls the synchronous rotating machine based on the estimated rotor position. For example, Patent Document 1 discloses a control device that estimates the rotor position by using current control.

[0003] Furthermore, conventionally, control devices that reduce torque ripple are known. For example, Patent Document 2 discloses a control device that reduces torque ripple by using magnetic flux control, and Non-Patent Document 1 discloses a control device that reduces torque ripple by using current control.

[0004] Patent No. 4972135 Patent No. 7357112

[0005] Yuki Terayama and Shinichi Hoshi, "Torque Ripple Suppression Control Using Estimated Flux Linkage Harmonic Components Considering Magnetic Saturation in PMSM," IEEJ Transactions on Motors and Motors, Vol. 141, No. 4, pp. 366-373

[0006] An object of the present disclosure is to provide a rotating machine control device and the like that can obtain the effect of torque ripple reduction control when position sensorless control using current control is performed.

[0007] In order to achieve the above object, a rotating machine control device according to one embodiment of the present disclosure is a rotating machine control device that applies a voltage to a synchronous rotating machine to perform control to generate a target torque, and includes: a voltage command specifying unit that, when a direction of a current vector when achieving maximum torque control is defined as a qm-axis and an axis orthogonal to the qm-axis is defined as a dm-axis, resolves a detected current flowing through the synchronous rotating machine into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis, and outputs a voltage for controlling the synchronous rotating machine; a position estimating unit that estimates a first rotor position that is a virtual rotor position of the synchronous rotating machine, and controls the synchronous rotating machine so that γ-axis and δ-axis, which are estimated axes for control based on the first rotor position, follow the dm-axis and the qm-axis, respectively; a magnetic flux estimating unit that estimates rotating machine magnetic flux that is magnetic flux generated in the synchronous rotating machine; a magnetization characteristic specifying unit that specifies a qm-axis magnetic flux, the qm-axis current, and a harmonic component of the first rotor position or the second rotor position, which is the qm-axis component of the estimated magnetic flux, using either one of a second rotor position estimated based on the qm-axis current, which is the qm-axis component, and the qm-axis inductance, which is the qm-axis component of the inductance of the synchronous machine, and specifies magnetic energy of the synchronous machine based on the qm-axis magnetic flux and the harmonic component; and a ripple compensation specifying unit that specifies a ripple compensation current that compensates for torque ripple generated in the torque of the synchronous machine, based on the qm-axis current, the harmonic component, and the magnetic energy, and outputs the ripple compensation current to the voltage command specifying unit, wherein the voltage command specifying unit superimposes the ripple compensation current output by the ripple compensation specifying unit on the qm-axis current, and outputs a voltage for controlling the synchronous machine.

[0008] In order to achieve the above object, a rotating machine control method according to one aspect of the present disclosure is a rotating machine control method performed by a rotating machine control device that applies voltage to a synchronous rotating machine to generate a target torque, the method including: a voltage command specifying step of: when a direction of a current vector when achieving maximum torque control is defined as a qm-axis and an axis orthogonal to the qm-axis is defined as a dm-axis, decomposing a detected current flowing through the synchronous rotating machine into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis, and outputting a voltage for controlling the synchronous rotating machine; a position estimating step of estimating a first rotor position that is a virtual rotor position of the synchronous rotating machine, and controlling the synchronous rotating machine so that γ-axis and δ-axis that are estimated axes for control based on the first rotor position follow the dm-axis and the qm-axis, respectively; a magnetic flux estimating step of estimating rotating machine magnetic flux that is magnetic flux generated in the synchronous rotating machine; a magnetization characteristic specifying step of specifying a qm-axis magnetic flux, the qm-axis current, and harmonic components of the first rotor position or the second rotor position, which is the qm-axis component of the estimated magnetic flux, using either one of the second rotor positions estimated based on a qm-axis current, which is the qm-axis component of the output current, and a qm-axis inductance, which is the qm-axis component of the inductance of the synchronous machine, and specifying magnetic energy of the synchronous machine based on the qm-axis magnetic flux and the harmonic components; and a ripple compensation specifying step of specifying and outputting a ripple compensation current that compensates for torque ripple generated in the torque of the synchronous machine, based on the qm-axis current, the harmonic components, and the magnetic energy, wherein in the voltage command specifying step, the ripple compensation current output in the ripple compensation specifying step is superimposed on the qm-axis current, and a voltage for controlling the synchronous machine is output.

[0009] The present disclosure provides a rotating machine control device and the like that can obtain the effect of torque ripple reduction control when position sensorless control using current control is performed.

[0010] FIG. 1 is a block diagram showing the configuration of a system including a rotating machine control device according to a first embodiment. FIG. 2 is a diagram showing the relationship between α-β coordinates, dq coordinates, and dm-qm coordinates. FIG. 3 is a block diagram showing the configuration of a voltage generating unit shown in FIG. 1. FIG. 4 is a block diagram showing the configuration of a ripple suppression unit and a phase compensation specifying unit shown in FIG. 3. FIG. 5 is a block diagram showing the configuration of a magnetization characteristic specifying unit shown in FIG. 4. FIG. 6 is a block diagram showing the configuration of a Fourier transform unit shown in FIG. 5. FIG. 7 is a diagram showing an example of a magnetic energy table created by the magnetic energy specifying unit shown in FIG. 5. FIG. 8 is a block diagram showing the configuration of the ripple compensation specifying unit shown in FIG. 4. FIG. 9 is a block diagram showing the configuration of a position estimating unit shown in FIG. 3. FIG. 10 is a flowchart showing the operation of the rotating machine control device according to the first embodiment when performing position sensorless control. FIG. 11 is a flowchart showing the operation of the rotating machine control device according to the first embodiment when performing torque ripple reduction control. FIG. 12 is a block diagram showing the configuration of a voltage generating unit included in a rotating machine control device according to a second embodiment. FIG. 13 is a block diagram showing the configuration of a ripple suppression unit and a phase compensation specifying unit shown in FIG. 12. FIG. 14 is a block diagram showing the configuration of the magnetization characteristic specifying unit shown in FIG. 13 . FIG. 15 is a block diagram showing the configuration of the position estimating unit shown in FIG. 12 . FIG. 16 is a flowchart showing the operation of the rotating machine control device according to Embodiment 2 when performing torque ripple reduction control. FIG. 17 is a block diagram showing the configuration of a voltage generating unit included in the rotating machine control device according to Embodiment 3. FIG. 18 is a block diagram showing the configurations of a ripple suppression unit and a phase compensation specifying unit shown in FIG. 17 . FIG. 19 is a block diagram showing the configuration of the magnetization characteristic specifying unit shown in FIG. 18 . FIG. 20 is a flowchart showing the operation of the rotating machine control device according to Embodiment 3 when performing torque ripple reduction control. FIG. 21 is a block diagram showing the configuration of a voltage generating unit included in the rotating machine control device according to Embodiment 4. FIG. 22 is a block diagram showing the configurations of the ripple suppression unit and the phase compensation specifying unit shown in FIG. 21 . FIG. 23 is a block diagram showing the configuration of the magnetization characteristic specifying unit shown in FIG. 22 .FIG. 24 is a block diagram showing the configuration of a voltage generating unit included in a rotating machine control device according to Embodiment 5. FIG. 25 is a block diagram showing the configurations of a ripple suppression unit and a phase compensation specifying unit shown in FIG. 24. FIG. 26 is a block diagram showing the configuration of a magnetization characteristic specifying unit shown in FIG. 25. FIG. 27 is a block diagram showing the configuration of a voltage generating unit included in a rotating machine control device according to Embodiment 6. FIG. 28 is a block diagram showing the configuration of the ripple suppression unit shown in FIG. 27. FIG. 29 is a flowchart showing the operation of the rotating machine control device according to Embodiment 6 when performing torque ripple reduction control. FIG. 30 is a block diagram showing the configuration of a voltage generating unit included in a rotating machine control device according to Embodiment 7. FIG. 31 is a block diagram showing the configuration of the ripple suppression unit shown in FIG. 30. FIG. 32 is a block diagram showing the configuration of the magnetization characteristic specifying unit shown in FIG. 31. FIG. 33 is a flowchart showing the operation of the rotating machine control device according to Embodiment 7 when performing torque ripple reduction control.

[0011] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that each of the embodiments described below represents a specific example of the present disclosure. The numerical values, components, component placement and connection configurations, steps, step order, display examples, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Therefore, among the components in the following embodiments, components that are not recited in the independent claims of the present disclosure will be described as optional components. Furthermore, each figure is not necessarily an exact illustration. In each figure, substantially identical components are assigned the same reference numerals, and redundant explanations are omitted or simplified.

[0012] First Embodiment [Outline] First, an outline of a rotating machine control device according to a first embodiment will be described.

[0013] Conventionally, there has been known a control device that estimates the rotor position of a synchronous rotating machine without a position sensor and controls the synchronous rotating machine based on the estimated rotor position. For example, Patent Document 1 discloses a control device that estimates the rotor position by using current control.

[0014] Furthermore, conventionally, control devices that reduce torque ripple are known. For example, Patent Document 2 discloses a control device that reduces torque ripple by using magnetic flux control, and Non-Patent Document 1 discloses a control device that reduces torque ripple by using current control.

[0015] However, when an attempt is made to reduce torque ripple using the control device described in Patent Document 1 and the method described in Patent Document 2, the rotor position estimated by the position sensorless control will deviate from the rotor magnetic flux position estimated by the torque ripple reduction control due to the influence of the filter bandpass or discretization. The same applies when an attempt is made to reduce torque ripple using the control device described in Patent Document 1 and the method described in Non-Patent Document 1.

[0016] As described above, in the combination of the conventional technologies, the phase of the ripple compensation current, which is the compensation current for reducing torque ripple, is shifted from the phase of the current for controlling the synchronous rotating machine, thereby reducing the effect of torque ripple reduction control.

[0017] A rotating machine control device according to a first embodiment that can solve the above problems will be described below.

[0018] 1 is a block diagram showing the configuration of a system including a rotating machine control device 1 according to embodiment 1. The present disclosure is configured with the rotating machine control device 1, a PWM (Pulse Width Modulation) inverter 4, and a synchronous rotating machine 7.

[0019] The rotating machine control device 1 is a device that applies a voltage to the synchronous rotating machine 7 to control the generation of a target torque, and is a device that realizes position sensorless control by current control. Note that position sensorless control means control in which the rotating machine control device 1 matches the rotational speed (synchronous speed) determined by the voltage applied to the synchronous rotating machine 7 with the rotational speed (number of rotations) of the rotor of the synchronous rotating machine 7 without using position sensors such as an encoder or resolver. Also, current control means controlling the current (or torque) flowing through the synchronous rotating machine 7 to a desired value.

[0020] The rotating machine control device 1 includes a voltage generating unit 2, a duty generating unit 3, a first current sensor 5, and a second current sensor 6. Some or all of the elements of the rotating machine control device 1 may be implemented by a control application executed on a DSP (Digital Signal Processor) or a microcomputer. The DSP or microcomputer may include peripheral devices such as a core, a memory, an A / D conversion circuit, and a communication port. Some or all of the elements of the rotating machine control device 1 may be configured by a logic circuit.

[0021] The voltage generator 2 generates a command rotation speed ω ｒｅｆ , command current I ｒｅｆ , command torque T ｒｅｆ , the detected current i detected by the first current sensor 5 and the second current sensor 6 ｕ , i ｗ The command voltage vector v ｕ ＊ , v ｖ ＊ , v ｗ ＊ The command voltage vector v ｕ ＊ , v ｖ ＊ , v ｗ ＊ The components of the equation (1) correspond to the U-phase voltage, the V-phase voltage, and the W-phase voltage on the three-phase AC coordinate system, respectively.

[0022] The duty generation unit 3 generates the command voltage vector v ｕ ＊ , v ｖ ＊ , v ｗ ＊ From Duty D ｕ , D ｖ , D ｗ The duty generation unit 3 generates the generated duty D ｕ , D ｖ , D ｗ is input to the PWM inverter 4.

[0023] The first current sensor 5 and the second current sensor 6 detect a current i from the U-phase voltage and the W-phase voltage generated by the PWM inverter 4.ｕ , i ｗ The detected current i ｕ , i ｗ are the U-phase currents i on the three-phase AC coordinate system, respectively. ｕ and W-phase current i ｗ is.

[0024] The PWM inverter 4 generates the duty D ｕ , D ｖ , D ｗ From the voltage vector v ｕ , v ｖ , v ｗ and generates a voltage vector v ｕ , v ｖ , v ｗ A three-phase AC voltage (U-phase voltage, V-phase voltage, and W-phase voltage) corresponding to the above is supplied to the synchronous rotating machine 7.

[0025] The synchronous rotating machine 7 is, for example, a three-phase permanent magnet motor having a permanent magnet as a rotor and a motor winding as a stator.

[0026] Hereinafter, the rotating machine control device 1 may be described based on the α-β coordinate. The rotating machine control device 1 may also be described based on the d-q coordinate. Furthermore, the rotating machine control device 1 may also be described based on the dm-qm coordinate. FIG. 2 is a diagram showing the relationship between the α-β coordinate, the d-q coordinate, and the dm-qm coordinate. The α-β coordinate is a fixed coordinate. The α-β coordinate is also referred to as a stationary coordinate or an AC coordinate. The α-axis is set as an axis extending in the same direction as the U-axis. The U-axis corresponds to the U-phase winding of the rotating machine control device 1. The β-axis is an axis perpendicular to the α-axis. The d-q coordinate is a rotating coordinate. The d-q coordinate is a coordinate system in which the phase of the rotor of the synchronous rotating machine 7 is the d-axis and the q-axis is a phase 90 degrees ahead of the d-axis. The dm-qm coordinate is a rotating coordinate. The qm-axis is a coordinate system in which the direction of the current vector when achieving maximum torque control (MTPA) is the qm-axis and the dm-axis is an axis perpendicular to the qm-axis. The phase of the qm-axis is 90 degrees ahead of the phase of the dm-axis. The trajectory of the current vector when maximum torque control is achieved is shown by a broken line. In other words, the dm-qm coordinate system is a coordinate system that rotates according to the direction of the current vector when maximum torque control (MTPA) is achieved.

[0027] First rotor position θ ｄｍ１ is the virtual rotor position of the synchronous rotating machine 7. ｄｍ１ indicates the phase difference between the α axis and the dm axis. ｄｍ１ This is a virtual rotor position of the synchronous rotating machine 7 that the rotating machine control device 1 uses to apply a voltage to the synchronous rotating machine 7 to generate a target torque (i.e., position sensorless control).

[0028] qm-axis current i ｑｍ is the detected current i ｕ , i ｗ is the current of the qm-axis component.

[0029] qm-axis inductance L ｑｍ is the inductance of the qm-axis component of the inductance L of the synchronous rotating machine 7.

[0030] Magnet magnetic flux Ψ ａｍis the estimated magnetic flux generated in the synchronous rotating machine 7. ａｍ The vector of Ψ is aligned with the dm axis. ａｍ As shown in FIG. 2, the rotating machine magnetic flux Ψ ｓ and qm-axis current i ｑｍ and qm-axis inductance L ｑｍ The magnetic flux is estimated based on the rotating machine magnetic flux Ψ ｓ is the armature flux linkage.

[0031] Rotating machine magnetic flux position θ ｓ is the rotating machine magnetic flux Ψ ｓ The rotating machine magnetic flux position θ ｓ is the α axis and the rotating machine magnetic flux Ψ ｓ The phase difference between

[0032] Second rotor position θ ｄｍ２ is the first rotor position θ ｄｍ１ The second rotor position θ is a virtual rotor position of the synchronous rotating machine 7 calculated by a method different from that of the first rotor position θ. ｄｍ２ indicates the phase difference between the α axis and the dm axis. ｄｍ２ is the magnetic flux of the rotor magnetic flux of the synchronous rotating machine 7 that is used by the rotating machine control device 1 to compensate for torque ripple.

[0033] First rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ When the positions of the first rotor position θ and the second rotor position θ do not match (that is, when the estimated two dm axes do not match), the effect of torque ripple reduction control is reduced. Therefore, the rotating machine control device 1 calculates a phase compensation amount ΔK (to be described later) to reduce the first rotor position θ ｄｍ１ The value of the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ The rotating machine control device 1 performs control so that the difference between the first rotor position θ approaches zero. ｄｍ１ and the second rotor position θ ｄｍ２ Without estimating the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ Control is performed to bring the difference closer to zero.

[0034] [Configuration of Voltage Generator] FIG. 3 is a block diagram showing the configuration of the voltage generator 2 shown in FIG.

[0035] As shown in FIG. 3 , the voltage generating unit 2 includes a u,w / α,β conversion unit 202, an α,β / γ,δ conversion unit 204, a control unit 206, a position estimation unit 208, a current command specifying unit 210, a voltage command specifying unit 212, a γ,δ / α,β conversion unit 214, and an α,β / u,v,w conversion unit 216.

[0036] The u, w / α, β conversion unit 202 converts the detected current i detected by the first current sensor 5 and the second current sensor 6 into ｕ , i ｗ The detected current i α , i β Convert the detected current i α , i β are the α-axis current i on the α-β coordinate of the synchronous rotating machine 7, respectively. α and β-axis current i β Specifically, the u, w / α, β conversion unit 202 calculates the detected current i ｕ , i ｗ The detected current i α , i β Convert to.

[0037]

[0038]

[0039] The α, β / γ, δ converter 204 converts the detected current i output from the u, w / α, β converter 202 into α , i β The detected current i γ , i δ At this time, the α, β / γ, δ conversion unit 204 converts the first rotor position θ output by the position estimation unit 208 into ｄｍ１ Using the above, the detected current i α , i β The detected current i γ , i δ Convert the detected current i γ , i δ are the γ-axis currents i on the dm-qm coordinates, respectively. γ and δ-axis current i δ The γ-axis and the δ-axis are the axes of the first rotor position θｄｍ１ are estimated axes for control based on the above equations, and correspond to the dm-axis and qm-axis, respectively.

[0040] The control unit 206 converts the detected current i output from the u, w / α, β conversion unit 202 into α , i β and the command voltage v output by the γ, δ / α, β conversion unit 214 α ＊ , v β ＊ and based on the ripple compensation current i ripple Specifically, the control unit 206 includes a ripple suppression unit 218 and a phase compensation specification unit 220. The ripple suppression unit 218 calculates the ripple compensation current i ripple The phase compensation specifying unit 220 calculates the phase compensation amount ΔK. ripple is a current for compensating for (i.e., reducing) torque ripple occurring in the torque of the synchronous rotating machine 7. The phase compensation amount ΔK is a current for compensating for (i.e., reducing) torque ripple occurring in the torque of the synchronous rotating machine 7. ｄｍ１ and the second rotor position θ ｄｍ２ The compensation amount is based on error information between the ripple suppressor 218 and the phase compensation specifying unit 220. Details of the ripple suppressor 218 and the phase compensation specifying unit 220 will be described later.

[0041] The position estimation unit 208 estimates the first rotor position θ ｄｍ１ and controls the synchronous rotating machine 7 so that the γ-axis and the δ-axis follow the dm-axis and the qm-axis, respectively (i.e., controls the synchronous rotating machine 7 to generate a target torque by applying a voltage to the synchronous rotating machine 7). γ , i δ and the phase compensation amount ΔK output by the phase compensation specifying unit 220 and the command voltage v output by the voltage command specifying unit 212. γ ＊ , v δ ＊ and the first rotor position θ ｄｍ１ and the rotation speed ω of the rotor of the synchronous rotating machine 7 ｄｍ１ The position estimation unit 208 will be described in detail later.

[0042] The current command specifying unit 210 determines the command rotation speed ω ｒｅｆ , command current Iｒｅｆ , command torque T ｒｅｆ , and the rotation speed ω output by the position estimation unit 208 ｄｍ１ The voltage command specifying unit 212 determines the next command current i γ ＊ , i δ ＊ Specify the command current i γ ＊ , i δ ＊ are the γ-axis command currents i on the dm-qm coordinate system, respectively. γ ＊ and δ-axis command current i δ ＊ is.

[0043] The voltage command specifying unit 212 detects the current i flowing through the synchronous rotating machine 7. γ , i δ into a qm-axis component and a dm-axis component, and outputs a voltage for controlling the synchronous rotating machine 7 (i.e., control for applying a voltage to the synchronous rotating machine 7 to generate a target torque). Specifically, the voltage command specifying unit 212 determines the command current i γ ＊ , i δ ＊ , the detected current i outputted by the α, β / γ, δ conversion unit 204 γ , i δ , and the ripple compensation current i output by the ripple suppression unit 218 ripple Based on at least one current information, the command voltage v γ ＊ , v δ ＊ Specify the command voltage v γ ＊ , v δ ＊ are the γ-axis command voltages v on the dm-qm coordinate system, respectively. γ ＊ and δ-axis command voltage v δ ＊ is.

[0044] The γ, δ / α, β conversion unit 214 converts the command voltage v output from the voltage command specification unit 212 into γ ＊ , v δ＊ is the command voltage v α ＊ , v β ＊ At this time, the γ,δ / α,β conversion unit 214 converts the first rotor position θ output by the position estimation unit 208 into ｄｍ１ Using this, the command voltage v γ ＊ , v δ ＊ is the command voltage v α ＊ , v β ＊ Convert to command voltage v α ＊ , v β ＊ are the α-axis command voltages v on the α-β coordinates of the synchronous rotating machine 7, respectively. α ＊ and β-axis command voltage v β ＊ is.

[0045] The α, β / u, v, w converter 216 converts the command voltage v output from the γ, δ / α, β converter 214 into α ＊ , v β ＊ The command voltage vector v ｕ ＊ , v ｖ ＊ , v ｗ ＊ Specifically, the α, β / u, v, w converter 216 converts the command voltage v α ＊ , v β ＊ The command voltage vector v ｕ ＊ , v ｖ ＊ , v ｗ ＊ The α, β / u, v, w conversion unit 216 converts the command voltage vector v ｕ ＊ , v ｖ ＊ , v ｗ ＊ is output to the duty generation unit 3.

[0046]

[0047] [Configuration of Ripple Suppressor and Phase Compensation Specifyer] Next, the configuration of the ripple suppressor 218 and the phase compensation specifyer 220 will be described with reference to Fig. 4. Fig. 4 is a block diagram showing the configuration of the ripple suppressor 218 and the phase compensation specifyer 220 shown in Fig. 3.

[0048] As shown in FIG. 4 , the ripple suppression unit 218 includes a magnetic flux estimator 222 , a magnetization characteristic specifier 224 , and a ripple compensation specifier 226 .

[0049] The magnetic flux estimation unit 222 estimates the rotating machine magnetic flux Ψ, which is the magnetic flux generated in the synchronous rotating machine 7. ｓ The magnetic flux estimation unit 222 estimates the estimated rotating machine magnetic flux Ψ ｓ The estimated magnetic flux Ψ α , Ψ β The magnetic flux estimation unit 222 outputs the detected current i output from the u, w / α, β conversion unit 202. α , i β and the command voltage v output by the γ, δ / α, β conversion unit 214 α ＊ , v β ＊ Based on and, the estimated magnetic flux Ψ α , Ψ β Specifically, the magnetic flux estimation unit 222 calculates the estimated magnetic flux Ψ using equations (4) and (5). α , Ψ β In equations (4) and (5), Ψ is calculated. α０ and Ψ β０ are the estimated magnetic flux Ψ α , Ψ β is the initial value of the estimated magnetic flux Ψ. In addition, R in the equations (4) and (5) is the winding resistance of the synchronous rotating machine 7. α , Ψ β indicate the magnetic flux of the α-axis component and the β-axis component, respectively.

[0050]

[0051]

[0052] The magnetization characteristic specifying unit 224 determines the first rotor position θ output by the position estimating unit 208. ｄｍ１ Based on the estimated magnetic flux Ψ α , Ψβ The qm-axis component of the magnetic flux Ψ ｑｍ and qm-axis current i ｑｍ and the first rotor position θ ｄｍ１ Harmonic component nθ ｄｍ 5 is a block diagram showing the configuration of the magnetization characteristic specifying unit 224 shown in FIG.

[0053] As shown in FIG. 5 , the magnetization characteristic specifying unit 224 includes an α, β / qm transform unit 228 , an α, β / qm transform unit 230 , a harmonic component specifying unit 232 , a Fourier transform unit 234 , and a magnetic energy specifying unit 236 .

[0054] The α, β / qm conversion unit 228 converts the first rotor position θ output by the position estimation unit 208 into ｄｍ１ The estimated magnetic flux Ψ output by the magnetic flux estimation unit 222 is based on α , Ψ β The qm-axis magnetic flux Ψ ｑｍ Specifically, the α, β / qm converter 228 converts the estimated magnetic flux Ψ into α , Ψ β The qm-axis magnetic flux Ψ ｑｍ Convert to.

[0055]

[0056] The α, β / qm conversion unit 230 converts the first rotor position θ output by the position estimation unit 208 into ｄｍ１ Based on this, the u, w / α, β conversion unit 202 outputs the detected current i α , i β The qm-axis current i ｑｍ Specifically, the α, β / qm converter 230 converts the detected current i α , i β The qm-axis current i ｑｍ Convert to.

[0057]

[0058] The harmonic component identifying unit 232 is configured to identify the first rotor position θ output by the position estimating unit 208. ｄｍ１ By multiplying by the order n, the harmonic component nθ ｄｍ Ask for.

[0059] The Fourier transform unit 234 converts the harmonic component nθ output from the harmonic component identifying unit 232 into ｄｍ The qm-axis magnetic flux Ψ output by the α, β / qm conversion unit 228 is based on ｑｍ The magnetic flux Ψ ｑｍｃｎ and magnetic flux Ψ ｑｍｓｎ FIG. 6 is a block diagram showing the configuration of the Fourier transform unit 234 shown in FIG.

[0060] As shown in FIG. 6, the Fourier transform section 234 includes an amplifier 240 , a multiplier 242 , a low-pass filter 244 , a multiplier 246 , and a low-pass filter 248 .

[0061] The amplifier 240 detects the qm-axis magnetic flux Ψ ｑｍ is amplified by two times.

[0062] The multiplier 242 outputs the amplified qm-axis magnetic flux Ψ ｑｍ cos nθ ｄｍ Multiply by.

[0063] The low pass filter 244 amplifies the signal by a factor of 2 and outputs a signal having a cosine θ ｄｍ The qm-axis magnetic flux Ψ multiplied by ｑｍ From the above, the magnetic flux Ψ ｑｍｃｎ Output.

[0064] The multiplier 246 outputs the amplified qm-axis magnetic flux Ψ ｑｍ sinnθ ｄｍ Multiply by.

[0065] The low pass filter 248 amplifies the signal by a factor of 2 and converts it into a sinnθ signal. ｄｍ The qm-axis magnetic flux Ψ multiplied by ｑｍ From the above, the magnetic flux Ψ ｑｍｓｎ Output.

[0066] Returning to the explanation of FIG. 5, the magnetic energy specifying unit 236 converts the qm-axis current i ｑｍ and the magnetic flux Ψ output by the Fourier transform unit 234 ｑｍｃｎ and magnetic flux Ψ ｑｍｓｎ Based on this, the magnetic energy W' ｑｍｃｎ and magnetic energy W' ｑｍｓｎ Specifically, the magnetic energy identifying unit 236 uses equations (8) and (9) to identify the magnetic energy W′ｑｍｃｎ and magnetic energy W' ｑｍｓｎ Ask for.

[0067]

[0068]

[0069] Furthermore, the magnetic energy specifying unit 236 specifies the specified magnetic energy W' ｑｍｃｎ and magnetic energy W' ｑｍｓｎ 7 is created using the magnetic energy table 238 shown in Fig. 7. Fig. 7 is a diagram showing an example of the magnetic energy table 238 created by the magnetic energy specifying unit 236 shown in Fig. 5. Fig. 7(a) shows the magnetic energy table 238 created by the magnetic energy specifying unit 236 shown in Fig. 5. ｑｍ The magnetic energy W' corresponding to the value of ｑｍｃｎ 7(b) is a table showing the values ​​of the qm-axis current i ｑｍ The magnetic energy W' corresponding to the value of ｑｍｓｎ 1 is a table showing the values ​​of

[0070] Returning to the explanation of FIG. 4, the ripple compensation specifying unit 226 calculates the qm-axis current i ｑｍ and harmonic component nθ ｄｍ and magnetic energy W' ｑｍｃｎ and magnetic energy W' ｑｍｓｎ Based on this, the ripple compensation current i ripple and supplies the ripple compensation current i ripple FIG. 8 is a block diagram showing the configuration of the ripple compensation specifying unit 226 shown in FIG.

[0071] As shown in FIG. 8, the ripple compensation specifying unit 226 includes a magnetic energy table 238 , a ripple specifying unit 250 , and a ripple compensation current specifying unit 252 .

[0072] The ripple compensation specifying unit 226 calculates the qm-axis current i ｑｍ , and the magnetic energy table 238 (see FIG. 7) created by the magnetization characteristic specifying unit 224, the magnetic energy W′ ｑｍｃｎ and magnetic energy W' ｑｍｓｎSpecifically, the ripple compensation specifying unit 226 determines the qm-axis current i output by the magnetization characteristic specifying unit 224 from the magnetic energy table 238. ｑｍ The magnetic energy W' corresponding to the value of ｑｍｃｎ The ripple compensation specifying unit 226 also selects and outputs the value of the qm-axis current i output by the magnetization characteristic specifying unit 224 from the magnetic energy table 238. ｑｍ The magnetic energy W' corresponding to the value of ｑｍｓｎ Select and output the value of

[0073] The ripple specifying unit 250 determines the harmonic component nθ ｄｍ and magnetic energy W' ｑｍｃｎ and magnetic energy W' ｑｍｓｎ Based on this, the ripple compensation torque T ripple Identify the ripple compensation torque T ripple is the torque required to reduce the torque ripple occurring in the synchronous rotating machine 7.

[0074] The ripple compensation current specifying unit 252 determines the ripple compensation torque T ripple Based on this, the ripple compensation current i ripple Identify.

[0075] Returning to the explanation of FIG. 4, the phase compensation specifying unit 220 includes a reactive power component specifying unit 254 and an axis error phase compensation specifying unit 256 .

[0076] The reactive power component specifying unit 254 specifies a component (reactive power component ε) that becomes reactive power out of the electric power sent from the PWM inverter 4 to the synchronous rotating machine 7. The reactive power component specifying unit 254 includes a magnet flux specifying unit 258 and an inner product calculation unit 260.

[0077] The magnet magnetic flux determination unit 258 determines the detected current i output from the u, w / α, β conversion unit 202. α , i β and the estimated magnetic flux Ψ output by the magnetic flux estimation unit 222 α , Ψ β and qm-axis inductance L ｑｍ and the estimated magnet flux Ψ ａｍα , Ψ ａｍβSpecifically, the magnet magnetic flux identification unit 258 uses equations (10) and (11) to identify the estimated magnet magnetic flux Ψ ａｍα , Ψ ａｍβ The magnetic flux Ψ of the magnet obtained by the formula (10) and the formula (11) is calculated. ａｍα , Ψ ａｍβ is the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ It shows the error information between the estimated magnet magnetic flux Ψ and the α-β coordinate. ａｍα is the magnetic flux Ψ ａｍ The α-axis component of the estimated magnet magnetic flux Ψ ａｍβ is the magnetic flux Ψ ａｍ The β-axis component is shown.

[0078]

[0079]

[0080] The qm-axis inductance L shown in equation (10) ｑｍ and α-axis current i α and the qm-axis inductance L ｑｍ and β-axis current i β The product of is the armature reaction flux.

[0081] The inner product calculation unit 260 calculates the detected current i output from the u, w / α, β conversion unit 202. α , i β and the estimated magnet magnetic flux Ψ output by the magnet magnetic flux identification unit 258 ａｍα , Ψ ａｍβ Specifically, the inner product calculation unit 260 calculates the reactive power component ε using equation (12). As shown in equation (12), the reactive power component ε is calculated based on the estimated magnet magnetic flux Ψ ａｍα , Ψ ａｍβ and the detected current i α , i β The reactive power component ε is a value specified by the inner product value (first inner product value) of the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ It is a value related to the error information with ｎ is a predetermined coefficient.

[0082]

[0083] The axis error phase compensation specifying section 256 calculates the phase compensation amount ΔK based on the reactive power component ε calculated by the inner product calculating section 260. The axis error phase compensation specifying section 256 includes a differentiator 262 and a compensation amount calculating section 264.

[0084] The differentiator 262 calculates the target reactive power component ε ＊ and the reactive power component ε calculated by the inner product calculation unit 260. ＊ is 0.

[0085] The compensation amount calculation unit 264 calculates the phase compensation amount ΔK based on the difference calculated by the differentiator 262. Specifically, the compensation amount calculation unit 264 obtains the phase compensation amount ΔK using equation (13).

[0086]

[0087] In addition, K shown in formula (13) ｐ is the proportionality coefficient, K ｉ are integral coefficients, which are preset values ​​at the time of design, and s is the Laplace operator.

[0088] The position of the magnet magnetic flux that the phase compensation specifying unit 220 uses as a reference for calculating the phase compensation amount ΔK is the second rotor position θ ｄｍ２ is.

[0089] [Configuration of Position Estimation Unit] FIG. 9 is a block diagram showing the configuration of the position estimation unit 208 shown in FIG.

[0090] As shown in FIG. 9, the position estimation unit 208 includes an axis error identification unit 266 , a PLL unit 268 , an estimated position identification unit 270 , and a low-pass filter 272 .

[0091] The axis error identifying unit 266 detects the detected current i output from the α, β / γ, δ conversion unit 204. γ , i δ and the command voltage v output by the voltage command specifying unit 212 γ ＊ , v δ ＊and the phase compensation amount ΔK output by the compensation amount calculation unit 264. Specifically, the axis error determination unit 266 obtains the axis error Δθ using equation (14) or equation (15). Note that the axis error Δθ is calculated based on the relationship between the dm-axis and the first rotor position θ ｄｍ１ This is the error between the γ axis, which is the estimated axis for control based on the

[0092]

[0093]

[0094] R is the winding resistance of the synchronous rotating machine 7. Also, the dm-axis inductance L ｄｍ is the inductance of the dm-axis component of the inductance L of the synchronous rotating machine 7. The actual motor rotation speed ω is the rotation speed in the dm-qm coordinates, and the estimated motor rotation speed ω e is the rotation speed of the γ-δ coordinate.

[0095] The conventional formula for calculating the axis error Δθ is tan －１ However, in equation (14), the phase compensation amount ΔK is added to calculate the axis error Δθ. Specifically, in equation (14), the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ The phase compensation amount ΔK based on the error information with the qm-axis inductance L ｑｍ , and calculates the position error Δθ. As a result, the estimated position specifying unit 270 (described later) calculates the second rotor position θ ｄｍ２ The first rotor position θ ｄｍ１ Estimate.

[0096] Furthermore, in equation (15), the phase compensation amount ΔK is added as a deviation to calculate the axis error Δθ. This phase compensation amount ΔK indicates the deviation between the first rotor position and the second rotor position. As a result, the estimated position specifying unit 270 (described later) calculates the second rotor position θ ｄｍ２ The first rotor position θ ｄｍ１ Estimate.

[0097] A PLL (Phase Locked Loop) unit 268 uses proportional-integral control to determine the estimated motor rotation speed ω so that the axis error Δθ output by the axis error determination unit 266 approaches zero.e Calculate.

[0098] The estimated position specifying unit 270 uses the estimated motor rotation speed ω output by the PLL unit 268 e Based on the first rotor position θ ｄｍ１ The estimated position specifying unit 270 estimates the estimated first rotor position θ ｄｍ１ to the α, β / γ, δ converter 204, the γ, δ / α, β converter 214, and the ripple suppressor 218 (the harmonic component identifier 232 of the magnetization characteristic identifier 224).

[0099] The low-pass filter 272 receives the estimated motor rotation speed ω output from the PLL unit 268. e The estimated motor rotation speed after correction, in which high frequency components have been removed, is the rotation speed ω ｄｍ１ The low-pass filter 272 outputs the corrected estimated motor rotation speed as the estimated motor rotation speed ω e to the axis error identifying unit 266.

[0100] [Operation of Rotating Machine Control Device] Next, the operation of the rotating machine control device 1 according to the first embodiment when estimating the rotor position or the rotation speed of the rotor of the synchronous rotating machine 7 (i.e., position sensorless control) and the ripple compensation current i ripple The operation when specifying the torque ripple (i.e., torque ripple reduction control) will be described with reference to Fig. 10 and Fig. 11. Fig. 10 is a flowchart showing the operation when the rotating machine control device 1 according to the first embodiment performs position sensorless control. Fig. 11 is a flowchart showing the operation when the rotating machine control device 1 according to the first embodiment performs torque ripple reduction control. Fig. 11 is a flowchart showing the detailed operation of S4.

[0101] First, the flowchart shown in FIG. 10 will be described.

[0102] The PWM inverter 4 generates a voltage vector v ｕ , v ｖ , v ｗ A three-phase AC voltage according to the above is supplied to the synchronous rotating machine 7 (step S1).

[0103] The rotating machine control device 1 determines whether to end the position sensorless control (step S2). For example, when the synchronous rotating machine 7 stops, the rotating machine control device 1 determines to end the position sensorless control.

[0104] When it is determined that the position sensorless control is to be ended (Yes in step S2), the rotating machine control device 1 ends the operation.

[0105] When it is determined that the position sensorless control is not to be ended (No in step S2), the first current sensor 5 and the second current sensor 6 detect the detected current i ｕ , i ｗ is detected (step S3).

[0106] The voltage command specifying unit 212 detects the current i flowing through the synchronous rotating machine 7. γ , i δ is decomposed into a qm-axis component and a dm-axis component, and a voltage (command voltage vector v ｕ ＊ , v ｖ ＊ , v ｗ ＊ ) is output to the duty generating section 3 (step S4).

[0107] The duty generation unit 3 generates a command voltage vector v ｕ ＊ , v ｖ ＊ , v ｗ ＊ From Duty D ｕ , D ｖ , D ｗ is generated and output to the PWM inverter 4 (step S5).

[0108] The PWM inverter 4 has a duty ratio of D ｕ , D ｖ , D ｗ From the voltage vector v ｕ , v ｖ , v ｗ is generated (step S6).

[0109] After step S6, the process returns to step S1, and the above steps are repeated.

[0110] This allows the rotating machine control device 1 to estimate the rotor position or rotational speed without using a position sensor, and to apply voltage to the synchronous rotating machine 7 to generate the target torque (i.e., position sensorless control).

[0111] Next, the flowchart shown in FIG. 11 will be described.

[0112] The magnetic flux estimation unit 222 estimates the rotating machine magnetic flux Ψ ｓ (Step S11). Specifically, the magnetic flux estimation unit 222 estimates the estimated rotating machine magnetic flux Ψ using the above-mentioned equations (4) and (5). ｓ The estimated magnetic flux Ψ α , Ψ β Ask for.

[0113] The magnetization characteristic specifying unit 224 determines the first rotor position θ ｄｍ１ Therefore, the qm-axis magnetic flux Ψ ｑｍ , qm-axis current i ｑｍ , harmonic component nθ ｄｍ , and magnetic energy W' ｑｍｃｎ , W' ｑｍｓｎ (Step S12). Specifically, the magnetization characteristic specifying unit 224 uses the above-mentioned formulas (6) and (7) to specify the qm-axis magnetic flux Ψ ｑｍ , qm-axis current i ｑｍ Furthermore, the magnetization characteristic specifying unit 224 determines the first rotor position θ ｄｍ１ By multiplying by the order n, the harmonic component nθ ｄｍ Furthermore, the magnetization characteristic specifying unit 224 determines the qm-axis magnetic flux Ψ ｑｍ and harmonic component nθ ｄｍ Based on this, the magnetic energy W' ｑｍｃｎ and magnetic energy W' ｑｍｓｎ Identify.

[0114] The ripple compensation specifying unit 226 determines the ripple compensation current i ripple and supplies the ripple compensation current i ripple is output (step S13).

[0115] The phase compensation specifying unit 220 calculates the phase compensation amount ΔK (step S14). Specifically, the phase compensation specifying unit 220 calculates the phase compensation amount ΔK using the above-mentioned formulas (10), (11), (12), and (13).

[0116] The position estimation unit 208 estimates the first rotor position θ ｄｍ１ and controls the synchronous rotating machine 7 (i.e., controls the synchronous rotating machine 7 to generate a target torque by applying a voltage to the synchronous rotating machine 7) so that the γ-axis and the δ-axis follow the dm-axis and the qm-axis, respectively (step S15). Furthermore, in step S15, the position estimator 208 estimates the first rotor position θ using the phase compensation amount ΔK. ｄｍ１ and the second rotor position θ ｄｍ２ Specifically, the position estimation unit 208 determines the position error Δθ using equation (14) or equation (15), and calculates the first rotor position θ from the position error Δθ. ｄｍ１ and rotation speed ω ｄｍ１ Output.

[0117] The voltage command specifying unit 212 determines the ripple compensation current i output by the ripple compensation specifying unit 226. ripple (specifically, the ripple compensation current i ripple The qm-axis current i ｑｍ ) and a voltage (command voltage vector v ｕ ＊ , v ｖ ＊ , v ｗ ＊ ) to the duty generation unit 3 (step S16). In step S16, the voltage command specification unit 212 outputs the command current i γ ＊ , i δ ＊ , and the detected current i output by the α, β / γ, δ conversion unit 204 γ , i δ Also, the command voltage vector v ｕ ＊ , v ｖ ＊ , v ｗ ＊ may be output.

[0118] Note that step S14 may be executed before step S12.

[0119] As a result, the rotating machine control device 1 determines the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ Since the difference between the two can be made close to zero, the ripple compensation current i ripple and the phase of the current for controlling the synchronous rotating machine 7 can be made smaller.

[0120] [Effects] As described above, the rotating machine control device 1 according to this embodiment is a rotating machine control device 1 that applies voltage to the synchronous rotating machine 7 to perform control to generate a target torque, and when the direction of a current vector when achieving maximum torque control is defined as the qm-axis and an axis perpendicular to the qm-axis is defined as the dm-axis, the rotating machine control device 1 includes a voltage command specifying unit 212 that decomposes a detected current i flowing through the synchronous rotating machine 7 into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis, and outputs a voltage for controlling the synchronous rotating machine 7; ｄｍ１ is estimated, and the first rotor position θ ｄｍ１ a position estimator 208 that controls the synchronous rotating machine 7 so that the γ-axis and δ-axis, which are estimated axes for control based on the above equation, follow the dm-axis and qm-axis, respectively; and a rotating machine magnetic flux Ψ, which is a magnetic flux generated in the synchronous rotating machine 7. ｓ and a magnetic flux estimation unit 222 that estimates the first rotor position θ ｄｍ１ Therefore, the estimated magnetic flux Ψ α , Ψ β The qm-axis component of the magnetic flux Ψ ｑｍ and qm-axis current i ｑｍ and the first rotor position θ ｄｍ１ Harmonic component nθ ｄｍ and the qm-axis magnetic flux Ψ ｑｍ and harmonic component nθ ｄｍ The magnetic energy W' of the synchronous rotating machine 7 is ｑｍｃｎ , W' ｑｍｓｎ a magnetization characteristic specifying unit 224 for specifying the qm-axis current i ｑｍ and harmonic component nθ ｄｍand a ripple compensation current i that compensates for torque ripples that occur in the torque of the synchronous rotating machine 7 based on the magnetic energy. ripple and outputting the result to the voltage command specifying unit 212; and ｄｍ１ and the second rotor position θ ｄｍ２ The voltage command specifying unit 212 calculates the phase compensation amount ΔK based on the error information between the ripple compensation current i output by the ripple compensation specifying unit 226 and the phase compensation amount ΔK. ripple The qm-axis current i ｑｍ and outputs a voltage for controlling the synchronous rotating machine 7. The position estimator 208 further estimates the first rotor position θ using the phase compensation amount ΔK. ｄｍ１ and the second rotor position θ ｄｍ２ Control is performed to bring the difference closer to zero.

[0121] Such a rotating machine control device 1 is ｄｍ１ and the second rotor position θ ｄｍ２ The difference between the two is controlled to approach zero, so the ripple compensation current i ripple and the phase of the current for controlling the synchronous rotating machine 7. As a result, the rotating machine control device 1 can achieve a high effect of reducing torque ripple when performing position sensorless control using current control.

[0122] In the rotating machine control device 1 according to this embodiment, the phase compensation specifying unit 220 determines the estimated magnet magnetic flux Ψ ａｍα , Ψ ａｍβ and the detected current i α , i β The phase compensation amount ΔK is calculated using the reactive power component ε specified by the first inner product value, which is the inner product value of

[0123] Such a rotating machine control device 1 estimates the magnetic flux generated in the synchronous rotating machine 7 and calculates the phase compensation amount ΔK without using a position sensor, so that torque ripple reduction control can be performed with a simpler configuration than when a position sensor is used.

[0124] In the rotating machine control device 1 according to this embodiment, the position estimation unit 208 calculates the phase compensation amount ΔK based on (1) the qm-axis inductance L ｄｍ or (2) the first rotor position θ ｄｍ１ By using the above as the amount of change in the γ-axis and the δ-axis, the synchronous rotating machine 7 is controlled so that the γ-axis and the δ-axis follow the dm-axis and the qm-axis, respectively.

[0125] Such a rotating machine control device 1 uses a first rotor position θ ｄｍ１ The second rotor position θ is used to compensate for the torque ripple. ｄｍ２ As a result, the rotating machine control device 1 controls the ripple compensation current i ripple and the phase of the current for controlling the synchronous rotating machine 7 can be made smaller.

[0126] In the rotating machine control device 1 according to this embodiment, the phase compensation specifying unit 220 determines the target value ε of the first inner product value. ＊ is set to zero, and the reactive power component ε and the target value ε ＊ The phase compensation amount ΔK is calculated based on the difference between the

[0127] Such a rotating machine control device 1 obtains a phase compensation amount ΔK that is insensitive to voltage errors, and therefore, a ripple compensation current i that is robust to voltage errors is obtained. ripple can be obtained.

[0128] In addition, in the rotating machine control device 1 according to this embodiment, the voltage command specifying unit 212 determines the current of the γ-axis component (γ-axis command current i γ ＊ ) becomes zero.

[0129] Such a rotating machine control device 1 is insensitive to voltage errors when the first rotor position θ ｄｍ１ Therefore, the ripple compensation current i ripple can be obtained.

[0130] Furthermore, the rotating machine control method according to this embodiment is a rotating machine control method performed by the rotating machine control device 1 that applies voltage to the synchronous rotating machine 7 to generate a target torque, and includes a voltage command specifying step (S4 in FIG. 10) of decomposing a detected current i flowing through the synchronous rotating machine 7 into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis when the direction of a current vector when maximum torque control is realized is defined as the qm-axis and an axis perpendicular to the qm-axis is defined as the dm-axis, and outputting a voltage for controlling the synchronous rotating machine 7; ｄｍ１ is estimated, and the first rotor position θ ｄｍ１ a position estimation step (S15 in FIG. 11) for controlling the synchronous rotating machine 7 so that the γ-axis and δ-axis, which are estimated axes for control based on the above, follow the dm-axis and qm-axis, respectively; ｓ a magnetic flux estimation step (S11 in FIG. 11) for estimating the first rotor position θ ｄｍ１ Therefore, the estimated magnetic flux Ψ α , Ψ β The qm-axis component of the magnetic flux Ψ ｑｍ and qm-axis current i ｑｍ and the first rotor position θ ｄｍ１ Harmonic component nθ ｄｍ and the qm-axis magnetic flux Ψ ｑｍ and harmonic component nθ ｄｍ The magnetic energy W' of the synchronous rotating machine 7 is ｑｍｃｎ , W' ｑｍｓｎ a magnetization characteristic specifying step (S12 in FIG. 11) for specifying the qm-axis current i ｑｍ and harmonic component nθ ｄｍ and a ripple compensation current i that compensates for torque ripples that occur in the torque of the synchronous rotating machine 7 based on the magnetic energy. ripple a ripple compensation specifying step (S13 in FIG. 11) for specifying and outputting the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ The phase compensation specifying step (S14 in FIG. 11) calculates a phase compensation amount ΔK based on error information between the ripple compensation current i ripple The qm-axis current i ｑｍand outputs a voltage for controlling the synchronous rotating machine 7 (S16 in FIG. 11). In the position estimation step, the first rotor position θ is further estimated using the phase compensation amount ΔK. ｄｍ１ and the second rotor position θ ｄｍ２ Control is performed to bring the difference closer to zero.

[0131] Such a rotating machine control method is ｄｍ１ and the second rotor position θ ｄｍ２ The difference between the two is controlled to approach zero, so the ripple compensation current i ripple It is possible to reduce the phase difference between the phase of the current for controlling the synchronous rotating machine 7 and the phase of the current for controlling the synchronous rotating machine 7. As a result, the rotating machine control method can achieve a high effect of reducing torque ripple when position sensorless control using current control is performed.

[0132] (Embodiment 2) Hereinafter, a rotating machine control device according to embodiment 2 will be described, which is configured by partially modifying the rotating machine control device 1 according to embodiment 1. Of the rotating machine control device according to embodiment 2, components similar to those of the rotating machine control device 1 have already been described, so they are assigned the same reference numerals and their description will be omitted, and the description will focus on differences from the rotating machine control device 1. Note that the rotating machine control device according to embodiment 2 has a first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ and the first rotor position θ ｄｍ１ is used as a true value to perform position sensorless control and torque ripple reduction control.

[0133] [Configuration of Voltage Generator] FIG. 12 is a block diagram showing the configuration of a voltage generator 2a included in the rotating machine control device according to the second embodiment.

[0134] 12, the voltage generator 2a according to the second embodiment differs from the voltage generator 2 according to the first embodiment in that the control unit 206 is replaced by a control unit 206a, the position estimator 208 is replaced by a position estimator 208a, the ripple suppressor 218 is replaced by a ripple suppressor 218a, and the phase compensation specifyor 220 is replaced by a phase compensation specifyor 220a. The voltage generator 2a also differs in that the phase compensation specifyor 220a outputs the phase compensation amount ΔK to the ripple suppressor 218a, but does not output the phase compensation amount ΔK to the position estimator 208a, and the position estimator 208a does not output the first rotor position θ to the ripple suppressor 218a. ｄｍ１ . . . The voltage generating unit 2 differs from the voltage generating unit 1 in that it does not output a voltage.

[0135] [Configuration of Ripple Suppressor and Phase Compensation Specifyer] FIG. 13 is a block diagram showing the configuration of the ripple suppressor 218a and phase compensation specifyer 220a shown in FIG.

[0136] As shown in FIG. 13, the control unit 206a according to the second embodiment differs from the control unit 206 according to the first embodiment in that the phase compensation specifying unit 220a outputs the phase compensation amount ΔK to the ripple suppression unit 218a.

[0137] The ripple suppression unit 218a according to the second embodiment differs from the ripple suppression unit 218 according to the first embodiment in that the magnetization characteristic specifying unit 224 is replaced with a magnetization characteristic specifying unit 224a. Specifically, the magnetization characteristic specifying unit 224a according to the second embodiment calculates the estimated magnet magnetic flux Ψ ａｍα , Ψ ａｍβ and obtains the phase compensation amount ΔK calculated by the compensation amount calculator 264a.

[0138] Furthermore, the phase compensation specifying unit 220a according to the second embodiment differs from the phase compensation specifying unit 220 according to the first embodiment in that the reactive power component specifying unit 254 is replaced by a reactive power component specifying unit 254a, and the axis error phase compensation specifying unit 256 is replaced by an axis error phase compensation specifying unit 256a. Specifically, the reactive power component specifying unit 254a according to the second embodiment differs from the reactive power component specifying unit 254 according to the first embodiment in that the magnet flux specifying unit 258 is excluded from the configuration, and the dot product calculation unit 260 is replaced by a dot product calculation unit 260a. Note that the dot product calculation unit 260a calculates the estimated magnet magnetic flux Ψ specified by the magnetization characteristic specifying unit 224a. ａｍα , Ψ ａｍβ The compensation amount calculator 264a included in the axis error phase compensation specifying unit 256a according to the second embodiment differs from the compensation amount calculator 264 according to the first embodiment in that the compensation amount calculator 264a outputs the calculated phase compensation amount ΔK to the magnetization characteristic specifying unit 224a.

[0139] Next, the detailed configuration of the magnetization characteristic specifying unit 224a will be described with reference to Fig. 14. Fig. 14 is a block diagram showing the configuration of the magnetization characteristic specifying unit 224a shown in Fig. 13.

[0140] As shown in FIG. 14 , the magnetization characteristic specifying unit 224 a according to the second embodiment differs from the magnetization characteristic specifying unit 224 according to the first embodiment in that it further includes a magnet flux specifying unit 274 and a magnet phase specifying unit 276.

[0141] The magnet flux determination unit 274 determines the detected current i output from the u, w / α, β conversion unit 202. α , i β and the estimated magnetic flux Ψ output by the magnetic flux estimation unit 222 α , Ψ β and qm-axis inductance L ｑｍ and the estimated magnet flux Ψ ａｍα , Ψ ａｍβ Specifically, the magnet magnetic flux identifying unit 274 uses the above-mentioned formulas (16) and (17) to identify the estimated magnet magnetic flux Ψ ａｍα , Ψ ａｍβ The estimated magnet magnetic flux Ψ ａｍα , Ψ ａｍβ The rotating machine magnetic flux Ψｓ This is the magnetic flux estimated from the above, and is the magnetic flux generated in the permanent magnet of the synchronous rotating machine 7.

[0142]

[0143]

[0144] The magnet phase identification unit 276 is configured to identify the estimated magnet magnetic flux Ψ output by the magnet magnetic flux identification unit 274. ａｍα , Ψ ａｍβ Based on this, the second rotor position θ ｄｍ２ Specifically, the magnet phase identification unit 276 uses the equation (18) to identify the second rotor position θ ｄｍ２ Ask for.

[0145]

[0146] In equation (18), the phase compensation amount ΔK is calculated based on the qm-axis inductance L ｑｍ Estimated magnet magnetic flux Ψ added to ａｍα , Ψ ａｍβ Using the second rotor position θ ｄｍ２ Specifically, in equation (18), the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ The phase compensation amount ΔK based on the error information with the qm-axis inductance L ｑｍ to obtain the second rotor position θ ｄｍ２ As a result, the magnet phase identification unit 276 estimates the first rotor position θ ｄｍ１ The second rotor position θ ｄｍ２ Estimate.

[0147] The α, β / qm conversion unit 228 converts the second rotor position θ output by the magnet phase identification unit 276 into ｄｍ２ The estimated magnetic flux Ψ output by the magnetic flux estimation unit 222 is based on α , Ψ β The qm-axis magnetic flux Ψ ｑｍ Specifically, the α, β / qm conversion unit 228 converts the estimated magnetic flux Ψ into α , Ψ β The qm-axis magnetic flux Ψ ｑｍ Convert to.

[0148]

[0149] The α, β / qm conversion unit 230 converts the second rotor position θ output by the magnet phase identification unit 276 into ｄｍ２ Based on this, the u, w / α, β conversion unit 202 outputs the detected current i α , i β The qm-axis current i ｑｍ Specifically, the α, β / qm converter 230 converts the detected current i α , i β The qm-axis current i ｑｍ Convert to.

[0150]

[0151] The harmonic component identifying unit 232 is configured to identify the second rotor position θ output by the magnet phase identifying unit 276. ｄｍ２ By multiplying by the order n, the harmonic component nθ ｄｍ Ask for.

[0152] As explained above, the qm-axis magnetic flux Ψ ｑｍ , qm-axis current i ｑｍ , harmonic component nθ ｄｍ , magnetic energy W' ｑｍｃｎ , and magnetic energy W' ｑｍｓｎ is the second rotor position θ including the correction term ｄｍ２ The ripple compensation specification unit 226 shown in FIG. 13 is calculated using the second rotor position θ ｄｍ２ The qm-axis current i calculated using ｑｍ , harmonic component nθ ｄｍ , magnetic energy W' ｑｍｃｎ , and magnetic energy W' ｑｍｓｎ Using the above, the ripple compensation current i ripple has been identified.

[0153] [Configuration of Position Estimation Unit] FIG. 15 is a block diagram showing the configuration of the position estimation unit 208a shown in FIG.

[0154] As shown in FIG. 15, the position estimation unit 208a according to the second embodiment differs from the position estimation unit 208 according to the first embodiment in that the axis error identification unit 266 is replaced with an axis error identification unit 266a.

[0155] The axis error identifying unit 266a detects the detected current i output from the α, β / γ, δ conversion unit 204. γ , i δ and the command voltage v output by the voltage command specifying unit 212 γ ＊ , v δ ＊ Specifically, the axis error identifying unit 266a obtains the axis error Δθ using equation (21).

[0156]

[0157] As shown in equation (21), the phase compensation amount ΔK is not used in the position error Δθ identified by the position error identifying unit 266a. Therefore, the position estimating unit 208a estimates the first rotor position θ, which is regarded as a true value by the rotating machine control device according to the second embodiment, as ｄｍ１ Estimate.

[0158] As described above, the rotating machine control device according to the second embodiment is ｄｍ１ is the true value, and the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ Since the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ This allows the rotating machine control device to reduce the torque ripple by controlling the ripple compensation current i ripple and the phase of the current for controlling the synchronous rotating machine 7 can be made smaller.

[0159] [Operation of Rotating Machine Control Device] Next, the operation of the rotating machine control device according to the second embodiment when it performs torque ripple reduction control will be described with reference to Fig. 16. Fig. 16 is a flowchart showing the operation of the rotating machine control device according to the second embodiment when it performs torque ripple reduction control. Note that the operation of the rotating machine control device according to the second embodiment when it performs position sensorless control is the same as the operation shown in Fig. 10, and therefore description thereof will be omitted. Fig. 16 is also a flowchart showing detailed operation of step S4 shown in Fig. 10.

[0160] Steps S21, S25, and S27 shown in FIG. 16 are the same as steps S11, S13, and S16 shown in FIG. 11, respectively, and therefore will not be described.

[0161] The magnetization characteristic specifying unit 224a determines the second rotor position θ ｄｍ２ Therefore, the qm-axis magnetic flux Ψ ｑｍ , and the qm-axis current i ｑｍ Specifically, the magnetization characteristic specifying unit 224a uses the above-mentioned equations (18) and (20) to determine the qm-axis current i ｑｍ and using the above equations (18) and (19), the qm-axis magnetic flux Ψ ｑｍ Ask for.

[0162] The phase compensation specifying unit 220a calculates the phase compensation amount ΔK (step S23). Specifically, the phase compensation specifying unit 220a calculates the phase compensation amount ΔK using the above-mentioned equations (12) and (13).

[0163] The magnetization characteristic specifying unit 224a determines the harmonic component nθ ｄｍ , and magnetic energy W' ｑｍｃｎ , W' ｑｍｓｎ Furthermore, in step S24, the magnetization characteristic specifying unit 224a determines the first rotor position θ using the phase compensation amount ΔK. ｄｍ１ and the second rotor position θ ｄｍ２ Specifically, the magnetization characteristic specifying unit 224a performs control to make the difference between the harmonic component nθ ｄｍ and use the above equations (8) and (9) to calculate the magnetic energy W' ｑｍｃｎ , and magnetic energy W' ｑｍｓｎ Ask for.

[0164] The position estimation unit 208a estimates the first rotor position and calculates the first rotor position θ ｄｍ１ and controls the synchronous rotating machine 7 (that is, controls the synchronous rotating machine 7 to generate a target torque by applying a voltage to the synchronous rotating machine 7) so that the γ-axis and the δ-axis follow the dm-axis and the qm-axis, respectively (step S26). Specifically, the position estimating unit 208a identifies the position error Δθ using equation (21), and calculates the first rotor position θ from the position error Δθ.ｄｍ１ and rotation speed ω ｄｍ１ Output.

[0165] As described above, the rotating machine control device according to the second embodiment is ｄｍ１ is the true value, and the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ Since the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ This allows the rotating machine control device to reduce the torque ripple by controlling the ripple compensation current i ripple and the phase of the current for controlling the synchronous rotating machine 7 can be made smaller.

[0166] [Effects] As described above, the rotating machine control device according to this embodiment is a rotating machine control device that applies voltage to the synchronous rotating machine 7 to perform control to generate a target torque, and when the direction of a current vector when achieving maximum torque control is defined as the qm-axis and an axis perpendicular to the qm-axis is defined as the dm-axis, the rotating machine control device includes a voltage command specifying unit 212 that decomposes a detected current i flowing through the synchronous rotating machine 7 into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis, and outputs a voltage for controlling the synchronous rotating machine 7; ｄｍ１ is estimated, and the first rotor position θ ｄｍ１ a position estimator 208a that controls the synchronous rotating machine 7 so that the γ-axis and δ-axis, which are estimated axes for control based on the above equation, follow the dm-axis and qm-axis, respectively; and a rotating machine magnetic flux Ψ, which is a magnetic flux generated in the synchronous rotating machine 7. ｓ a magnetic flux estimation unit 222 that estimates the estimated rotating machine magnetic flux Ψ ｓ The estimated magnetic flux Ψ α , Ψ β and the qm-axis current i, which is the qm-axis component of the detected current i. ｑｍ and the qm-axis inductance L, which is the qm-axis component of the inductance L of the synchronous rotating machine 7. ｑｍ The second rotor position θ estimated based on ｄｍ２ Therefore, the estimated magnetic flux Ψ α , Ψ β The qm-axis component of the magnetic flux Ψ ｑｍand qm-axis current i ｑｍ and the second rotor position θ ｄｍ２ Harmonic component nθ ｄｍ and the qm-axis magnetic flux Ψ ｑｍ and harmonic component nθ ｄｍ The magnetic energy W' of the synchronous rotating machine 7 is ｑｍｃｎ , W' ｑｍｓｎ and a magnetization characteristic specifying unit 224a that specifies the qm-axis current i ｑｍ and harmonic component nθ ｄｍ and a ripple compensation current i that compensates for torque ripples that occur in the torque of the synchronous rotating machine 7 based on the magnetic energy. ripple and outputting the result to the voltage command specifying unit 212; and ｄｍ１ and the second rotor position θ ｄｍ２ The voltage command specifying unit 212 calculates the phase compensation amount ΔK based on the error information between the ripple compensation current i output by the ripple compensation specifying unit 226 and the phase compensation amount ΔK. ripple The qm-axis current i ｑｍ and outputs a voltage for controlling the synchronous rotating machine 7. The ripple suppression unit 218 further uses the phase compensation amount ΔK to suppress the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ Control is performed to bring the difference closer to zero.

[0167] Such a rotating machine control device is ｄｍ１ and the second rotor position θ ｄｍ２ The difference between the two is controlled to approach zero, so the ripple compensation current i ripple It is possible to reduce the phase difference between the phase of the current for controlling the synchronous rotating machine 7 and the phase of the current for controlling the synchronous rotating machine 7. As a result, the rotating machine control device can achieve a high effect of reducing torque ripple when performing position sensorless control using current control.

[0168] In the rotating machine control device according to this embodiment, the phase compensation specifying unit 220 determines the rotating machine magnetic flux Ψ ｓ The estimated magnet magnetic flux Ψ is the magnetic flux generated in the permanent magnet of the synchronous rotating machine 7 estimated from ａｍα , Ψａｍβ and the detected current i α , i β The phase compensation amount ΔK is calculated using the reactive power component ε specified by the second inner product value, which is the inner product value of

[0169] Such a rotating machine control device estimates the magnetic flux generated in the synchronous rotating machine 7 and calculates the phase compensation amount ΔK without using a position sensor, so it can perform torque ripple reduction control with a simpler configuration than when a position sensor is used.

[0170] In the rotating machine control device according to this embodiment, of the position estimator 208a and the ripple suppressor 218a, the magnetization characteristic specifying unit 224a included in the ripple suppressor 218a performs control to bring the difference closer to zero.

[0171] Such a rotating machine control device is ｄｍ１ is the true value, and the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ Therefore, the ripple compensation current i, which is a compensation current for reducing torque ripple, is estimated. ripple and the phase of the current for controlling the synchronous rotating machine 7 can be made smaller.

[0172] In the rotating machine control device according to this embodiment, the magnetization characteristic specifying unit 224a included in the ripple suppressing unit 218a calculates the phase compensation amount ΔK by dividing the qm-axis inductance L ｑｍ By using this as the amount of change in the magnetic energy W' of the synchronous rotating machine 7, ｑｍｃｎ , W' ｑｍｓｎ Identify.

[0173] Such a rotating machine control device calculates the magnetic energy W' taking into account the phase compensation amount ΔK. ｑｍｃｎ , W' ｑｍｓｎ Therefore, a ripple compensation current i with a small phase shift is set to the current for controlling the synchronous rotating machine 7. ripple can be identified.

[0174] Furthermore, the rotating machine control method according to this embodiment is a rotating machine control method performed by a rotating machine control device that applies voltage to the synchronous rotating machine 7 to generate a target torque, and includes a voltage command specifying step (S4 in FIG. 10) of decomposing a detected current i flowing through the synchronous rotating machine 7 into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis when the direction of a current vector when maximum torque control is realized is defined as the qm-axis and an axis perpendicular to the qm-axis is defined as the dm-axis, and outputting a voltage for controlling the synchronous rotating machine 7; ｄｍ１ is estimated, and the first rotor position θ ｄｍ１ a position estimation step (S26 in FIG. 16) for controlling the synchronous rotating machine 7 so that the γ-axis and δ-axis, which are estimated axes for control based on the above, follow the dm-axis and qm-axis, respectively; ｓ a magnetic flux estimation step (S21 in FIG. 16) for estimating the estimated rotating machine magnetic flux Ψ ｓ The estimated magnetic flux Ψ α , Ψ β and the qm-axis current i, which is the qm-axis component of the detected current i. ｑｍ and the qm-axis inductance L, which is the qm-axis component of the inductance L of the synchronous rotating machine 7. ｑｍ The second rotor position θ estimated based on ｄｍ２ Therefore, the estimated magnetic flux Ψ α , Ψ β The qm-axis component of the magnetic flux Ψ ｑｍ and qm-axis current i ｑｍ and the second rotor position θ ｄｍ２ Harmonic component nθ ｄｍ and the qm-axis magnetic flux Ψ ｑｍ and harmonic component nθ ｄｍ The magnetic energy W' of the synchronous rotating machine 7 is ｑｍｃｎ , W' ｑｍｓｎ and a magnetization characteristic specifying step (S22 and S24 in FIG. 16) for specifying the qm-axis current i ｑｍ and harmonic component nθ ｄｍ and a ripple compensation current i that compensates for torque ripples that occur in the torque of the synchronous rotating machine 7 based on the magnetic energy. rippleand outputting the first rotor position θ. ｄｍ１ and the second rotor position θ ｄｍ２ The phase compensation specifying step (S23 in FIG. 16) calculates the phase compensation amount ΔK based on the error information between the ripple compensation current i ripple The qm-axis current i ｑｍ and outputs a voltage for controlling the synchronous rotating machine 7 (S27 in FIG. 16). In the ripple suppression step, the first rotor position θ is further controlled by using the phase compensation amount ΔK. ｄｍ１ and the second rotor position θ ｄｍ２ Control is performed to bring the difference closer to zero.

[0175] Such a rotating machine control method is ｄｍ１ and the second rotor position θ ｄｍ２ The difference between the two is controlled to approach zero, so the ripple compensation current i ripple It is possible to reduce the phase difference between the phase of the current for controlling the synchronous rotating machine 7 and the phase of the current for controlling the synchronous rotating machine 7. As a result, the rotating machine control method can achieve a high effect of reducing torque ripple when position sensorless control using current control is performed.

[0176] (Embodiment 3) Hereinafter, a rotating machine control device according to embodiment 3 will be described, which is configured by partially modifying the rotating machine control device according to embodiment 2. Of the rotating machine control device according to embodiment 3, components similar to those of the rotating machine control device according to embodiment 2 will be assigned the same reference numerals as those already described and will not be described again, and differences from the rotating machine control device according to embodiment 2 will be mainly described. Note that the rotating machine control device according to embodiment 3 has a second rotor position θ ｄｍ２ This embodiment differs from the rotating machine control device according to the second embodiment in that position sensorless control and torque ripple reduction control are performed using the true value of

[0177] [Configuration of Voltage Generator] FIG. 17 is a block diagram showing the configuration of a voltage generator 2b included in the rotating machine control device according to the third embodiment.

[0178] 17 , the voltage generator 2b according to the third embodiment differs from the voltage generator 2a according to the second embodiment in that the control unit 206a is replaced by a control unit 206b, the position estimator 208a is replaced by a position estimator 208, the ripple suppressor 218a is replaced by a ripple suppressor 218b, and the phase compensation specifyr 220a is replaced by a phase compensation specifyr 220b. Specifically, the voltage generator 2b differs from the voltage generator 2a in that the phase compensation specifyr 220b does not output the phase compensation amount ΔK to the ripple suppressor 218b and outputs the phase compensation amount ΔK to the position estimator 208. The position estimator 208 included in the voltage generator 2b is the same as the position estimator 208 included in the voltage generator 2 according to the first embodiment. That is, the position estimation unit 208 included in the voltage generation unit 2b calculates the second rotor position θ by using the above-mentioned equation (14) or equation (15) to obtain the axis error Δθ. ｄｍ２ The first rotor position θ ｄｍ１ Estimate.

[0179] [Configuration of Ripple Suppressor and Phase Compensation Specifyer] FIG. 18 is a block diagram showing the configuration of the ripple suppressor 218b and the phase compensation specifyer 220b shown in FIG.

[0180] As shown in FIG. 18, the control unit 206b according to the third embodiment differs from the control unit 206a according to the second embodiment in that the phase compensation specifying unit 220b outputs the phase compensation amount ΔK to the position estimating unit 208.

[0181] The ripple suppression unit 218b according to the third embodiment differs from the ripple suppression unit 218a according to the second embodiment in that the magnetization characteristic specifying unit 224b replaces the magnetization characteristic specifying unit 224a. Specifically, the magnetization characteristic specifying unit 224b according to the third embodiment differs from the magnetization characteristic specifying unit 224a according to the second embodiment in that the magnetization characteristic specifying unit 224b does not acquire the phase compensation amount ΔK calculated by the compensation amount calculation unit 264.

[0182] The phase compensation specifying section 220b according to the third embodiment also differs from the phase compensation specifying section 220a according to the second embodiment in that the axis error phase compensation specifying section 256a is replaced with the axis error phase compensation specifying section 256. Specifically, the compensation amount calculating section 264 according to the third embodiment differs from the compensation amount calculating section 264a according to the second embodiment in that the compensation amount calculating section 264 outputs the calculated phase compensation amount ΔK to the position estimating section 208.

[0183] Next, the detailed configuration of the magnetization characteristic specifying unit 224b will be described with reference to Fig. 19. Fig. 19 is a block diagram showing the configuration of the magnetization characteristic specifying unit 224b shown in Fig. 18.

[0184] The magnetization characteristic specifying unit 224b according to the third embodiment differs from the magnetization characteristic specifying unit 224a according to the second embodiment in that the magnet phase specifying unit 276 is replaced with a magnet phase specifying unit 276a. Specifically, the magnet phase specifying unit 276a specifies the second rotor position θ without using the phase compensation amount ΔK. ｄｍ２ This differs from the magnet phase identification unit 276 in that it estimates the

[0185] The magnet phase identification unit 276a calculates the second rotor position θ using equation (22). ｄｍ２ Ask for.

[0186]

[0187] As shown in equation (22), the second rotor position θ identified by the magnet phase identification unit 276a ｄｍ２ Therefore, the magnet phase identification unit 276a does not use the phase compensation amount ΔK in the second rotor position θ , which is the true value of the rotating machine control device according to the third embodiment. ｄｍ２ Estimate.

[0188] [Operation of Rotating Machine Control Device] Next, the operation of the rotating machine control device according to the third embodiment when it performs torque ripple reduction control will be described with reference to Fig. 20. Fig. 20 is a flowchart showing the operation of the rotating machine control device according to the third embodiment when it performs torque ripple reduction control. Note that the operation of the rotating machine control device according to the third embodiment when it performs position sensorless control is the same as the operation shown in Fig. 10, and therefore description thereof will be omitted. Fig. 20 is also a flowchart showing detailed operation of step S4 shown in Fig. 10.

[0189] Steps S31, S33, S35, and S36 shown in FIG. 20 are the same as steps S11, S13, S15, and S16 shown in FIG. 11, respectively, and therefore will not be described.

[0190] The magnetization characteristic specifying unit 224b determines the second rotor position θ ｄｍ２ Therefore, the qm-axis magnetic flux Ψ ｑｍ , qm-axis current i ｑｍ , harmonic component nθ ｄｍ , and magnetic energy W' ｑｍｃｎ , W' ｑｍｓｎ Specifically, the magnetization characteristic specifying unit 224b uses the above-mentioned equations (20) and (22) to determine the qm-axis current i ｑｍ The magnetization characteristic specifying unit 224b calculates the qm-axis magnetic flux Ψ using the above-mentioned equations (19) and (22). ｑｍ The magnetization characteristic specifying unit 224b calculates the harmonic component nθ using the above-mentioned equation (22). ｄｍ The magnetization characteristic specifying unit 224b calculates the magnetic energy W' using the above-mentioned formulas (8) and (9). ｑｍｃｎ and magnetic energy W' ｑｍｓｎ Ask for.

[0191] The ripple compensation specifying unit 226 determines the ripple compensation current i ripple and supplies the ripple compensation current i ripple is output (step S33).

[0192] The phase compensation specifying unit 220b calculates the phase compensation amount ΔK (step S34). Specifically, the phase compensation specifying unit 220b calculates the phase compensation amount ΔK using the above-mentioned equations (12) and (13).

[0193] As described above, the rotating machine control device according to the third embodiment is ｄｍ２ is the true value, and the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ Since the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ This allows the rotating machine control device to reduce the torque ripple by controlling the ripple compensation current i ripple and the phase of the current for controlling the synchronous rotating machine 7 can be made smaller.

[0194] [Effects] As described above, the rotating machine control device according to this embodiment is a rotating machine control device that applies voltage to the synchronous rotating machine 7 to perform control to generate a target torque, and when the direction of a current vector when achieving maximum torque control is defined as the qm-axis and an axis perpendicular to the qm-axis is defined as the dm-axis, the rotating machine control device includes a voltage command specifying unit 212 that decomposes a detected current i flowing through the synchronous rotating machine 7 into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis, and outputs a voltage for controlling the synchronous rotating machine 7; ｄｍ１ is estimated, and the first rotor position θ ｄｍ１ a position estimator 208 that controls the synchronous rotating machine 7 so that the γ-axis and δ-axis, which are estimated axes for control based on the above equation, follow the dm-axis and qm-axis, respectively; ｓ a magnetic flux estimation unit 222 that estimates the estimated rotating machine magnetic flux Ψ ｓ The estimated magnetic flux Ψ α , Ψ β and the qm-axis current i, which is the qm-axis component of the detected current i. ｑｍ and the qm-axis inductance L, which is the qm-axis component of the inductance L of the synchronous rotating machine 7. ｑｍ The second rotor position θ estimated based on ｄｍ２ Therefore, the estimated magnetic flux Ψα , Ψ β The qm-axis component of the magnetic flux Ψ ｑｍ and qm-axis current i ｑｍ and the second rotor position θ ｄｍ２ Harmonic component nθ ｄｍ and the qm-axis magnetic flux Ψ ｑｍ and harmonic component nθ ｄｍ The magnetic energy W' of the synchronous rotating machine 7 is ｑｍｃｎ , W' ｑｍｓｎ and a magnetization characteristic specifying unit 224b that specifies the qm-axis current i ｑｍ and harmonic component nθ ｄｍ and a ripple compensation current i that compensates for torque ripples that occur in the torque of the synchronous rotating machine 7 based on the magnetic energy. ripple and outputting the result to the voltage command specifying unit 212; and ｄｍ１ and the second rotor position θ ｄｍ２ The voltage command specifying unit 212 is provided with a phase compensation specifying unit 220b that calculates a phase compensation amount ΔK based on error information between the ripple compensation current i output by the ripple compensation specifying unit 226 and the voltage command ripple The qm-axis current i ｑｍ and outputs a voltage for controlling the synchronous rotating machine 7. The position estimator 208 further estimates the first rotor position θ using the phase compensation amount ΔK. ｄｍ１ and the second rotor position θ ｄｍ２ Control is performed to bring the difference closer to zero.

[0195] Such a rotating machine control device is ｄｍ１ and the second rotor position θ ｄｍ２ The difference between the two is controlled to approach zero, so the ripple compensation current i ripple It is possible to reduce the phase difference between the phase of the current for controlling the synchronous rotating machine 7 and the phase of the current for controlling the synchronous rotating machine 7. As a result, the rotating machine control device can achieve a high effect of reducing torque ripple when performing position sensorless control using current control.

[0196] Furthermore, the rotating machine control method according to this embodiment is a rotating machine control method performed by a rotating machine control device that applies voltage to the synchronous rotating machine 7 to generate a target torque, and includes a voltage command specifying step (S4 in FIG. 10) of decomposing a detected current i flowing through the synchronous rotating machine 7 into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis when the direction of a current vector when maximum torque control is realized is defined as the qm-axis and an axis perpendicular to the qm-axis is defined as the dm-axis, and outputting a voltage for controlling the synchronous rotating machine 7; ｄｍ１ is estimated, and the first rotor position θ ｄｍ１ a position estimation step (S35 in FIG. 20) for controlling the synchronous rotating machine 7 so that the γ-axis and δ-axis, which are estimated axes for control based on the above, follow the dm-axis and qm-axis, respectively; ｓ a magnetic flux estimation step (S31 in FIG. 20) for estimating the rotating machine magnetic flux Ψ ｓ The estimated magnetic flux Ψ α , Ψ β and the qm-axis current i, which is the qm-axis component of the detected current i. ｑｍ and the qm-axis inductance L, which is the qm-axis component of the inductance L of the synchronous rotating machine 7. ｑｍ The second rotor position θ estimated based on ｄｍ２ Therefore, the estimated magnetic flux Ψ α , Ψ β The qm-axis component of the magnetic flux Ψ ｑｍ and qm-axis current i ｑｍ and the second rotor position θ ｄｍ２ Harmonic component nθ ｄｍ and the qm-axis magnetic flux Ψ ｑｍ and harmonic component nθ ｄｍ The magnetic energy W' of the synchronous rotating machine 7 is ｑｍｃｎ , W' ｑｍｓｎ a magnetization characteristic specifying step (S32 in FIG. 20) for specifying the qm-axis current i ｑｍ and harmonic component nθ ｄｍ and a ripple compensation current i that compensates for torque ripples that occur in the torque of the synchronous rotating machine 7 based on the magnetic energy. ripplea ripple compensation specifying step (S33 in FIG. 20) for specifying and outputting the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ The phase compensation specifying step (S34 in FIG. 20) calculates a phase compensation amount ΔK based on error information between the ripple compensation current i ripple The qm-axis current i ｑｍ and outputs a voltage for controlling the synchronous rotating machine 7 (S36 in FIG. 20). In the position estimation step, the first rotor position θ is further estimated using the phase compensation amount ΔK. ｄｍ１ and the second rotor position θ ｄｍ２ Control is performed to bring the difference closer to zero.

[0197] Such a rotating machine control method is ｄｍ１ and the second rotor position θ ｄｍ２ The difference between the two is controlled to approach zero, so the ripple compensation current i ripple It is possible to reduce the phase difference between the phase of the current for controlling the synchronous rotating machine 7 and the phase of the current for controlling the synchronous rotating machine 7. As a result, the rotating machine control method can achieve a high effect of reducing torque ripple when position sensorless control using current control is performed.

[0198] (Embodiment 4) Hereinafter, a rotating machine control device according to embodiment 4 will be described, which is configured by partially modifying the rotating machine control device according to embodiment 2. Of the rotating machine control device according to embodiment 4, components similar to those of the rotating machine control device according to embodiment 2 have already been described, so they are assigned the same reference numerals and their description will be omitted, and the description will focus on differences from the rotating machine control device according to embodiment 2. Note that the rotating machine control device according to embodiment 4 is configured such that the first rotor position θ estimated by the position estimation unit 208a is ｄｍ１ The rotating machine control device according to the fourth embodiment differs from the rotating machine control device according to the second embodiment in that it calculates the phase compensation amount ΔK using the first rotor position θ ｄｍ１ is used as a true value to perform position sensorless control and torque ripple reduction control.

[0199] [Configuration of Voltage Generator] FIG. 21 is a block diagram showing the configuration of a voltage generator 2c included in the rotating machine control device according to the fourth embodiment.

[0200] 21, the voltage generator 2c according to the fourth embodiment differs from the voltage generator 2a according to the second embodiment in that the control unit 206a is replaced by a control unit 206c, and the phase compensation specifying unit 220a is replaced by a phase compensation specifying unit 220c. Specifically, the phase compensation specifying unit 220c of the voltage generator 2c uses the first rotor position θ estimated by the position estimator 208a. ｄｍ１ The control unit 206c differs from the phase compensation specifying unit 220a of the voltage generating unit 2a in that the control unit 206c calculates the phase compensation amount ΔK using the following equation: The ripple suppression unit 218a included in the control unit 206c is the same as the ripple suppression unit 218a included in the control unit 206a.

[0201] [Configuration of Ripple Suppressor and Phase Compensation Specifyer] FIG. 22 is a block diagram showing the configuration of the ripple suppressor 218a and the phase compensation specifyer 220c shown in FIG.

[0202] As shown in FIG. 22, the control unit 206c according to the fourth embodiment controls the second rotor position θ calculated by the ripple suppression unit 218a. ｄｍ２ to the phase compensation specifying unit 220c. Fig. 23 is a block diagram showing the configuration of the magnetization characteristic specifying unit 224a shown in Fig. 22.

[0203] As shown in FIG. 23, the magnet phase identification unit 276 estimates the second rotor position θ ｄｍ２ to the rotor position error component identifying unit 278 (phase compensation identifying unit 220c).

[0204] Returning to the explanation in FIG. 22 , the phase compensation identifying unit 220 c according to the fourth embodiment differs from the phase compensation identifying unit 220 a according to the second embodiment in that the reactive power component identifying unit 254 a is replaced with a rotor position error component identifying unit 278.

[0205] The rotor position error component identifying unit 278 identifies the first rotor position θ estimated by the position estimating unit 208a. ｄｍ１and the second rotor position θ estimated by the magnet phase identification unit 276 ｄｍ２ Specifically, the rotor position error component identifying unit 278 obtains the reactive power component ε using equation (23).

[0206]

[0207] As shown in equation (23), the rotor position error component identifying unit 278 determines the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ The phase compensation specifying unit 220c calculates the phase compensation amount ΔK using the reactive power component ε, and outputs the phase compensation amount ΔK to the ripple suppressing unit 218a. That is, the rotating machine control device according to the fourth embodiment calculates the difference between the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ Since the phase compensation amount ΔK can be calculated using the difference (i.e., position error) between the torque ripple and the actual torque, the torque ripple can be reduced more reliably.

[0208] [Effect] As described above, in the rotary machine control device according to this embodiment, the error information is ｄｍ１ and the second rotor position θ ｄｍ２ This is the difference between.

[0209] Such a rotating machine control device is ｄｍ１ and the second rotor position θ ｄｍ２ Since the phase compensation amount ΔK can be calculated using the difference (i.e., position error) between the torque ripple and the actual torque, the torque ripple can be reduced more reliably.

[0210] (Embodiment 5) Hereinafter, a rotating machine control device according to embodiment 5 will be described, which is configured by partially modifying the rotating machine control device according to embodiment 4. Of the rotating machine control device according to embodiment 5, components similar to those of the rotating machine control device according to embodiment 4 have already been described, so they are assigned the same reference numerals and their description will be omitted, and the description will focus on differences from the rotating machine control device according to embodiment 4. Note that the rotating machine control device according to embodiment 5 has a second rotor position θ ｄｍ２This embodiment differs from the rotating machine control device according to the fourth embodiment in that position sensorless control and torque ripple reduction control are performed using the true value of

[0211] [Configuration of Voltage Generator] FIG. 24 is a block diagram showing the configuration of a voltage generator 2d included in the rotating machine control device according to the fifth embodiment.

[0212] 24 , the voltage generator 2d according to the fifth embodiment differs from the voltage generator 2c according to the fourth embodiment in that the control unit 206c is replaced by a control unit 206d, the position estimator 208a is replaced by a position estimator 208, the ripple suppressor 218a is replaced by a ripple suppressor 218b, and the phase compensation specifyor 220c is replaced by a phase compensation specifyor 220d. The voltage generator 2d also differs from the voltage generator 2c in that the phase compensation specifyor 220d does not output the phase compensation amount ΔK to the ripple suppressor 218b and that the phase compensation specifyor 220d outputs the phase compensation amount ΔK to the position estimator 208. The position estimator 208 included in the voltage generator 2d is the same as the position estimator 208 included in the voltage generator 2 according to the first embodiment, and the ripple suppressor 218b is the same as the ripple suppressor 218b included in the voltage generator 2b according to the third embodiment.

[0213] [Configuration of Ripple Suppressor and Phase Compensation Specifyer] FIG. 25 is a block diagram showing the configuration of the ripple suppressor 218b and the phase compensation specifyer 220d shown in FIG.

[0214] As shown in FIG. 25, the control unit 206d according to the fourth embodiment adjusts the second rotor position θ calculated by the ripple suppression unit 218b. ｄｍ２ to the phase compensation specifying unit 220d. Fig. 26 is a block diagram showing the configuration of the magnetization characteristic specifying unit 224b shown in Fig. 25.

[0215] As shown in FIG. 26, the magnet phase identification unit 276a estimates the second rotor position θ ｄｍ２ to the rotor position error component identifying unit 278 (phase compensation identifying unit 220d).

[0216] Returning to the explanation in FIG. 25 , the phase compensation specify unit 220d according to the fifth embodiment differs from the phase compensation specify unit 220c according to the fourth embodiment in that the axis error phase compensation specify unit 256a is replaced with an axis error phase compensation specify unit 256.

[0217] The axis error phase compensation specifying unit 256 calculates the phase compensation amount ΔK based on the reactive power component ε calculated by the rotor position error component specifying unit 278, and outputs the phase compensation amount ΔK to the position estimating unit 208. As a result, the position estimating unit 208 uses the phase compensation amount ΔK to estimate the second rotor position θ ｄｍ２ The first rotor position θ ｄｍ１ can be estimated.

[0218] [Effect] As described above, in the rotary machine control device according to this embodiment, the error information is ｄｍ１ and the second rotor position θ ｄｍ２ This is the difference between.

[0219] Such a rotating machine control device is ｄｍ１ and the second rotor position θ ｄｍ２ Since the phase compensation amount ΔK can be calculated using the difference (i.e., position error) between the torque ripple and the actual torque, the torque ripple can be reduced more reliably.

[0220] Sixth Embodiment Hereinafter, a rotating machine control device according to a sixth embodiment will be described, which is configured by partially modifying the rotating machine control device 1 according to the first embodiment. Of the rotating machine control device according to the sixth embodiment, components similar to those of the rotating machine control device 1 according to the first embodiment will be assigned the same reference numerals as those already described and will not be described again. The following description will focus on the differences from the rotating machine control device according to the sixth embodiment. Note that the rotating machine control device according to the sixth embodiment does not include a phase compensation specifying unit 220, and the position estimating unit 208 determines the first rotor position θ without using the phase compensation amount ΔK. ｄｍ１ The present embodiment differs from the rotating machine control device 1 according to the first embodiment in that the above-mentioned

[0221] [Configuration of Voltage Generator] Fig. 27 is a block diagram showing the configuration of a voltage generator 2e included in the rotating machine control device according to Embodiment 6. Fig. 28 is a block diagram showing the configuration of a ripple suppressor 218 shown in Fig. 27.

[0222] As shown in Figures 27 and 28, the control unit 206e of the voltage generating unit 2e according to embodiment 6 differs from the control unit 206 of the voltage generating unit 2 according to embodiment 1 in that it does not include a phase compensation specifying unit 220.

[0223] The rotating machine control device according to the sixth embodiment is configured to calculate the first rotor position θ estimated by the position estimation unit 208. ｄｍ１ However, the position estimation unit 208 does not use the phase compensation amount ΔK but calculates the first rotor position θ ｄｍ１ Specifically, the position estimator 208 determines the position error Δθ using equation (24), and calculates the first rotor position θ from the position error Δθ. ｄｍ１ Estimate.

[0224]

[0225] Such a rotating machine control device calculates the ripple compensation current i on the qm axis, which has a strong correlation with the torque ripple. ripple This allows the rotating machine control device to efficiently realize torque ripple reduction control by considering only the qm axis.

[0226] [Operation of Rotating Machine Control Device] Next, the operation of the rotating machine control device according to Embodiment 6 when it performs torque ripple reduction control will be described with reference to Fig. 29. Fig. 29 is a flowchart showing the operation of the rotating machine control device according to Embodiment 6 when it performs torque ripple reduction control. Note that the operation of the rotating machine control device according to Embodiment 6 when it performs position sensorless control is the same as the operation shown in Fig. 10, and therefore description thereof will be omitted. Also, Fig. 29 is a flowchart showing detailed operation of step S4 shown in Fig. 10.

[0227] Steps S41, S42, S43, and S45 shown in Fig. 29 are the same as steps S11, S12, S13, and S16 shown in Fig. 11, respectively, and therefore will not be described further. Note that the flowchart shown in Fig. 29 differs significantly from the flowchart shown in Fig. 11 in that step S14 (specifically, calculation of the phase compensation amount ΔK) is omitted.

[0228] The position estimation unit 208 estimates the first rotor position θ ｄｍ１ and controls the synchronous rotating machine 7 (i.e., controls the synchronous rotating machine 7 to generate a target torque by applying a voltage to the synchronous rotating machine 7) so that the γ-axis and the δ-axis follow the dm-axis and the qm-axis, respectively (step S44). Specifically, the position estimating unit 208 identifies the position error Δθ using equation (24), and calculates the first rotor position θ from the position error Δθ. ｄｍ１ and rotation speed ω ｄｍ１ Output.

[0229] [Effects] As described above, the rotating machine control device according to this embodiment is a rotating machine control device that applies voltage to the synchronous rotating machine 7 to perform control to generate a target torque, and when the direction of a current vector when achieving maximum torque control is defined as the qm-axis and an axis perpendicular to the qm-axis is defined as the dm-axis, the rotating machine control device includes a voltage command specifying unit 212 that decomposes a detected current i flowing through the synchronous rotating machine 7 into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis, and outputs a voltage for controlling the synchronous rotating machine 7; ｄｍ１ is estimated, and the first rotor position θ ｄｍ１ a position estimator 208 that controls the synchronous rotating machine 7 so that the γ-axis and δ-axis, which are estimated axes for control based on the above equation, follow the dm-axis and qm-axis, respectively; and a rotating machine magnetic flux Ψ, which is a magnetic flux generated in the synchronous rotating machine 7. ｓ and a magnetic flux estimation unit 222 that estimates the first rotor position θ ｄｍ１ Therefore, the estimated magnetic flux Ψ α , Ψ β The qm-axis component of the magnetic flux Ψ ｑｍ and qm-axis current i ｑｍ and the first rotor position θ ｄｍ１ Harmonic component nθ ｄｍand the qm-axis magnetic flux Ψ ｑｍ and harmonic component nθ ｄｍ The magnetic energy W' of the synchronous rotating machine 7 is ｑｍｃｎ , W' ｑｍｓｎ a magnetization characteristic specifying unit 224 for specifying the qm-axis current i ｑｍ and harmonic component nθ ｄｍ and a ripple compensation current i that compensates for torque ripples that occur in the torque of the synchronous rotating machine 7 based on the magnetic energy. ripple and a ripple compensation specifying unit 226 that specifies the ripple compensation current i ripple The qm-axis current i ｑｍ and outputs a voltage for controlling the synchronous rotating machine 7.

[0230] Such a rotating machine control device calculates the ripple compensation current i on the qm axis, which has a strong correlation with the torque ripple. ripple This allows the rotating machine control device to efficiently achieve torque ripple reduction control by considering only the qm-axis. Therefore, the rotating machine control device can obtain the effect of torque ripple reduction control when performing position sensorless control using current control.

[0231] In addition, in the rotating machine control device according to this embodiment, the voltage command specifying unit 212 determines the current of the γ-axis component (γ-axis command current i γ ＊ ) becomes zero.

[0232] Such a rotating machine control device is insensitive to voltage errors at the first rotor position θ ｄｍ１ Therefore, the ripple compensation current i ripple As a result, the rotating machine control device can achieve torque ripple reduction control without being affected by fluctuations in parameters for controlling the synchronous rotating machine 7.

[0233] Furthermore, the rotating machine control method according to this embodiment is a rotating machine control method performed by the rotating machine control device 1 that applies voltage to the synchronous rotating machine 7 to generate a target torque, and includes a voltage command specifying step (S4 in FIG. 10) of decomposing a detected current i flowing through the synchronous rotating machine 7 into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis when the direction of a current vector when maximum torque control is realized is defined as the qm-axis and an axis perpendicular to the qm-axis is defined as the dm-axis, and outputting a voltage for controlling the synchronous rotating machine 7; ｄｍ１ is estimated, and the first rotor position θ ｄｍ１ a position estimation step (S44 in FIG. 29) for controlling the synchronous rotating machine 7 so that the γ-axis and δ-axis, which are estimated axes for control based on the above, follow the dm-axis and qm-axis, respectively; ｓ a magnetic flux estimation step (S41 in FIG. 29) for estimating the first rotor position θ ｄｍ１ Therefore, the estimated magnetic flux Ψ α , Ψ β The qm-axis component of the magnetic flux Ψ ｑｍ and qm-axis current i ｑｍ and the first rotor position θ ｄｍ１ Harmonic component nθ ｄｍ and the qm-axis magnetic flux Ψ ｑｍ and harmonic component nθ ｄｍ The magnetic energy W' of the synchronous rotating machine 7 is ｑｍｃｎ , W' ｑｍｓｎ a magnetization characteristic specifying step (S42 in FIG. 29) for specifying the qm-axis current i ｑｍ and harmonic component nθ ｄｍ and a ripple compensation current i that compensates for torque ripples that occur in the torque of the synchronous rotating machine 7 based on the magnetic energy. ripple and outputting the ripple compensation current i ripple The qm-axis current i ｑｍ and outputs a voltage for controlling the synchronous rotating machine 7 (S45 in FIG. 29).

[0234] Such a rotating machine control method is based on the ripple compensation current i ripple This allows the rotating machine control device to efficiently achieve torque ripple reduction control by considering only the qm-axis. Therefore, the rotating machine control method can obtain the effect of torque ripple reduction control when position sensorless control using current control is performed.

[0235] (Seventh embodiment) Hereinafter, a rotating machine control device according to a seventh embodiment will be described, which is configured by partially modifying the rotating machine control device according to the second embodiment. Of the rotating machine control device according to the seventh embodiment, components similar to those of the rotating machine control device according to the second embodiment will be assigned the same reference numerals as those already described and will not be described again, and the description will focus on the differences from the rotating machine control device according to the seventh embodiment. Note that the rotating machine control device according to the seventh embodiment does not include a phase compensation specifying unit 220, and the ripple suppression unit 218a calculates the ripple compensation current i without using the phase compensation amount ΔK. ripple The present embodiment differs from the rotating machine control device according to the second embodiment in that the above is specified.

[0236] [Configuration of Voltage Generator] Fig. 30 is a block diagram showing the configuration of a voltage generator 2f included in the rotating machine control device according to Embodiment 7. Fig. 31 is a block diagram showing the configuration of a ripple suppressor 218a shown in Fig. 30.

[0237] As shown in Figures 30 and 31, the control unit 206f of the voltage generating unit 2f according to embodiment 7 differs from the control unit 206a of the voltage generating unit 2a according to embodiment 2 in that it does not include a phase compensation specifying unit 220a.

[0238] Next, the detailed configuration of the magnetization characteristic specifying unit 224a will be described with reference to Fig. 32. Fig. 32 is a block diagram showing the configuration of the magnetization characteristic specifying unit 224a shown in Fig. 31.

[0239] 32, the magnetization characteristic specifying unit 224a according to the seventh embodiment differs from the magnetization characteristic specifying unit 224a according to the second embodiment in that the magnet flux specifying unit 274 is replaced with a magnet flux specifying unit 274a. Specifically, the magnet flux specifying unit 274a calculates the estimated magnet flux Ψ without using the phase compensation amount ΔK. ａｍα , Ψ ａｍβ The magnet flux identifying unit 274a differs from the magnet flux identifying unit 274 in that it calculates the estimated magnet flux Ψ using the above-mentioned equations (10) and (11). ａｍα , Ψ ａｍβ Ask for.

[0240] The rotating machine control device according to the seventh embodiment is configured to estimate the magnetic flux Ψ α , Ψ β Estimated magnet magnetic flux Ψ calculated from ａｍα , Ψ ａｍβ However, this configuration differs from the rotating machine control device according to the second embodiment in that torque ripple reduction control is realized without using the phase compensation amount ΔK. This rotating machine control device uses the ripple compensation current i ripple This allows the rotating machine control device to efficiently realize torque ripple reduction control by considering only the qm axis.

[0241] [Operation of Rotating Machine Control Device] Next, the operation of the rotating machine control device according to Embodiment 7 when it performs torque ripple reduction control will be described with reference to Fig. 33. Fig. 33 is a flowchart showing the operation of the rotating machine control device according to Embodiment 7 when it performs torque ripple reduction control. Note that the operation of the rotating machine control device according to Embodiment 7 when it performs position sensorless control is the same as the operation shown in Fig. 10, and therefore description thereof will be omitted. Also, Fig. 33 is a flowchart showing detailed operation of step S4 shown in Fig. 10.

[0242] Steps S51, S52, S54, S55, and S56 shown in Fig. 33 are the same as steps S21, S22, S25, S26, and S27 shown in Fig. 16, respectively, and therefore will not be described further. The flowchart shown in Fig. 33 differs significantly from the flowchart shown in Fig. 16 in that step S23 (specifically, calculation of the phase compensation amount ΔK) is omitted.

[0243] The magnetization characteristic specifying unit 224a determines the harmonic component nθ ｄｍ , and magnetic energy W' ｑｍｃｎ , W' ｑｍｓｎ Furthermore, in step S53, the magnetization characteristic specifying unit 224a specifies the first rotor position θ without using the phase compensation amount ΔK. ｄｍ１ and the second rotor position θ ｄｍ２ Specifically, the magnetization characteristic specifying unit 224a performs control to make the difference between the harmonic component nθ ｄｍ and use the above equations (8) and (9) to calculate the magnetic energy W' ｑｍｃｎ , and magnetic energy W' ｑｍｓｎ Ask for.

[0244] [Effects] As described above, the rotating machine control device according to this embodiment is a rotating machine control device that applies voltage to the synchronous rotating machine 7 to perform control to generate a target torque, and when the direction of a current vector when achieving maximum torque control is defined as the qm-axis and an axis perpendicular to the qm-axis is defined as the dm-axis, the rotating machine control device includes a voltage command specifying unit 212 that decomposes a detected current i flowing through the synchronous rotating machine 7 into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis, and outputs a voltage for controlling the synchronous rotating machine 7; ｄｍ１ is estimated, and the first rotor position θ ｄｍ１ a position estimator 208a that controls the synchronous rotating machine 7 so that the γ-axis and δ-axis, which are estimated axes for control based on the above equation, follow the dm-axis and qm-axis, respectively; and a rotating machine magnetic flux Ψ, which is a magnetic flux generated in the synchronous rotating machine 7. ｓ a magnetic flux estimation unit 222 that estimates the estimated rotating machine magnetic flux Ψｓ The estimated magnetic flux Ψ α , Ψ β and the qm-axis current i, which is the qm-axis component of the detected current i. ｑｍ and the qm-axis inductance L, which is the qm-axis component of the inductance L of the synchronous rotating machine 7. ｑｍ The second rotor position θ estimated based on ｄｍ２ Therefore, the estimated magnetic flux Ψ α , Ψ β The qm-axis component of the magnetic flux Ψ ｑｍ and qm-axis current i ｑｍ and the second rotor position θ ｄｍ２ Harmonic component nθ ｄｍ and the qm-axis magnetic flux Ψ ｑｍ and harmonic component nθ ｄｍ The magnetic energy W' of the synchronous rotating machine 7 is ｑｍｃｎ , W' ｑｍｓｎ and a magnetization characteristic specifying unit 224a that specifies the qm-axis current i ｑｍ and harmonic component nθ ｄｍ and a ripple compensation current i that compensates for torque ripples that occur in the torque of the synchronous rotating machine 7 based on the magnetic energy. ripple and outputting the result to the voltage command specifying unit 212; and ｄｍ１ and the second rotor position θ ｄｍ２ The voltage command specifying unit 212 calculates the phase compensation amount ΔK based on the error information between the ripple compensation current i output by the ripple compensation specifying unit 226 and the phase compensation amount ΔK. ripple The qm-axis current i ｑｍ and outputs a voltage for controlling the synchronous rotating machine 7. The ripple suppression unit 218 further uses the phase compensation amount ΔK to suppress the first rotor position θ ｄｍ１ and the second rotor position θ ｄｍ２ Control is performed to bring the difference closer to zero.

[0245] Such a rotating machine control device calculates the ripple compensation current i on the qm axis, which has a strong correlation with the torque ripple. rippleThis allows the rotating machine control device to efficiently achieve torque ripple reduction control by considering only the qm-axis. Therefore, the rotating machine control device can obtain the effect of torque ripple reduction control when performing position sensorless control using current control.

[0246] In addition, in the rotating machine control device according to this embodiment, the voltage command specifying unit 212 determines the current of the γ-axis component (γ-axis command current i γ ＊ ) becomes zero.

[0247] Such a rotating machine control device is insensitive to voltage errors at the first rotor position θ ｄｍ１ Therefore, the ripple compensation current i ripple As a result, the rotating machine control device can achieve torque ripple reduction control without being affected by fluctuations in parameters for controlling the synchronous rotating machine 7.

[0248] Furthermore, the rotating machine control method according to this embodiment is a rotating machine control method performed by a rotating machine control device that applies voltage to the synchronous rotating machine 7 to generate a target torque, and includes a voltage command specifying step (S4 in FIG. 10) of decomposing a detected current i flowing through the synchronous rotating machine 7 into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis when the direction of a current vector when maximum torque control is realized is defined as the qm-axis and an axis perpendicular to the qm-axis is defined as the dm-axis, and outputting a voltage for controlling the synchronous rotating machine 7; ｄｍ１ is estimated, and the first rotor position θ ｄｍ１ a position estimation step (S55 in FIG. 33) for controlling the synchronous rotating machine 7 so that the γ-axis and δ-axis, which are estimated axes for control based on the above, follow the dm-axis and qm-axis, respectively; ｓ a magnetic flux estimation step (S51 in FIG. 33) for estimating the rotating machine magnetic flux Ψ ｓ The estimated magnetic flux Ψ α , Ψ β and the qm-axis current i, which is the qm-axis component of the detected current i.ｑｍ and the qm-axis inductance L, which is the qm-axis component of the inductance L of the synchronous rotating machine 7. ｑｍ The second rotor position θ estimated based on ｄｍ２ Therefore, the estimated magnetic flux Ψ α , Ψ β The qm-axis component of the magnetic flux Ψ ｑｍ and qm-axis current i ｑｍ and the second rotor position θ ｄｍ２ Harmonic component nθ ｄｍ and the qm-axis magnetic flux Ψ ｑｍ and harmonic component nθ ｄｍ The magnetic energy W' of the synchronous rotating machine 7 is ｑｍｃｎ , W' ｑｍｓｎ and a magnetization characteristic specifying step (S52 and S53 in FIG. 33) for specifying the qm-axis current i ｑｍ and harmonic component nθ ｄｍ and a ripple compensation current i that compensates for torque ripples that occur in the torque of the synchronous rotating machine 7 based on the magnetic energy. ripple and outputting the ripple compensation current i ripple The qm-axis current i ｑｍ and outputs a voltage for controlling the synchronous rotating machine 7 (S56 in FIG. 33).

[0249] Such a rotating machine control method is based on the ripple compensation current i ripple This allows the rotating machine control device to efficiently achieve torque ripple reduction control by considering only the qm-axis. Therefore, the rotating machine control method can obtain the effect of torque ripple reduction control when position sensorless control using current control is performed.

[0250] [Modifications] While the rotating machine suppression device and the like according to the present disclosure have been described above based on the above-described embodiment, the present disclosure is not limited to the above-described embodiment. As long as they do not deviate from the spirit of the present disclosure, various modifications conceivable by a person skilled in the art to the above-described embodiment and configurations constructed by combining components of different embodiments may also be included within the scope of one or more aspects.

[0251] In the above embodiments, each component may be configured with dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0252] In the above-described embodiments, some or all of the functions of the components may be realized by a processor such as a CPU executing a program.

[0253] Some or all of the components constituting each of the above devices may be configured as an IC card or a standalone module that can be attached to or detached from each device. The IC card or module is a computer system composed of a microprocessor, ROM, RAM, etc. The IC card or module may include a super multi-function LSI. The IC card or module achieves its functions when the microprocessor operates in accordance with a computer program. The IC card or module may be tamper-resistant.

[0254] [Additional Notes] The above description of the embodiments discloses the following techniques.

[0255] (Technology 1) A rotating machine control device that applies voltage to a synchronous rotating machine to perform control to generate a target torque, the rotating machine control device including: a voltage command specifying unit that, when a direction of a current vector when achieving maximum torque control is defined as a qm-axis and an axis perpendicular to the qm-axis is defined as a dm-axis, resolves a detected current flowing through the synchronous rotating machine into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis, and outputs a voltage for controlling the synchronous rotating machine; a position estimating unit that estimates a first rotor position that is a virtual rotor position of the synchronous rotating machine, and controls the synchronous rotating machine so that γ-axis and δ-axis, which are estimated axes for control based on the first rotor position, follow the dm-axis and the qm-axis, respectively; a magnetic flux estimating unit that estimates rotating machine magnetic flux that is magnetic flux generated in the synchronous rotating machine; and a voltage command specifying unit that calculates the first rotor position, the estimated magnetic flux that is the estimated rotating machine magnetic flux, a qm-axis current that is the qm-axis component of the detected current, and a voltage command specifying unit that calculates the first rotor position, the estimated magnetic flux that is the estimated rotating machine magnetic flux, and a qm-axis current that is the qm-axis component of the detected current. a magnetization characteristic specifying unit that specifies a qm-axis magnetic flux, the qm-axis current, and a harmonic component of the first rotor position or the second rotor position, which is the qm-axis component of the estimated magnetic flux, using one of the second rotor positions estimated based on a qm-axis inductance that is the qm-axis component of an inductance of the synchronous machine, and specifies magnetic energy of the synchronous machine, based on the qm-axis magnetic flux and the harmonic component; and a ripple compensation specifying unit that specifies a ripple compensation current that compensates for torque ripple generated in the torque of the synchronous machine, based on the qm-axis current, the harmonic component, and the magnetic energy, and outputs the specified ripple compensation current to the voltage command specifying unit, wherein the voltage command specifying unit superimposes the ripple compensation current output by the ripple compensation specifying unit on the qm-axis current, and outputs a voltage for controlling the synchronous machine.

[0256] (Technology 2) The rotating machine control device according to Technology 1, further comprising a phase compensation specifying unit that calculates a phase compensation amount based on error information between the first rotor position and the second rotor position, and at least one of the position estimating unit and the ripple suppressing unit further performs control to bring the difference between the first rotor position and the second rotor position closer to zero using the phase compensation amount.

[0257] (Technology 3) The rotating machine control device according to Technology 2, wherein the phase compensation specifying unit calculates the phase compensation amount using a reactive power component specified by a first dot product value which is a dot product value of an estimated magnet magnetic flux and the detected current, or a second dot product value which is a dot product value of an estimated magnet magnetic flux which is a magnetic flux generated in a permanent magnet of the synchronous rotating machine estimated from the rotating machine magnetic flux, and the detected current.

[0258] (Technology 4) The rotating machine control device according to Technology 2, wherein the error information is a difference between the first rotor position and the second rotor position.

[0259] (Technology 5) The rotating machine control device according to any one of Technologies 2 to 4, wherein the magnetization characteristic specifying unit of the ripple suppression unit, of the position estimation unit and the ripple suppression unit, performs control to bring the difference closer to zero.

[0260] (Technology 6) The rotating machine control device according to any one of Technologies 2 to 4, wherein the position estimation unit controls the synchronous rotating machine so that the γ-axis and the δ-axis follow the dm-axis and the qm-axis, respectively, by using the phase compensation amount as (1) the amount of change in the qm-axis inductance, or (2) the amount of change in the first rotor position.

[0261] (Technology 7) A rotating machine control device according to any one of Technologies 2 to 4, wherein the magnetization characteristic specifying unit of the ripple suppression unit specifies the magnetic energy of the synchronous rotating machine by using the phase compensation amount as a change amount of the qm-axis inductance.

[0262] (Technology 8) The rotating machine control device according to Technology 3, wherein the phase compensation specifying unit sets a target value of the first dot product value or the second dot product value to zero, and calculates the phase compensation amount based on a difference between the reactive power component and the target value.

[0263] (Technology 9) The rotating machine control device according to any one of Techniques 1 to 8, wherein the voltage command specifying unit outputs a voltage for controlling the synchronous rotating machine so that the current of the γ-axis component becomes zero.

[0264] (Technology 10) A rotating machine control method performed by a rotating machine control device that applies voltage to a synchronous rotating machine to generate a target torque, the method including: a voltage command specifying step of decomposing a detected current flowing through the synchronous rotating machine into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis when a current vector direction when maximum torque control is realized is defined as a qm-axis and an axis perpendicular to the qm-axis is defined as a dm-axis, and outputting a voltage for controlling the synchronous rotating machine; a position estimating step of estimating a first rotor position that is a virtual rotor position of the synchronous rotating machine, and controlling the synchronous rotating machine so that γ-axis and δ-axis that are estimated axes for control based on the first rotor position follow the dm-axis and qm-axis, respectively; a magnetic flux estimating step of estimating rotating machine magnetic flux that is magnetic flux generated in the synchronous rotating machine; and a voltage command specifying step of determining a voltage for controlling the synchronous rotating machine based on the first rotor position and the qm-axis component of the detected current. a magnetization characteristic specifying step of specifying a qm-axis magnetic flux, which is the qm-axis component of the estimated magnetic flux, the qm-axis current, and a harmonic component of the first rotor position or the second rotor position, using either one of a second rotor position estimated based on an m-axis current and a qm-axis inductance, which is the qm-axis component of an inductance of the synchronous machine, and specifying magnetic energy of the synchronous machine based on the qm-axis magnetic flux and the harmonic component; and a ripple compensation specifying step of specifying and outputting a ripple compensation current that compensates for torque ripple generated in the torque of the synchronous machine, based on the qm-axis current, the harmonic component, and the magnetic energy,

[0265] A rotating machine control device according to the present disclosure is useful, for example, as a device that performs control to apply a voltage to a synchronous rotating machine to generate a target torque.

[0266] 1 Rotating machine control device 2, 2a, 2b, 2c, 2d, 2e, 2f Voltage generation unit 202 u, w / α, β conversion unit 204 α, β / γ, δ conversion unit 206, 206a, 206b, 206c, 206d, 206e, 206f Control unit 208, 208a Position estimation unit 210 Current command identification unit 212 Voltage command identification unit 214 γ, δ / α, β conversion unit 216 α, β / u, v, w conversion unit 218, 218a, 218b Ripple suppression unit 220, 220a, 220b, 220c, 220d Phase compensation identification unit 222 Magnetic flux estimation unit 224, 224a, 224b Magnetization characteristic identification unit 226 Ripple compensation specific part 228, 230 α, β / qm transform unit 232 Harmonic component identification unit 234 Fourier transform unit 236 Magnetic energy identification unit 238 Magnetic energy table 240 Amplifier 242, 246 Multiplier 244, 248, 272 Low-pass filter 250 Ripple identification unit 252 Ripple compensation current identification unit 254, 254a Reactive power component identification unit 256, 256a Axis error phase compensation identification unit 258, 274, 274a Magnet magnetic flux identification unit 260, 260a Inner product calculation unit 262 Differential unit 264, 264a Compensation amount calculation unit 266, 266a Axis error identification unit 268 PLL unit 270 Estimated position identification unit 276, 276a Magnet phase identification unit 278 Rotor position error component identification unit 3 Duty generation unit 4 PWM inverter 5 First current sensor 6 Second current sensor 7 Synchronous rotating machine

Claims

1. A rotating machine control device that applies voltage to a synchronous rotating machine to perform control to generate a target torque, comprising: a voltage command specifying unit that, when the direction of a current vector when achieving maximum torque control is defined as a qm-axis and an axis perpendicular to the qm-axis is defined as a dm-axis, resolves a detected current flowing through the synchronous rotating machine into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis, and outputs a voltage for controlling the synchronous rotating machine; a position estimating unit that estimates a first rotor position, which is a virtual rotor position of the synchronous rotating machine, and controls the synchronous rotating machine so that the γ-axis and δ-axis, which are estimated axes for control based on the first rotor position, follow the dm-axis and qm-axis, respectively; and a magnetic flux estimating unit that estimates rotating machine magnetic flux, which is a magnetic flux generated in the synchronous rotating machine. a magnetization characteristic specifying unit that specifies a qm-axis magnetic flux that is the qm-axis component of the estimated magnetic flux, the qm-axis current, and harmonic components of the first rotor position or the second rotor position, based on one of the first rotor position and a second rotor position estimated based on an estimated magnetic flux that is the estimated rotating machine magnetic flux, a qm-axis current that is the qm-axis component of the detected current, and a qm-axis inductance that is the qm-axis component of an inductance of the synchronous rotating machine, and specifies magnetic energy of the synchronous rotating machine based on the qm-axis magnetic flux and the harmonic components; and a ripple compensation specifying unit that specifies a ripple compensation current that compensates for torque ripple generated in the torque of the synchronous rotating machine based on the qm-axis current, the harmonic components, and the magnetic energy, and outputs the ripple compensation current to the voltage command specifying unit, The rotating machine control device, wherein the voltage command specifying unit superimposes the ripple compensation current output by the ripple compensation specifying unit on the qm-axis current, and outputs a voltage for controlling the synchronous rotating machine.

2. A rotating machine control device according to claim 1, further comprising a phase compensation specifying unit that calculates a phase compensation amount based on error information between the first rotor position and the second rotor position, and at least one of the position estimating unit and the ripple suppressing unit further performs control using the phase compensation amount to bring the difference between the first rotor position and the second rotor position closer to zero.

3. The rotating machine control device according to claim 2, wherein the phase compensation specifying unit calculates the phase compensation amount using a reactive power component specified by a first dot product value which is the dot product value of the estimated magnet magnetic flux and the detected current, or a second dot product value which is the dot product value of the estimated magnet magnetic flux, which is the magnetic flux generated in a permanent magnet of the synchronous rotating machine estimated from the rotating machine magnetic flux, and the detected current.

4. The rotating machine control device according to claim 2, wherein the error information is a difference between the first rotor position and the second rotor position.

5. A rotating machine control device according to any one of claims 2 to 4, wherein the magnetization characteristic specifying section of the ripple suppression section, of the position estimation section and the ripple suppression section, performs control to bring the difference closer to zero.

6. A rotating machine control device according to any one of claims 2 to 4, wherein the position estimation unit controls the synchronous rotating machine so that the γ-axis and the δ-axis follow the dm-axis and the qm-axis, respectively, by using the phase compensation amount (1) as the amount of change in the qm-axis inductance, or (2) as the amount of change in the first rotor position.

7. A rotating machine control device according to any one of claims 2 to 4, wherein the magnetization characteristic specifying unit of the ripple suppression unit specifies the magnetic energy of the synchronous rotating machine by using the phase compensation amount as the amount of change in the qm-axis inductance.

8. The rotating machine control device according to claim 3, wherein the phase compensation specifying unit sets a target value of the first inner product value or the second inner product value to zero, and calculates the phase compensation amount based on a difference between the reactive power component and the target value.

9. A rotating machine control device according to any one of claims 1 to 4, wherein the voltage command specifying unit outputs a voltage for controlling the synchronous rotating machine so that the current of the γ-axis component becomes zero.

10. A rotating machine control method performed by a rotating machine control device that applies voltage to a synchronous rotating machine and controls it to generate a target torque, comprising: a voltage command specifying step of decomposing a detected current flowing through the synchronous rotating machine into a qm-axis component parallel to the qm-axis and a dm-axis component parallel to the dm-axis, where the direction of a current vector when achieving maximum torque control is defined as a qm-axis and an axis perpendicular to the qm-axis is defined as a dm-axis, and outputting a voltage for controlling the synchronous rotating machine; a position estimation step of estimating a first rotor position, which is a virtual rotor position of the synchronous rotating machine, and controlling the synchronous rotating machine so that the γ-axis and δ-axis, which are estimated axes for control based on the first rotor position, follow the dm-axis and qm-axis, respectively; and a magnetic flux estimation step of estimating rotating machine magnetic flux, which is a magnetic flux generated in the synchronous rotating machine. a magnetization characteristic specifying step of specifying a qm-axis magnetic flux, which is the qm-axis component of the estimated magnetic flux, the qm-axis current, and harmonic components of the first rotor position or the second rotor position, based on either the first rotor position or a second rotor position estimated based on an estimated magnetic flux, which is the estimated rotating machine magnetic flux, a qm-axis current, which is the qm-axis component of the detected current, and a qm-axis inductance, which is the qm-axis component of an inductance of the synchronous rotating machine, and specifying magnetic energy of the synchronous rotating machine based on the qm-axis magnetic flux and the harmonic components; a ripple compensation specifying step of specifying and outputting a ripple compensation current that compensates for torque ripple generated in the torque of the synchronous rotating machine, based on the qm-axis current, the harmonic components, and the magnetic energy; and a ripple suppression step including: Rotating machine control method.

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