Control device and control system for ac rotary electric machine

Abstract

Provided is a control device for an AC rotary electric machine capable of executing vibration suppression control to suppress a deterioration in the accuracy of determining the occurrence of abnormalities in another device that is connected to a rotary shaft of the AC rotary electric machine and that rotates. A control device (30) for an AC rotary electric machine: subjects a torque command value (To) to vibration damping correction for suppressing axial torsional vibration superimposed on the rotational speed (ωm) of the AC rotary electric machine; calculates a torque command value (Tocr) after the vibration damping correction; performs on / off control of a plurality of switching elements included in an inverter (20) on the basis of the torque command value (Tocr) after the vibration damping correction; changes a setting parameter (Qa) of the vibration damping correction for changing the intensity of the vibration damping correction in accordance with the execution state of abnormality occurrence determination in the other device; and uses the setting parameter (Qa) to perform the vibration damping correction.

Description

Controller and control system for AC rotating electric machine

[0001] The present disclosure relates to a controller and a control system for an AC rotating electric machine.

[0002] In controllers for AC rotating electric machines, vibration suppression control that suppresses torsional vibration of the shaft in a vehicle drive train has become widespread. Conventionally, by using such vibration suppression control and varying the characteristics of the vibration suppression control based on transmission gear position information and clutch engagement information, appropriate vibration suppression control is performed even when the characteristics of the vehicle drive train change due to changes in the transmission gear position and the clutch engagement state.

[0003] In the technique of Patent Document 1, the characteristics of a filter that extracts a pulsating component from the rotational speed of an AC rotating electric machine are varied based on clutch engagement information and gear position information.

[0004] In the technique of Patent Document 2, the characteristics of feedback control for the rotational speed of the AC rotating electric machine for performing vibration suppression control are varied according to the gear ratio of the vehicle.

[0005] Japanese Patent No. 6503757, Japanese Patent Laid-Open No. 2005-354774

[0006] When an abnormality occurs in another device that rotates while being coupled to the rotating shaft of the AC rotating electric machine, fluctuations in the rotational speed of the other device may occur. Fluctuations in the rotational speed of the other device cause fluctuations in the rotational speed of the AC rotating electric machine coupled to the other device, which may result in shaft torsional vibration. However, if the shaft torsional vibration in the rotational speed of the AC rotating electric machine is suppressed by the vibration suppression control, the fluctuations in the rotational speed of the other device are suppressed, which may hinder the abnormality occurrence determination for the other device based on the rotational speed fluctuations of the other device. However, the techniques of Patent Document 1 and Patent Document 2 do not take into account cases where shaft torsional vibration occurs in the rotational speed of the AC rotating electric machine due to rotational speed fluctuations caused by the occurrence of an abnormality in the other device, and there is a risk that the vibration suppression control will interfere with the abnormality occurrence determination for the other device.

[0007] Therefore, the present disclosure aims to provide a control device and control system for an AC rotating electric machine that can suppress deterioration in the accuracy of detecting abnormalities in other devices connected to the rotating shaft of an AC rotating electric machine by performing vibration damping control to suppress axial torsional vibration of the rotational speed of the AC rotating electric machine.

[0008] The control device for an AC rotating electric machine according to this disclosure is a control device for an AC rotating electric machine that controls the AC rotating electric machine via an inverter, comprising: a rotation detection unit for detecting the rotational speed of the AC rotating electric machine; a vibration damping control unit that performs vibration damping correction on the torque command value to suppress the shaft torsional vibration superimposed on the rotational speed of the AC rotating electric machine and calculates the torque command value after vibration damping correction; a torque control unit that controls the on / off state of a plurality of switching elements of the inverter based on the torque command value after vibration damping correction; and a vibration damping intensity setting unit that changes the setting parameters of the vibration damping correction to change the intensity of the vibration damping correction according to the execution state of abnormality detection of other devices having a rotating body that is directly or indirectly connected to the rotational shaft of the AC rotating electric machine, wherein the vibration damping control unit performs the vibration damping correction using the setting parameters changed by the vibration damping intensity setting unit.

[0009] The control system according to this disclosure comprises a control device for the AC rotating electric machine and a control device for the other device that controls the other device, wherein the control device for the other device includes an abnormality determination unit that determines the occurrence of an abnormality based on the rotational speed fluctuation of the monitoring frequency of the other device.

[0010] According to the control device and control system for an AC rotating electric machine described herein, the setting parameters for vibration damping correction can be changed and the intensity of vibration damping correction can be changed according to the execution status of the abnormality detection of other devices. Therefore, vibration damping correction can reduce the suppression of fluctuations in the rotational speed of other devices due to abnormalities, and reduce the deterioration of the accuracy of abnormality detection.

[0011] This is a diagram showing the configuration of an AC rotating electric machine and control device according to Embodiment 1. This is a schematic diagram of the vehicle's power mechanism according to Embodiment 1. This is a schematic block diagram of the control device according to Embodiment 1. This is a hardware configuration diagram of the control device according to Embodiment 1. This is a block diagram of the vibration damping control unit according to Embodiment 1. This is a diagram showing the gain characteristics of the transfer function of the axial torsional vibration system model according to Embodiment 1. This is a diagram showing the gain characteristics of the transfer function of the velocity filter unit when Qa = 1 / ζa (zero damping value) according to Embodiment 1. This is a diagram showing the gain characteristics of the transfer function of the velocity filter unit when Qa = 1 (maximum damping value) according to Embodiment 1. This is a diagram showing the setting of Qa according to the absolute value of the frequency deviation |ωdiff| according to Embodiment 1. This is a diagram showing the gain characteristics of the open-loop transfer function of vibration damping correction when Qa = 1 / ζa (zero damping value) according to Embodiment 1. This is a diagram showing the gain characteristics of the open-loop transfer function of vibration damping correction when Qa = 1 (maximum damping value) according to Embodiment 1. This is a flowchart for explaining the processing of the vibration damping intensity setting unit according to Embodiment 1. This is a block diagram of the vibration damping control unit according to Embodiment 2. This figure shows the gain characteristics of the transfer function of the feedback control unit when Qa = 1 / ζa (zero damping value) according to Embodiment 2. This figure shows the gain characteristics of the transfer function of the feedback control unit when Qa = 1 (maximum damping value) according to Embodiment 2. This is a flowchart for explaining the processing of the vibration damping intensity setting unit according to Embodiment 3. This is a block diagram of the vibration damping control unit according to another embodiment. This is a block diagram of the vibration damping control unit according to another embodiment.

[0012] 1. Embodiment 1 The control device 30 (hereinafter simply referred to as the control device 30) of the AC rotating electric machine according to Embodiment 1 will be described with reference to the drawings. Figure 1 is a schematic configuration diagram of the AC rotating electric machine 2 and the control device 30, etc., according to this embodiment.

[0013] 1-1. Power Mechanism In this embodiment, the AC rotating electric machine 2 is used as the power source for the vehicle's wheel power mechanism. Figure 2 shows a schematic diagram of the vehicle's power mechanism. In this embodiment, an internal combustion engine 50 is also provided as a power source for the power mechanism. That is, the vehicle is a hybrid vehicle. An internal combustion engine control device 52 is provided to control the internal combustion engine 50.

[0014] The rotating shaft 9 of the AC rotating electric machine 2 is directly or indirectly (in this example, indirectly) connected to the rotating shaft 51 (crankshaft) of the internal combustion engine 50. A transmission 60 that changes the gear ratio is interposed in the connection path between the rotating shaft 51 of the internal combustion engine 50 and the rotating shaft 9 of the AC rotating electric machine 2. A clutch 65 is also interposed in the connection path between the rotating shaft 51 of the internal combustion engine 50 and the rotating shaft 9 of the AC rotating electric machine 2. A transmission control device 66 that controls the transmission 60 and the clutch 65 is provided.

[0015] In the example shown in Figure 2, the rotating shaft 51 of the internal combustion engine 50 is connected to a power transmission mechanism 69, such as a differential, which transmits power to the left and right wheels 67 via a clutch 65 and a transmission 60. The rotating shaft 9 of the AC rotating electric machine 2 is connected to the power transmission mechanism 69 via a transmission 70, such as a reduction gear.

[0016] The power mechanism in Figure 2 is illustrative, and various power mechanisms comprising an AC rotating electric machine 2 and an internal combustion engine 50 may be configured. For example, the rotating shaft 9 of the AC rotating electric machine 2 may be directly connected to the rotating shaft 51 of the internal combustion engine 50, or the rotating shaft 9 of the AC rotating electric machine 2 may be connected to the rotating shaft 51 of the internal combustion engine 50 via a clutch 65, or the AC rotating electric machine 2 may be incorporated into a transmission 60. Alternatively, the rotating shaft 9 of the AC rotating electric machine 2 and the rotating shaft 51 of the internal combustion engine 50 may not be connected to wheels, and the rotating shaft 9 of the AC rotating electric machine 2 may be directly or indirectly connected to the rotating shaft 51 of the internal combustion engine 50, and the AC rotating electric machine 2 may be configured to generate electricity using the driving force of the internal combustion engine 50 to charge the energy storage device.

[0017] 1-2. AC Rotating Electric Machine 2 The AC rotating electric machine 2 comprises a stator 7 and a rotor 8 positioned radially inward of the stator 7. The rotor 8 rotates integrally with the rotating shaft 9. The stator 7 is provided with multiple phase armature windings. In this embodiment, three phase armature windings Cu, Cv, and Cw of U, V, and W phases are provided. The three phase armature windings Cu, Cv, and Cw are connected in a star configuration. The three phase armature windings may also be connected in a delta configuration. The AC rotating electric machine 2 is a permanent magnet type synchronous AC rotating electric machine, and permanent magnets are provided on the rotor 8. The AC rotating electric machine 2 may also be a synchronous reluctance motor, a field winding type synchronous AC rotating electric machine, or an induction rotating electric machine.

[0018] The AC rotating electric machine 2 is equipped with a rotation sensor 16 that outputs an electrical signal corresponding to the rotation angle of the rotor 8. The rotation sensor 16 may be a Hall element, an encoder, or a resolver, etc. The output signal of the rotation sensor 16 is input to the control device 30. Alternatively, the rotation sensor 16 may not be provided, and the rotation angle (magnetic pole position) may be estimated based on current information obtained by superimposing harmonic components on a current command value (a so-called sensorless method).

[0019] 1-3. Inverter 20 The inverter 20 is a power converter that performs power conversion between the DC power supply 10 and the three-phase armature windings, and has multiple switching elements. The inverter 20 has three sets of series circuits (legs) corresponding to the armature windings of each of the three phases, in which a high-potential switching element 23H (upper arm) connected to the high-potential side of the DC power supply 10 and a low-potential switching element 23L (lower arm) connected to the low-potential side of the DC power supply 10 are connected in series. The connection point of the two switching elements in the series circuit of each phase is connected to the armature winding of the corresponding phase. A smoothing capacitor 12 is connected between the high-potential side and the low-potential side of the DC power supply 10.

[0020] Switching elements include IGBTs (Insulated Gate Bipolar Transistors) with diodes connected in antiparallel, FETs (Field Effect Transistors) with diodes connected in antiparallel, MOSFETs (Metal Oxide Semiconductor Field Effect Transistors) that function as diodes connected in antiparallel, and bipolar transistors with diodes connected in antiparallel. The gate terminal of each switching element is connected to the control device 30. Each switching element is turned on or off by a control signal output from the control device 30.

[0021] The current sensor 17 outputs an electrical signal corresponding to the current flowing through the armature winding of each phase. The current sensor 17 is provided on the wires of each phase connecting the series circuit of the switching element to the armature winding. The output signal of the current sensor 17 is input to the control device 30. The current sensor 17 may also be provided in the series circuit of each phase.

[0022] The DC power supply 10 outputs a DC voltage Vdc to the inverter 20. The DC power supply 10 can be any device that outputs a DC voltage Vdc, such as a battery, DC-DC converter, diode rectifier, PWM rectifier, etc. A voltage sensor for detecting the DC voltage Vdc may also be provided.

[0023] 1-4. Control device 30 The control device 30 controls the AC rotating electric machine 2 via the inverter 20. As shown in Figure 3, the control device 30 includes a rotation detection unit 31, a current detection unit 32, a vibration damping control unit 33, a vibration damping intensity setting unit 34, and a torque control unit 35, among other processing units.

[0024] Each function of the control device 30 is realized by the processing circuits provided within the control device 30. Specifically, as shown in Figure 4, the control device 30 includes a processing circuit consisting of an arithmetic processing unit 90 (computer), a storage device 91, and an input / output device 92. The arithmetic processing unit 90 may include a CPU (Central Processing Unit), ASIC (Application Specific Integrated Circuit), IC (Integrated Circuit), FPGA (Field Programmable Gate Array), GPU (Graphics Processing Unit), various logic circuits, and various signal processing circuits. Furthermore, multiple arithmetic processing units 90 of the same or different types may be provided, and each process may be divided and executed. Various storage devices such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, and EEPROM (Electrically Erasable Programmable Read Only Memory) can be used as the storage device 91.

[0025] The input / output device 92 is equipped with an A / D converter, a drive circuit, a communication device, input / output ports, etc. Various sensors such as a rotation sensor 16 and a current sensor 17 are connected to the A / D converter of the input / output device 92, and the output signals of these sensors are input to the arithmetic processing unit 90. Electrical loads such as a gate drive circuit that drives the switching elements of the inverter 20 on and off are connected to the drive circuit of the input / output device 92, and control signals from the arithmetic processing unit 90 are output to these electrical loads. In addition, the control device 52 of the internal combustion engine and the control device 66 of the transmission are connected to the communication device of the input / output device 92 via a communication network, and communication is performed with these devices.

[0026] The functions of the control device 30, such as the processing units 31 to 35 shown in Figure 3, are realized by the arithmetic processing unit 90 executing software (programs) stored in the storage device 91, such as a ROM, and cooperating with the storage device 91 and other hardware of the control device 30, such as the input / output device 92. Various setting data used by the processing units 31 to 35 are stored in the storage device 91, such as a ROM. The functions of the control device 30 will now be described in detail.

[0027] 1-4-2. Rotation Detection Unit 31 The rotation detection unit 31 detects the rotor's rotation angle θm and rotational angular velocity ωm (hereinafter also referred to as rotational speed ωm). In this embodiment, the rotation detection unit 31 detects the rotor's rotation angle θm and rotational speed ωm based on the output signal of the rotation sensor 16. The rotation detection unit 31 may be configured to estimate the rotation angle without using a rotation sensor, based on current information obtained by superimposing harmonic components on the current command value (a so-called sensorless method).

[0028] 1-4-3. Current detection unit 32 The current detection unit 32 detects the currents Ius, Ivs, and Iws flowing through the three-phase armature windings based on the output signal of the current sensor 17.

[0029] 1-4-4. Torque Control Unit 35 The torque control unit 35 controls the on / off state of multiple switching elements of the inverter 20 based on the torque command value Tocr, which has been corrected for vibration damping as described later.

[0030] Various known control methods can be used to control the torque control unit 35. For example, the torque control unit 35 calculates the current command values ​​Ido and Iqo for the d-axis and q-axis based on the torque command value Tocr after vibration damping correction, the rotational speed ωm, and the DC voltage Vdc, according to a current vector control method such as maximum torque / current control or flux weakening control. The torque control unit 35 converts the three-phase current detection values ​​Ius, Ivs, and Iws into current detection values ​​Ids and Iqs for the d-axis and q-axis based on the rotation angle θm. The torque control unit 35 calculates the voltage command values ​​Vdo and Vqo for the d-axis and q-axis by feedback control based on the deviation between the current command values ​​Ido and Iqo for the d-axis and q-axis and the current detection values ​​Ids and Iqs for the d-axis and q-axis. The torque control unit 35 converts the voltage command values ​​Vdo and Vqo of the d axis and q axis into three-phase voltage command values ​​Vuo, Vvo, and Vwo based on the rotation angle θm, and then switches on and off multiple switching elements of the inverter 20 by PWM control based on the three-phase voltage command values ​​Vuo, Vvo, and Vwo to apply voltage to the three-phase armature windings Cu, Cv, and Cw.

[0031] 1-4-5. Vibration Control Unit 33 The vibration control unit 33 performs vibration correction on the torque command value To to suppress the axial torsional vibration superimposed on the rotational speed ωm of the AC rotating electric machine, and calculates the torque command value Tocr after vibration correction. The vibration control unit 33 performs vibration correction using vibration correction setting parameters that change the strength of the vibration correction, which are changed by the vibration strength setting unit 34. The torque command value To may be calculated internally by the control device 30 or transmitted from an external control device.

[0032] If the intensity of the vibration damping correction has not decreased, the vibration damping control unit 33 performs vibration damping correction to reduce at least the vibration component of the rotational speed ωm at the resonant frequency ωa of the axial torsional vibration.

[0033] In this embodiment, the intensity of the vibration damping correction is the gain of the component of the axial torsional vibration at the resonant frequency ωa in the transfer function of the vibration damping correction, and a setting parameter for the vibration damping correction is used that allows the gain of the component at the resonant frequency ωa to be changed.

[0034] The vibration damping control unit 33 has a bandstop filter in the calculation path for the torque command value Tocr after vibration damping correction that attenuates the component of the axial torsional vibration at the resonant frequency ωa. The setting parameters for vibration damping correction are the setting parameters for the bandstop filter that change the attenuation intensity of the component at the resonant frequency ωa.

[0035] The vibration control unit 33 applies a bandstop filter to the rotational speed ωm of the AC rotating electric machine and calculates the vibration-corrected torque command value Tocr based on the rotational speed after filtering.

[0036] In this embodiment, as described below, the bandstop filter is a notch filter included in the speed filter unit 333 that performs filtering on the rotational speed ωm of the AC rotating electric machine, and attenuates the component at the resonant frequency ωa. The setting parameter is Qa, which changes the attenuation ratio of the second-order transfer function in the denominator of the second multiplication term on the right-hand side of equation (4), which will be described later. As will be described later, by changing Qa, the attenuation intensity of the component at the resonant frequency ωa is changed.

[0037] In this embodiment, as shown in Figure 5, the vibration control unit 33 includes a feedforward control unit 331, a target velocity vibration calculation unit 332, a velocity filter unit 333, and a feedback control unit 334.

[0038] <Axis Torsional Vibration System Model> Figure 5 shows the axis torsional vibration system model 335 of the rotating shaft 9 of the AC rotating electric machine 2, assuming that the AC rotating electric machine 2 outputs a torque of the torque command value Tocr after vibration damping correction. The axis torsional vibration system model 335 receives the torque command value Tocr after vibration damping correction as input and outputs the rotational speed ωm of the AC rotating electric machine. Here, since vibration damping correction controls the high-frequency vibration components of the rotational speed ωm, the inertia of other rotating bodies, the output torque of the internal combustion engine, and the road surface torque, which are related to the low-frequency components of the rotational speed ωm, are ignored.

[0039] The transfer function Gp(s) of the axial torsional vibration system model is expressed by the following equation. It is the transfer function from the torque command value Tocr after vibration damping correction to the rotational speed ωm of the AC rotating electric machine, and is expressed by the following equation.

[0040] Here, Jm is the inertia of the AC rotating electric machine 2, ωa is the resonance frequency of shaft torsional vibration of the shaft torsional vibration system model, ωz is the anti-resonance frequency of the shaft torsional vibration system model, ζa is the damping ratio of resonance of the shaft torsional vibration system model, ζz is the damping ratio of anti-resonance of the shaft torsional vibration system model, and s is the Laplace operator. These parameters are acquired in advance by conducting tests or the like. FIG. 6 shows an example of gain characteristics of the transfer function Gp(s) of the shaft torsional vibration system model.

[0041] <Feedforward Control Unit> The feedforward control unit 331 performs a feedforward control calculation on the torque command value To to calculate a feedforward torque command value Toff. In the present embodiment, the transfer function Cff(s) of the following equation is used as the feedforward processing.

[0042] Here, ωr is the target resonance frequency, and ζr is the damping ratio of target resonance. Here, similarly to Patent Document 2, ωr is set to ωa so as not to cause a response delay. Further, ζr may be set to 1. Cff(s) is a notch filter that reduces the component of the resonance frequency ωa.

[0043] <Target Speed Vibration Calculation Unit> The target speed vibration calculation unit 332 performs target speed vibration calculation processing on the torque command value To to calculate a target speed vibration component Δωmo which is a target value of the vibration component of the rotation speed of the AC rotating electric machine. In the present embodiment, the transfer function Co(s) of the following equation is used as the target speed vibration calculation processing. The transfer function Co(s) of the target speed vibration calculation unit 332 includes band-pass filter processing that passes the component of the resonance frequency ωa, and 1 / Jm.

[0044] The transfer function Co(s) of the target speed vibration calculation processing is set to a transfer function obtained by summing the transfer function Cff(s) of the feedforward processing, the transfer function Gp(s) of the shaft torsional vibration system model, and the transfer function H(s) of speed filter processing described later. At the time of summing, the notch filter for adjusting the strength of vibration damping correction is excluded from the transfer function H(s) of the speed filter processing.

[0045] <Speed Filter Unit> The speed filter unit 333 performs speed filter processing on the rotational speed ωm of the AC rotating electric machine to calculate a vibration component Δωm of the rotational speed of the AC rotating electric machine. In the present embodiment, the following equation is used as the transfer function H(s) of the speed filter unit 333. The transfer function H(s) consists of a high-pass filter as the first multiplication term on the right-hand side and a band-stop filter as the second multiplication term on the right-hand side.

[0046] The cutoff frequency of the high-pass filter is an anti-resonance frequency ωz, which allows components at frequencies equal to or higher than the anti-resonance frequency ωz to pass through. Since the resonance frequency ωa is larger than the anti-resonance frequency ωz, the component of the resonance frequency ωa passes through. Note that instead of the high-pass filter of equation (4), s in the numerator of the high-pass filter of equation (4) 2 may be changed to s, and a band-pass filter that passes the component of the resonance frequency ωa, in which ωz and ζz are changed to ωa and ζa, may be used.

[0047] A notch filter is used as the band-stop filter. The notch filter is a band-stop filter that attenuates the component of the resonance frequency ωa, and the attenuation strength of the notch filter can be adjusted by changing Qa, which changes the damping ratio of the quadratic system transfer function in the denominator, as a setting parameter. If Qa is set to 1 / ζa, the numerator and denominator of the notch filter become the same, the transfer function of the notch filter becomes 1, and the attenuation strength becomes zero. If Qa is set to 1, the attenuation strength becomes the maximum attenuation strength corresponding to the damping ratio ζa of the quadratic system transfer function in the numerator of the notch filter. Qa=1 / ζa is referred to as a zero attenuation value, and Qa=1 is referred to as a maximum attenuation value.

[0048] As shown in Fig. 7 which shows the gain characteristic of the transfer function H(s) of the speed filter unit 333 when Qa=1 / ζa (zero attenuation value) is set, the gain at the resonance frequency ωa is 0 dB, and the attenuation strength at the resonance frequency ωa is zero. As shown in Fig. 8 which shows the gain characteristic of the transfer function H(s) of the speed filter unit 333 when Qa=1 (maximum attenuation value) is set, the gain at the resonance frequency ωa is smaller than 0 dB, and the maximum attenuation strength corresponding to the damping ratio ζa is achieved.

[0049] Therefore, as Qa decreases from 1 / ζa (zero damping value) to 1 (maximum damping value), the gain of the resonant frequency ωa decreases from 0 dB, the damping intensity of the component at the resonant frequency ωa increases from 0 to the maximum damping intensity, and the intensity of vibration damping correction decreases.

[0050] <Feedback Control Unit> The feedback control unit 334 performs feedback control calculations on the deviation Δωdiff (Δωdiff = Δωmo - Δωm) between the target speed vibration component Δωmo and the rotational speed vibration component Δωm, and calculates the feedback torque command value Tofb. In this embodiment, the following equation is used as the transfer function Cfb(s) of the feedback control unit 334. Proportional control is performed as feedback control, consisting of a positive proportional gain Kp, and Tofb which is in opposite phase to Δωm is calculated, and Tofb which suppresses the rotational speed vibration component Δωm is calculated. Various types of feedback control such as proportional control, differential control, integral control, and phase compensation may be performed as feedback control.

[0051] <Calculation of Torque Command Value After Vibration Damping Correction> The vibration damping control unit 33 calculates the torque command value Tocr after vibration damping correction by adding the feedforward torque command value Toff and the feedback torque command value Tofb, as shown in the following equation. The difference between the torque command value To and the torque command value Tocr after vibration damping correction becomes the vibration damping correction amount ΔTocr of the torque command value (ΔTocr = Tocr - To).

[0052] 1-4-5. Vibration damping strength setting unit 34 The vibration damping strength setting unit 34 changes the vibration damping correction setting parameters to change the strength of vibration damping correction according to the execution status of abnormality detection of other devices having a rotating body that is directly or indirectly connected to the rotating shaft 9 of the AC rotating electric machine 2.

[0053] If an abnormality occurs in another device, the rotational speed of that device may fluctuate. This fluctuation in the rotational speed of the other device can cause a fluctuation in the rotational speed ωm of the AC rotating electric machine 2 connected to the rotating body of the other device, potentially resulting in axial torsional vibration. However, if the axial torsional vibration of the rotational speed ωm of the AC rotating electric machine 2 is suppressed by vibration damping correction, the fluctuation in the rotational speed of the other device will be suppressed, which may hinder the detection of an abnormality in the other device based on the fluctuation in its rotational speed. With the above configuration, the setting parameters of the vibration damping correction can be changed according to the execution status of the detection of an abnormality in the other device, thereby changing the strength of the vibration damping correction. Therefore, vibration damping correction can reduce the suppression of fluctuations in the rotational speed of the other device due to an abnormality, and reduce the deterioration of the accuracy of the detection of an abnormality.

[0054] <Setting Parameters> In this embodiment, the vibration damping strength setting unit 34 changes the setting parameters to change the gain of the component of the resonance frequency ωa of the axial torsional vibration in the transfer function of vibration damping correction, as the strength of vibration damping correction.

[0055] With this configuration, by changing the gain of the resonant frequency ωa component in the vibration damping correction transfer function, the magnitude of the resonant frequency ωa component included in the torque command value Tocr after vibration damping correction can be changed, and the vibration damping strength of the vibration component at the resonant frequency ωa of the rotational speed ωm can be changed.

[0056] As described above, the vibration damping control unit 33 has a bandstop filter in the calculation path of the torque command value Tocr after vibration damping correction that attenuates the component of the resonance frequency ωa of the axial torsional vibration. The vibration damping strength setting unit 34 changes the setting parameters of the bandstop filter so as to change the attenuation strength of the component of the resonance frequency ωa of the axial torsional vibration in the bandstop filter, as the strength of vibration damping correction.

[0057] With this configuration, by changing the setting parameters of the bandstop filter so as to change the damping intensity of the resonant frequency ωa component in the bandstop filter, the magnitude of the resonant frequency ωa component included in the torque command value Tocr after vibration damping correction can be changed, and the vibration damping intensity of the vibration component of the resonant frequency ωa at the rotational speed ωm can be changed.

[0058] In this embodiment, as described above, the vibration damping control unit 33 performs a bandstop filter on the rotational speed ωm of the AC rotating electric machine and calculates the vibration-damped torque command value Tocr based on the rotational speed after filtering. Therefore, by changing the setting parameters of the bandstop filter for the rotational speed ωm of the AC rotating electric machine so as to change the damping intensity of the component of the resonant frequency ωa, the magnitude of the resonant frequency ωa component included in the vibration-damped torque command value Tocr can be changed.

[0059] In this embodiment, the setting parameter is Qa, which changes the damping ratio of the second-order transfer function in the denominator of the notch filter in equation (4). By changing Qa, the damping intensity of the component at the resonant frequency ωa can be changed. As Qa decreases from 1 / ζa (zero damping value) to 1 (maximum damping value), the damping intensity of the component at the resonant frequency ωa at rotational speed ωm increases from 0 to the maximum damping intensity corresponding to the damping ratio ζa of the second-order transfer function in the numerator, and the intensity of vibration damping correction decreases.

[0060] <Execution status of abnormal occurrence determination> In this embodiment, the other device is an internal combustion engine 50, and the abnormality of the other device is a misfire in the internal combustion engine 50. Therefore, the vibration damping strength setting unit 34 changes the vibration damping correction setting parameters according to the execution status of the misfire occurrence determination of the internal combustion engine 50.

[0061] When a misfire occurs in the internal combustion engine 50, the rotational speed ωe of the rotating shaft 51 of the internal combustion engine 50 fluctuates, and the presence or absence of a misfire in the internal combustion engine 50 is determined based on the fluctuation in the rotational speed ωe of the internal combustion engine 50. On the other hand, the fluctuation in the rotational speed ωe of the internal combustion engine 50 caused by the misfire can cause a fluctuation in the rotational speed ωm of the AC rotating electric machine 2 connected to the rotating shaft 51 of the internal combustion engine 50, which may result in shaft torsional vibration. However, if the shaft torsional vibration of the rotational speed ωm of the AC rotating electric machine 2 is suppressed by vibration damping correction, the fluctuation in the rotational speed ωe of the internal combustion engine 50 is suppressed through the connection path, and it may be incorrectly determined that no misfire has occurred even though one has occurred.

[0062] According to the above configuration, the setting parameters for vibration damping correction can be changed according to the execution status of the misfire detection of the internal combustion engine, thereby changing the intensity of vibration damping correction. Therefore, vibration damping correction can reduce the suppression of fluctuations in the rotational speed ωe of the internal combustion engine 50 due to misfires, and reduce the deterioration of the accuracy of misfire detection.

[0063] The vibration damping intensity setting unit 34 changes the setting parameters based on the monitoring frequency ωmmnt, which is the frequency of the rotational speed of the AC rotating electric machine corresponding to the monitoring frequency ωemnt of the rotational speed fluctuation of the internal combustion engine 50 monitored in abnormality detection, and the resonance frequency ωa of the axial torsional vibration.

[0064] Depending on the relative relationship between the monitoring frequency ωmmnt and the resonance frequency ωa of the axial torsional vibration, the suppression of the vibration component of the resonance frequency ωa by vibration damping correction may worsen the accuracy of the detection of abnormalities caused by the vibration component of the internal combustion engine 50's rotational speed ωe at the monitoring frequency ωemnt. With the above configuration, the setting parameters are changed based on the monitoring frequency ωmmnt and the resonance frequency ωa of the axial torsional vibration, thus reducing the deterioration of the accuracy of misfire detection.

[0065] The monitoring frequency ωemnt for rotational speed fluctuations of the internal combustion engine 50 is the frequency of rotational speed fluctuations caused by misfires. In the case of a four-cycle engine with multiple cylinders, if a misfire occurs in a specific cylinder, a rotational fluctuation of two rotation periods occurs, so the monitoring frequency ωemnt becomes half the frequency of the rotational speed ωe of the internal combustion engine 50, as shown in the following equation. Here, the physical quantities of the monitoring frequency ωemnt and the rotational speed ωe are rad / s.

[0066] The rotational speed ωm of the AC rotating electric machine and the rotational speed ωe of the internal combustion engine 50 are in a predetermined rotational speed ratio relationship. The vibration damping intensity setting unit 34 calculates the monitoring frequency ωmmnt based on the rotational speed ωm of the AC rotating electric machine.

[0067] In this embodiment, a transmission 60 that changes the gear ratio Ntr is interposed in the connection path between the rotating shaft 51 of the internal combustion engine 50 and the rotating shaft 9 of the AC rotating electric machine 2. The vibration damping intensity setting unit 34 calculates the monitoring frequency ωmmnt based on the rotational speed ωm of the AC rotating electric machine. The relationship between the rotational speed ωm of the AC rotating electric machine and the rotational speed ωe of the internal combustion engine 50 can be expressed by the following first equation, using the gear ratio Ntr of the transmission 60 and a conversion coefficient Kcnv that has been set in advance from another gear mechanism. Therefore, using the following second equation obtained from equation (7) and the following first equation, the vibration damping intensity setting unit 34 calculates the monitoring frequency ωmmnt based on the rotational speed ωm of the AC rotating electric machine. Note that the monitoring frequency ωmmnt may be a value corresponding to the rotational speed ωm of the AC rotating electric machine obtained in advance through tests, etc. For example, the monitoring frequency ωmmnt may be calculated using map data or a conditional expression that takes the rotational speed ωm of an AC rotating electric machine as input and outputs the monitoring frequency ωmmnt. Alternatively, the vibration damping intensity setting unit 34 may calculate the monitoring frequency ωmmnt based on the rotational speed ωe of the internal combustion engine 50 and the gear ratio Ntr of the transmission 60. The gear ratio Ntr of the transmission 60 may be obtained by communication from the transmission control device 66, and the rotational speed ωe of the internal combustion engine 50 may be obtained by communication from the internal combustion engine control device 52 and used in the calculation.

[0068] In this embodiment, the vibration damping intensity setting unit 34 changes the setting parameters so that the intensity of vibration damping correction decreases as the monitoring frequency ωmmnt approaches the resonance frequency ωa.

[0069] If the intensity of vibration damping correction is not reduced, as the monitoring frequency ωmmnt approaches the resonance frequency ωa, the degree to which vibration damping correction suppresses the rotational speed fluctuation of the internal combustion engine 50 at the monitoring frequency ωemnt increases, and the accuracy of misfire detection deteriorates. With the above configuration, as the monitoring frequency ωmmnt approaches the resonance frequency ωa, the intensity of vibration damping correction is reduced, so the degree to which vibration damping correction suppresses the rotational speed fluctuation of the internal combustion engine 50 at the monitoring frequency ωemnt decreases, and the deterioration of the accuracy of misfire detection can be suppressed.

[0070] In this embodiment, as shown in Figure 9, the vibration damping strength setting unit 34 gradually decreases Qa from 1 / ζa (zero damping value) to 1 (maximum damping value) as the absolute value |ωdiff| of the frequency deviation between the resonant frequency ωa and the monitoring response frequency ωmmnt decreases, and gradually increases the damping strength of the component of the rotational speed ωm at the resonant frequency ωa from 0 to the maximum damping strength corresponding to the damping ratio ζa of the numerator's second-order transfer function, thereby gradually decreasing the intensity of vibration damping correction. In the example in Figure 9, when the absolute value of the frequency deviation |ωdiff| is less than or equal to the lower frequency deviation ωdiffL, Qa is set to 1 (maximum attenuation value). When the absolute value of the frequency deviation |ωdiff| is less than or equal to the upper frequency deviation ωdiffH, Qa is set to 1 / ζa (zero attenuation value). Between the lower frequency deviation ωdiffL and the upper frequency deviation ωdiffH, as the absolute value of the frequency deviation |ωdiff| decreases, Qa gradually decreases from 1 / ζa (zero attenuation value) to 1 (maximum attenuation value).

[0071] As shown in Figure 7, when Qa = 1 / ζa (zero damping value), the gain at the resonant frequency ωa becomes 0 dB, and the damping intensity at the resonant frequency ωa becomes zero. As shown in Figure 8, when Qa = 1 (maximum damping value), the gain at the resonant frequency ωa becomes less than 0 dB, and the damping intensity corresponds to the maximum damping intensity corresponding to the damping ratio ζa.

[0072] The open-loop transfer function Gop(s) for vibration damping correction is the transfer function from the torque command value Tocr after vibration damping correction to the feedback torque command value Tofb, as shown in the following equation.

[0073] Figure 10 shows the gain characteristics of the open-loop transfer function Gop(s) for vibration damping correction when Qa = 1 / ζa (zero damping value). As shown, the gain at the resonant frequency ωa is greater than 0 dB, indicating a strong vibration damping correction. Figure 11 shows the gain characteristics of the open-loop transfer function Gop(s) for vibration damping correction when Qa = 1 (maximum damping value). As shown, the gain at the resonant frequency ωa is less than 0 dB, indicating a weak vibration damping correction.

[0074] As described above, a clutch 65 is interposed in the connection path between the rotating shaft 51 of the internal combustion engine 50 and the rotating shaft 9 of the AC rotating electric machine 2. When the clutch 65 is disengaged, vibration damping correction does not affect the rotational speed ωe of the internal combustion engine 50, so there is no need to reduce the strength of vibration damping correction. Therefore, the vibration damping strength setting unit 34 changes the setting parameters so that when the clutch 65 is disengaged, the strength of vibration damping correction is greater than when the clutch 65 is engaged. In this embodiment, when the clutch 65 is disengaged, Qa is set to 1 / ζa (zero damping value), and the strength of vibration damping correction is set to the maximum strength. On the other hand, when the clutch 65 is engaged, the vibration damping strength setting unit 34 changes the setting parameter Qa according to the execution state of the misfire occurrence determination of the internal combustion engine 50 (in this example, the absolute value of the frequency deviation |ωdiff|), as described above. The engagement state of the clutch 65 is obtained by communication from the control device 66 of the transmission 60.

[0075] <Flowchart> Figure 12 shows a flowchart of the processing of the vibration damping intensity setting unit 34 according to this embodiment. The processing in Figure 12 is executed, for example, at predetermined calculation cycles.

[0076] In step S01, the vibration damping intensity setting unit 34 obtains information on the gear ratio Ntr of the transmission 60 and the engagement state of the clutch 65 from the transmission control device 66. In step S02, if the clutch 65 is engaged, the vibration damping intensity setting unit 34 proceeds to step S03; otherwise, it proceeds to step S06.

[0077] As described above, in step S03, the vibration damping intensity setting unit 34 calculates the monitoring frequency ωmmnt based on the rotational speed ωm of the AC rotating electric machine and the gear ratio Ntr of the transmission 60. In step S04, the vibration damping intensity setting unit 34 calculates the absolute value |ωdiff| of the frequency deviation between the resonant frequency ωa and the monitoring frequency ωmmnt. In step S05, the vibration damping intensity setting unit 34 sets the setting parameter Qa based on the absolute value |ωdiff| of the frequency deviation.

[0078] In step S06, the vibration damping strength setting unit 34 sets the setting parameter Qa to 1 / ζa (zero damping value) and sets the vibration damping correction strength to the maximum strength.

[0079] 1-5. Abnormality detection of the control device for the internal combustion engine The control device 52 for the internal combustion engine is equipped with an abnormality detection unit 521 that performs abnormality detection based on fluctuations in the rotational speed of the internal combustion engine at a monitoring frequency ωemnt. The hardware configuration of the control device 52 for the internal combustion engine is the same as that of the control device 30 for the AC rotating electric machine shown in Figure 4.

[0080] For example, the abnormality detection unit 521 extracts a component of the monitoring frequency ωemnt from the rotational speed ωe of the internal combustion engine, and determines whether or not a misfire has occurred based on the component of the monitoring frequency ωemnt. For example, the abnormality detection unit 521 determines that a misfire has occurred if the magnitude of the component of the monitoring frequency ωemnt becomes larger than a determination value.

[0081] 2. Embodiment 2 The AC rotating electric machine 2 and control device 30 according to Embodiment 2 will be described. The same components as in Embodiment 1 will not be described. The basic configuration of the AC rotating electric machine 2 and control device 30 according to this embodiment is the same as in Embodiment 1, but the target of the bandstop filter in the vibration damping control unit 33 is different from that of Embodiment 1. Figure 13 shows a block diagram of the vibration damping control unit 33 according to this embodiment.

[0082] Similar to Embodiment 1, the vibration damping control unit 33 includes a bandstop filter in the calculation path for the torque command value Tocr after vibration damping correction that attenuates the component of the resonance frequency ωa of the axial torsional vibration.

[0083] In this embodiment, the velocity filter section 333 is not provided with a bandstop filter (notch filter), and as shown in the following equation, the transfer function H(s) of the velocity filtering process consists of a high-pass filter. Similar to Embodiment 1, the cutoff frequency of the high-pass filter is the anti-resonance frequency ωz, and components with frequencies above the anti-resonance frequency ωz are passed through. Note that instead of the high-pass filter in equation (10), the s in the numerator of the high-pass filter in equation (10) is used. 2 A bandpass filter may be used in which the component at the resonant frequency ωa is passed through, with ωz and ζz being changed to ωa and ζa, respectively.

[0084] In this embodiment, the vibration control unit 33 filters the rotational speed ωm of the AC rotating electric machine to extract the vibration component Δωm of the rotational speed, performs feedback control calculation and bandstop filtering on the deviation Δωdiff between the vibration component Δωm of the rotational speed and the vibration component Δωmo to calculate the feedback torque command value Tofb, and calculates the torque command value Tocr after vibration correction based on the feedback torque command value Tofb.

[0085] The feedback control unit 334 calculates the feedback torque command value Tofb by performing feedback control calculations and bandstop filtering on the deviation Δωdiff (Δωdiff = Δωmo - Δωm) between the target speed vibration component Δωmo and the rotational speed vibration component Δωm. In this embodiment, the following equation is used as the transfer function Cfb(s) of the feedback control unit 334. The transfer function Cfb(s) consists of the feedback control calculation in the first multiplication term on the right-hand side and the bandstop filtering in the second multiplication term on the right-hand side.

[0086] As feedback control, proportional control is performed, consisting of a positive proportional gain Kp, and a Tofb that is in opposite phase to Δωm is calculated, and a Tofb that suppresses the oscillation component Δωm of the rotational speed is calculated. Various types of feedback control, such as proportional control, differential control, integral control, and phase compensation, may be performed as feedback control.

[0087] A notch filter is used as a bandstop filter. A notch filter is a bandstop filter that attenuates the component at the resonant frequency ωa, and the attenuation strength of the notch filter can be adjusted by changing Qa, which is a setting parameter that changes the attenuation ratio of the second-order transfer function in the denominator. If Qa is set to 1 (maximum attenuation value), the attenuation strength will be the maximum attenuation strength corresponding to the attenuation ratio ζa of the second-order transfer function in the numerator, and if Qa is set to 1 / ζa (zero attenuation value), the numerator and denominator become the same, the transfer function becomes 1, and the attenuation strength becomes zero.

[0088] As shown in Figure 14, when Qa is set to 1 / ζa (zero damping value), the gain of the transfer function Cfb(s) of the feedback control unit 334 becomes |Kp|dB for proportional control, and the damping intensity at the resonant frequency ωa becomes zero. As shown in Figure 15, when Qa is set to 1 (maximum damping value), the gain of the transfer function Cfb(s) of the feedback control unit 334 becomes smaller than |Kp|dB for proportional control, and becomes the maximum damping intensity corresponding to the damping ratio ζa.

[0089] Therefore, as Qa decreases from 1 / ζa (zero damping value) to 1 (maximum damping value), the gain of the feedback control of the resonant frequency ωa decreases from the normal value |Kp|dB, the damping intensity of the component of the resonant frequency ωa increases to the maximum damping intensity corresponding to the damping ratio ζa, and the intensity of vibration damping correction decreases.

[0090] In this embodiment, the bandstop filter is also applied to the target velocity vibration component Δωmo included in the deviation Δωdiff. Therefore, even if the torque command value To used in the calculation of the target velocity vibration component Δωmo includes a component of the resonance frequency ωa, it can be attenuated, and the deterioration of the accuracy of detecting abnormalities can be more reliably reduced.

[0091] In this embodiment, the setting parameter is Qa of the notch filter in the feedback control unit 334, and the vibration damping control unit 33 changes the damping intensity of the component at the resonant frequency ωa by changing Qa. The other components of the vibration damping control unit 33 are the same as in Embodiment 1, so their description is omitted.

[0092] 3. Embodiment 3 The AC rotating electric machine 2 and control device 30 according to Embodiment 3 will now be described. The same components as those in Embodiment 1 or 2 described above will be omitted from the description. The basic configuration of the AC rotating electric machine 2 and control device 30 according to this embodiment is the same as that of Embodiment 1 or 2, but the vibration damping intensity setting unit 34 changes the setting parameters based on whether or not an abnormality detection has been performed on other devices, which is different from Embodiment 1 or 2.

[0093] In this embodiment, the execution status of the abnormality detection of other devices is determined by whether or not the abnormality detection of other devices has been performed. The vibration damping strength setting unit 34 changes the setting parameters so that the vibration damping correction strength is lower than when the abnormality detection of other devices is performed, if the abnormality detection of other devices has been performed.

[0094] With this configuration, when an abnormality is detected in another device, the intensity of vibration damping correction is reduced, thereby reducing the suppression of fluctuations in the rotational speed of other devices due to the abnormality, and thus reducing the deterioration of the accuracy of abnormality detection.

[0095] Similar to Embodiment 1, the other device is an internal combustion engine 50, and the abnormality of the other device is a misfire in the internal combustion engine 50. Information on whether or not misfire detection is being performed is obtained by communication from the control device 52 of the internal combustion engine. The vibration damping strength setting unit 34 changes the setting parameters so that the vibration damping correction strength is lower than when misfire detection is not being performed, if misfire detection is being performed.

[0096] For example, if misfire detection is performed, the vibration damping intensity setting unit 34 sets the notch filter's Qa to 1 (maximum damping value), increasing the damping intensity of the component at the resonant frequency ωa to the maximum damping intensity corresponding to the damping ratio ζa, thereby reducing the intensity of vibration damping correction. On the other hand, if misfire detection is not performed, the vibration damping intensity setting unit 34 sets the notch filter's Qa to 1 / ζa (zero damping value), reducing the damping intensity of the component at the resonant frequency ωa to zero, thereby increasing the intensity of vibration damping correction.

[0097] Furthermore, similar to Embodiment 1, regardless of whether or not an abnormality detection check of other devices is performed, the vibration damping intensity setting unit 34 changes the setting parameters so that the vibration damping correction intensity becomes the maximum intensity within the range of intensity change when the clutch 65 is disengaged. In this embodiment, when the clutch 65 is disengaged, Qa is set to 1 / ζa (zero damping value), and the vibration damping correction intensity is set to the maximum intensity. On the other hand, when the clutch 65 is engaged, the vibration damping intensity setting unit 34 changes the setting parameters as described above, depending on whether or not an abnormality detection check of other devices is performed.

[0098] <Flowchart> Figure 16 shows a flowchart of the processing of the vibration damping intensity setting unit 34 according to this embodiment. The processing in Figure 16 is executed, for example, at predetermined calculation cycles.

[0099] In step S11, the vibration damping intensity setting unit 34 obtains information on the gear ratio Ntr of the transmission 60 and the engagement state of the clutch 65 from the transmission control device 66. In step S12, if the clutch 65 is engaged, the vibration damping intensity setting unit 34 proceeds to step S13; if the clutch 65 is disengaged, it proceeds to step S16.

[0100] As described above, in step S13, the vibration damping intensity setting unit 34 obtains information from the control device 52 of the internal combustion engine regarding whether or not a misfire occurrence determination is being performed. In step S14, if the misfire occurrence determination is being performed, the vibration damping intensity setting unit 34 proceeds to step S15; otherwise, it proceeds to step S16. In step S15, the vibration damping intensity setting unit 34 sets the setting parameter Qa to 1 (maximum damping value) and increases the damping intensity of the component at the resonant frequency ωa to the maximum damping intensity corresponding to the damping ratio ζa, thereby reducing the intensity of the vibration damping correction. On the other hand, in step S16, the vibration damping intensity setting unit 34 sets the setting parameter Qa to 1 / ζa (zero damping value) and decreases the damping intensity of the component at the resonant frequency ωa to zero, thereby increasing the intensity of the vibration damping correction.

[0101] [Other Embodiments] (1) In the above embodiments, the case in which the other device on which abnormality occurrence is determined is an internal combustion engine 50 was described as an example. However, the other device on which abnormality occurrence is determined is a component of the vehicle's wheel power mechanism, and any device on which abnormality occurrence is determined may be a component of a power mechanism other than the internal combustion engine 50. For example, the other device may be a transmission 60, and the control device 66 of the transmission may determine that an abnormality has occurred based on the rotational speed fluctuation of the rotating body of the transmission 60.

[0102] (2) In the above embodiments, the AC rotating electric machine 2 was used as a power source for the vehicle's wheel power mechanism, and the other device on which abnormality detection is performed was described as an internal combustion engine 50, which is a component of the vehicle's wheel power mechanism. However, the AC rotating electric machine 2 may be used as a power source for various devices other than the vehicle's wheel power mechanism, and the other device on which abnormality detection is performed may be a device other than a component of the vehicle's wheel power mechanism. In other words, the other device on which abnormality detection is performed may be any device that has a rotating body that is directly or indirectly connected to the rotating shaft 9 of the AC rotating electric machine 2 and rotates, and on which abnormality detection is performed based on fluctuations in the rotational speed of the rotating body.

[0103] (3) In the above embodiment 1, the vibration damping control unit 33 was described as comprising a feedforward control unit 331, a target speed vibration calculation unit 332, a speed filter unit 333, and a feedback control unit 334. However, as shown in Figure 17, the vibration damping control unit 33 does not necessarily have to include a feedforward control unit 331 and a target speed vibration calculation unit 332. The target speed vibration component Δωmo is set to 0, and the feedback control unit 334 may calculate the feedback torque command value Tofb such that the rotational speed vibration component Δωm approaches 0. Therefore, the vibration damping control unit 33 may use various calculation processes as long as it performs a bandstop filter on the rotational speed ωm of the AC rotating electric machine and calculates the vibration-corrected torque command value Tocr based on the rotational speed after the filtering process. Furthermore, the vibration damping control unit 33 may use various calculation processes as long as it has a bandstop filter that attenuates the component of the resonance frequency ωa of the axial torsional vibration in the calculation path of the vibration-corrected torque command value Tocr.

[0104] (4) In the above embodiment 2, the vibration damping control unit 33 was described as comprising a feedforward control unit 331, a target speed vibration calculation unit 332, a speed filter unit 333, and a feedback control unit 334. However, as shown in Figure 18, the vibration damping control unit 33 does not have to include a feedforward control unit 331 and a target speed vibration calculation unit 332. The target speed vibration component Δωmo is set to 0, and the feedback control unit 334 may calculate the feedback torque command value Tofb such that the rotational speed vibration component Δωm approaches 0. Therefore, the vibration control unit 33 may use various calculation processes, such as filtering the rotational speed ωm of the AC rotating electric machine to extract the vibration component Δωm of the rotational speed, performing feedback control calculations and bandstop filtering on the deviation Δωdiff between the vibration component Δωm of the rotational speed and the vibration component Δωmo to calculate the feedback torque command value Tofb, and then calculating the torque command value Tocr after vibration correction based on the feedback torque command value Tofb. Furthermore, the vibration control unit 33 may use various calculation processes if it has a bandstop filter that attenuates the component of the resonance frequency ωa of the axial torsional vibration in the calculation path of the torque command value Tocr after vibration correction.

[0105] (5) In each of the above embodiments, the vibration damping control unit 33 was described as having a bandstop filter in the calculation path of the torque command value Tocr after vibration damping correction that attenuates the component of the resonance frequency ωa of the axial torsional vibration. However, the vibration damping control unit 33 does not have to have a bandstop filter, and other processes may be used as long as the strength of the vibration damping correction can be changed. For example, the feedback gain (proportional gain Kp in this example) of the feedback control unit 334 of the vibration damping control unit 33 may be set as a setting parameter and changed according to the execution status of the abnormality occurrence judgment of other devices. For example, the vibration damping control unit 33 may gradually decrease the feedback gain (proportional gain Kp) from a reference value to 0 as the absolute value of the frequency deviation |ωdiff| decreases, thereby gradually lowering the strength of the vibration damping correction. Alternatively, the vibration damping control unit 33 may set the feedback gain (proportional gain Kp) to 0 when an abnormality occurrence judgment of other devices is performed, and set the feedback gain (proportional gain Kp) to a reference value when an abnormality occurrence judgment of other devices is not performed.

[0106] While this disclosure describes various exemplary embodiments and examples, the various features, aspects, and functions described in one or more embodiments are not limited to the application of a particular embodiment, but are applicable individually or in various combinations to the embodiments. Accordingly, countless variations not illustrated are envisioned within the scope of the art disclosed in this disclosure. For example, these include modifying, adding or omitting at least one component, or extracting at least one component and combining it with a component from another embodiment.

[0107] 2: AC rotating electric machine, 9: Rotating shaft of AC rotating electric machine, 20: Inverter, 30: Control device for AC rotating electric machine, 31: Rotation detection unit, 33: Vibration damping control unit, 34: Vibration damping intensity setting unit, 35: Torque control unit, 50: Internal combustion engine, 51: Rotating shaft of internal combustion engine, 52: Control device for internal combustion engine, 65: Clutch, 521: Abnormal occurrence determination unit, Ntr: Gear ratio, To: Torque command value, Tocr: Torque command value after vibration damping correction, ωa: Resonance frequency, ωemnt: Monitoring frequency, ωm: Rotation speed of AC rotating electric machine, ωmmnt: Monitoring compatible frequency

Claims

1. A control device for an AC rotating electric machine that controls the AC rotating electric machine via an inverter, comprising: a rotation detection unit for detecting the rotational speed of the AC rotating electric machine; a vibration damping control unit for calculating a torque command value after vibration damping correction by applying vibration damping correction to the torque command value to suppress axial torsional vibration superimposed on the rotational speed of the AC rotating electric machine; a torque control unit for controlling the on / off state of a plurality of switching elements of the inverter based on the torque command value after vibration damping correction; and a vibration damping intensity setting unit for changing the setting parameters of the vibration damping correction to change the intensity of the vibration damping correction according to the execution state of abnormality detection of another device having a rotating body that is directly or indirectly connected to the rotational shaft of the AC rotating electric machine, wherein the vibration damping control unit performs the vibration damping correction using the setting parameters changed by the vibration damping intensity setting unit.

2. The control device for the AC rotating electric machine according to claim 1, wherein the AC rotating electric machine is used as a power source for the power mechanism of the vehicle's wheels, and the other device is a component of the power mechanism.

3. The control device for an AC rotating electric machine according to claim 1 or 2, wherein the rotating shaft of the AC rotating electric machine is directly or indirectly connected to the rotating shaft of an internal combustion engine, the other device is the internal combustion engine, and an abnormality of the other device is a misfire of the internal combustion engine.

4. A control device for an AC rotating electric machine according to claim 3, wherein a clutch is interposed in the connection path between the rotating shaft of the other device and the rotating shaft of the AC rotating electric machine, and the vibration damping strength setting unit changes the setting parameters such that the vibration damping correction strength is greater when the clutch is disengaged than when the clutch is engaged.

5. The control device for an AC rotating electric machine according to any one of claims 1 to 4, wherein the vibration damping strength setting unit changes the setting parameter based on a monitoring corresponding frequency, which is the frequency of the rotational speed of the AC rotating electric machine corresponding to the monitoring frequency of the rotational speed fluctuation of the other device monitored in the abnormal occurrence determination, and the resonance frequency of the shaft torsional vibration.

6. The control device for an AC rotating electric machine according to claim 5, wherein the vibration damping intensity setting unit changes the setting parameters such that the intensity of the vibration damping correction decreases as the monitoring frequency approaches the resonance frequency.

7. The control device for an AC rotating electric machine according to claim 5 or 6, wherein the vibration damping intensity setting unit calculates the monitoring frequency based on the rotational speed of the AC rotating electric machine.

8. A control device for an AC rotating electric machine according to claim 5 or 6, wherein a transmission device that changes the gear ratio is interposed in the connecting path between the rotating shaft of the other device and the rotating shaft of the AC rotating electric machine, and the vibration damping intensity setting unit calculates the monitoring frequency based on the rotational speed of the other device and the gear ratio of the transmission device.

9. The control device for an AC rotating electric machine according to any one of claims 1 to 4, wherein the vibration damping intensity setting unit changes the setting parameters so that the intensity of the vibration damping correction is lower than when the abnormality occurrence determination is not made.

10. The control device for an AC rotating electric machine according to any one of claims 1 to 9, wherein the vibration damping strength setting unit changes the setting parameter to change the gain of the component of the resonance frequency of the axial torsional vibration in the transfer function of the vibration damping correction as the strength of the vibration damping correction.

11. The control device for an AC rotating electric machine according to any one of claims 1 to 10, wherein the vibration damping control unit has a bandstop filter in the calculation path of the torque command value after vibration damping correction that attenuates the component of the resonance frequency of the shaft torsional vibration, and the vibration damping strength setting unit changes the setting parameter of the bandstop filter so as the strength of the vibration damping correction that changes the attenuation strength of the component of the resonance frequency of the shaft torsional vibration in the bandstop filter.

12. The control device for an AC rotating electric machine according to claim 11, wherein the vibration damping control unit performs the band stop filter on the rotational speed of the AC rotating electric machine and calculates the torque command value after vibration damping correction based on the rotational speed after filtering.

13. The control device for an AC rotating electric machine according to claim 11, wherein the vibration control unit filters the rotational speed of the AC rotating electric machine to extract the vibration component of the rotational speed, performs feedback control calculation and the bandstop filter on the deviation between the vibration component of the rotational speed and the vibration component of the target speed to calculate a feedback torque command value, and calculates the torque command value after vibration correction based on the feedback torque command value.

14. A control system comprising: a control device for the AC rotating electric machine according to any one of claims 1 to 13; and a control device for the other device that controls the other device, wherein the control device for the other device includes an abnormality determination unit that performs the abnormality determination based on the rotational speed fluctuation of the monitoring frequency of the other device.

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