JP2018019525A - Controller for rotary electric machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller for a rotary electric machine, capable of reducing noise generated due to switching operation.SOLUTION: A controller is applied to a system comprising: a rotary electric machine including two winding groups wound around a stator; and a first and second inverters including a switch. The controller sets operation modes for switches constituting the first and second inverters so that for each first electric angle period of the rotary electric machine, the number of times of switching of a switch of the first inverter differs from that of the second inverter. The controller, on the basis of the set operation modes, operates the switches constituting the first and second inverters.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a control device that is applied to a system including a multi-winding rotating electrical machine having a plurality of winding groups wound around a stator and controls the rotating electrical machine.

  As this type of control device, as can be seen in the following Patent Document 1, a control device that is applied to a system including a rotating electrical machine having two winding groups wound around a stator is known. In this system, inverters are individually provided for the two winding groups.

Japanese Patent No. 5397785

  When the switch constituting each inverter is switched, noise is generated along with the switching operation. Here, when the switches constituting each inverter are switched at the same switching frequency, there is a concern that noise at a frequency corresponding to the switching frequency increases.

  The main object of the present invention is to provide a control device for a rotating electrical machine that can reduce noise generated by a switching operation.

  Hereinafter, means for solving the above-described problems and the operation and effects thereof will be described.

  1st invention has the multiple winding rotary electric machine (10) which has the some winding group (10A, 10B) wound by the stator (13), and a switch (SUp1-SWn1, SUp2-SWn2). And a power converter (30A, 30B) that is individually provided corresponding to each of the plurality of winding groups and transmits power to and from the corresponding winding group by a switching operation of the switch; It is applied to a system comprising 1st invention sets the operation mode of the said switch which comprises each said power converter so that the frequency | count of switching of the said switch per electrical angle period of the said rotary electric machine may mutually differ in each said power converter. A setting unit (60); and an operation unit (60) for operating the switch constituting each power converter based on the operation mode set by the setting unit.

  The system to which the first invention is applied includes a power converter having a switch and provided individually corresponding to each of a plurality of winding groups. Each power converter performs power transmission with a winding group corresponding to itself by switching operation of the switch. And in 1st invention, the operation mode of the switch which comprises each power converter is set so that the frequency | count of switching of the switch per electrical angle period of a rotary electric machine may mutually differ in each power converter. And the switch which comprises each power converter is operated based on the set operation mode. By making the switching frequency of each power converter different, it is possible to disperse the spectrum of noise generated by switching. Thereby, the noise which generate | occur | produces with switching operation can be reduced.

  In the second invention, each power converter includes, as the switches, an upper arm switch (SUp1, SVp1, SWp1, SUp2, SVp2, SWp2), and a lower arm switch (SUn1, SWn2) connected in series to the upper arm switch. SVn1, SWn1, SUn2, SVn2, SWn2), and a DC power source (40) is connected in parallel to the series connection body of the upper arm switch and the lower arm switch, and the power converter and the When the peak value of the command voltage with respect to the winding group is equal to or less than the voltage of the DC power source, the sine is based on the magnitude comparison between the modulation signal, which is either the command voltage or its correlation value, and the carrier signal The operation mode of the upper arm switch and the lower arm switch determined by the wave PWM processing is a sine wave operation mode. When the peak value of the command voltage exceeds the voltage of the DC power supply, the operation modes of the upper arm switch and the lower arm switch that are determined by overmodulation PWM processing based on the magnitude comparison between the modulation signal and the carrier signal are It is an overmodulation operation mode, and among the power converters, at least one power converter is a first device (30A), and the remaining power converter is a second device (30B), The setting unit sets an operation mode of the upper arm switch and the lower arm switch configuring the first device to the sine wave operation mode, and the upper arm switch configuring the second device and the The operation mode of the lower arm switch is set to the overmodulation operation mode.

  The switching frequency in the overmodulation operation mode is smaller than the switching frequency in the sine wave operation mode. In view of this point, in the second invention, the operation mode of the upper and lower arm switches constituting the first device is set to the sine wave operation mode, and the operation of the upper and lower arm switches constituting the second device. The mode is set to the overmodulation operation mode. Thereby, compared with the case where the operation mode of the switch which comprises both the 1st and 2nd apparatus is set to a sine wave operation mode, the frequency | count of switching can be reduced. Therefore, it is possible to reduce noise generated due to the switching operation of the switches constituting the first and second devices.

  According to a third aspect of the present invention, when the rotating electrical machine is driven as a generator, the first voltage for controlling the DC voltage output from the first device and the second device to the DC power source to the target voltage. Based on the d and q axis voltages calculated by the voltage calculation unit (60) for calculating the d and q axis voltages in the device and the second device, respectively, the modulation signal in the first device is calculated. A first modulation calculating section (60) for calculating; a first operation setting section (60) for setting the sine wave operation mode based on the modulation signal calculated by the first modulation calculating section; and the voltage calculation. A d-axis increasing unit (60) that increases only the absolute value of the d-axis voltage among the d and q-axis voltages calculated by the unit, a q-axis voltage calculated by the voltage calculating unit, and an increase by the d-axis increasing unit D-axis And setting the overmodulation operation mode based on the modulation signal calculated by the second modulation calculation unit and the second modulation calculation unit (60) for calculating the modulation signal in the second device A second operation setting unit (60), wherein the setting unit sets operation modes of the upper arm switch and the lower arm switch constituting the first device by the first operation setting unit. The sine wave operation mode is set, and the operation modes of the upper arm switch and the lower arm switch constituting the second device are set to the overmodulation operation mode set by the second operation setting unit. To do.

  In the third aspect of the invention, when the rotating electrical machine is driven as a generator, each of the first and second devices for controlling the DC voltage output from the first and second devices to the DC power source to the target voltage. The corresponding d and q axis voltages are calculated by the voltage calculation unit. Then, a modulation signal in the first device is calculated based on the calculated d and q-axis voltages, and a sine wave operation mode used in the setting unit is set based on the calculated modulation signal.

  On the other hand, only the absolute value of the d-axis voltage among the d and q-axis voltages calculated by the voltage calculation unit is increased by the d-axis increase unit. Then, a modulation signal in the second device is calculated based on the q-axis voltage calculated by the voltage calculation unit and the d-axis voltage increased by the d-axis increase unit, and the setting is performed based on the calculated modulation signal. The overmodulation operation mode used in the unit is set.

  In the third invention, the amplitude of the modulation signal in the second device is increased by increasing the d-axis voltage, and the overmodulation operation mode is set. At this time, even if the d-axis voltage is increased, the reactive power only increases. For this reason, the influence which the increase in d-axis voltage has on the output voltage from the second device to the DC power supply can be suppressed, and the deviation between the output voltage and the target voltage can be suppressed. Thus, in the third invention, an overmodulation operation mode for dispersing the noise spectrum can be set by suppressing the influence on the output voltage by a simple method of increasing the d-axis voltage.

  In the fourth invention, each power converter includes, as the switch, an upper arm switch (Sup1, SVp1, SWp1, SUp2, SVp2, SWp2), and a lower arm switch (SUn1, SWn2) connected in series to the upper arm switch. SVn1, SWn1, SUn2, SVn2, SWn2), and a DC power source (40) is connected in parallel to the series connection body of the upper arm switch and the lower arm switch, and the power converter and the When the peak value of the command voltage with respect to the winding group is equal to or less than the voltage of the DC power source, the sine is based on the magnitude comparison between the modulation signal, which is either the command voltage or its correlation value, and the carrier signal The operation mode of the upper arm switch and the lower arm switch determined by the wave PWM processing is a sine wave operation mode. An operation mode in which the ON operation period of the upper arm switch and the ON operation period of the lower arm switch are performed once in one electrical angle cycle of the rotating electrical machine is a rectangular wave operation mode, and each power Among the converters, at least one power converter is a first device (30A), the remaining power converter is a second device (30B), and the setting unit constitutes the first device. The operation mode of the upper arm switch and the lower arm switch is set to the rectangular wave operation mode, and the operation mode of the upper arm switch and the lower arm switch constituting the second device is the sine wave operation mode. Set to.

  The switching frequency in the rectangular wave operation mode is sufficiently smaller than the switching frequency in the sine wave operation mode. In view of this point, in the fourth invention, the operation mode of the upper and lower arm switches constituting the first device is set to the rectangular wave operation mode, and the operation of the upper and lower arm switches constituting the second device. The mode is set to the sine wave operation mode. Thereby, compared with the case where the operation mode of the switch which comprises both the 1st and 2nd apparatus is set to a sine wave operation mode, the frequency | count of switching can be reduced. Therefore, it is possible to reduce noise generated due to the switching operation of the switches constituting the first and second devices.

  5th invention is a voltage for controlling the DC voltage output from the said 1st apparatus to the said DC power supply to the target voltage, when driving the said rotary electric machine as a generator, Comprising: Said 1st apparatus And a phase calculation unit (60) for calculating a phase of a rectangular wave voltage applied to the winding group corresponding to the phase, and the modulation signal in the first device is calculated based on the phase calculated by the phase calculation unit. A modulation calculation unit (60); and an operation setting unit (60) for setting the rectangular wave operation mode used in the setting unit based on the modulation signal calculated by the modulation calculation unit.

  In order to reduce noise, when the operation mode of the switch configuring the first device is set to the rectangular wave operation mode and the operation mode of the switch configuring the second device is set to the sine wave operation mode, the first device The output voltage from DC to the DC power supply can deviate from the target voltage.

  Here, in the fifth aspect, the phase of the rectangular wave voltage for controlling the DC voltage output from the first device to the DC power supply to the target voltage is calculated. Then, a modulation signal in the first device is calculated based on the calculated phase, and a rectangular wave operation mode used in the setting unit is set based on the calculated modulation signal. According to this configuration, the difference between the output voltage and the target voltage can be obtained by utilizing the fact that the rotating electrical machine has a plurality of winding groups and a power converter is provided for each winding group. Can be brought close to 0 by adjusting the phase.

  In the sixth invention, at least one of the power converters is a first device (30A), and the remaining power converter is a second device (30B), and the setting unit If it is determined that the output required for the rotating electrical machine is less than a predetermined value, the number of switching times per electrical angle cycle of the rotating electrical machine of the switch constituting the first device, and the second device A switching operation mode of the switch constituting each of the first device and the second device is set so as to make a difference between the number of switching times per electrical angle period of the rotating electrical machine of the rotating electrical machine, and the rotating electrical machine If it is determined that the output required for the switch is greater than or equal to the predetermined value, the second device is configured while setting the switching operation mode of the switch that configures the first device. To stop the switching operation of the serial switch.

  When the output required for the rotating electrical machine is small, it is considered that the actual output of the rotating electrical machine is not insufficient with respect to the required output even if the driving operation of one of the first device and the second device is stopped. .

  Accordingly, in the sixth aspect of the invention, when it is determined that the output required for the rotating electrical machine is less than the predetermined value, the number of switchings per electrical angle cycle of the rotating electrical machine of the switch constituting the first device, and the second device The switching operation mode of the switches constituting each of the first and second devices is set so that the number of switching times per electrical angle cycle of the rotating electrical machine of the rotating electrical machine is different. On the other hand, when it is determined that the output required for the rotating electrical machine is equal to or greater than the predetermined value, the switching operation mode of the switch configuring the first device is set, and the switching operation of the switch configuring the second device is stopped. The Since the switching operation is stopped, the number of times of switching in the second device can be reduced to zero, and noise generated with the switching operation can be reduced.

The whole block diagram of the control system of the rotary electric machine which concerns on 1st Embodiment. The block diagram which shows the process of a control apparatus. The figure which shows a voltage vector. The time chart which shows transition of a carrier signal and a PWM signal. The figure which shows the noise reduction effect. The block diagram which shows the process of the control apparatus which concerns on 2nd Embodiment. The figure which shows the voltage vector at the time of increasing d-axis voltage. The time chart which shows transition of a carrier signal and a PWM signal. The figure which shows the noise reduction effect. The flowchart which shows the process sequence of the control apparatus which concerns on 3rd Embodiment. The time chart which shows transition of a PWM signal. The figure which shows the noise reduction effect. The figure which shows the noise reduction effect which concerns on 4th Embodiment. The block diagram which shows the process of the control apparatus which concerns on 5th Embodiment. The time chart which shows transition of a carrier signal and a PWM signal. The figure which shows the noise reduction effect.

(First embodiment)
Hereinafter, a first embodiment in which a control device according to the present invention is applied to a vehicle including an engine as an in-vehicle main machine will be described with reference to the drawings.

  As shown in FIG. 1, the rotating electrical machine 10 has a multi-phase multiple winding, and is a synchronous machine having a three-phase double winding in the present embodiment. In this embodiment, the rotating electrical machine 10 is an ISG (Integrated Starter Generator) that integrates the functions of a starter and an alternator, that is, an electric motor and a generator.

  A rotor 12 constituting the rotating electrical machine 10 includes a field winding 11. The rotor 12 can transmit power to the output shaft 20 a of the engine 20. When the rotating electrical machine 10 functions as a starter, the rotating electrical machine 10 applies initial rotation to the output shaft 20 a in order to start the engine 20.

  A first winding group 10A and a second winding group 10B that is electrically insulated from the first winding group 10A are wound around the stator 13 constituting the rotating electrical machine. The rotor 12 is made common to the first and second winding groups 10A and 10B. Each of the first and second winding groups 10A and 10B includes three-phase windings having different neutral points. The first winding group 10A has U, V, and W-phase windings UA, VA, WA that are shifted by 120 ° in electrical angle, and the second winding group 10B is U, V that is shifted by 120 ° in electrical angle. , W-phase windings UB, VB, WB. In the present embodiment, the spatial phase difference between the first winding group 10A and the second winding group 10B is set to 0 ° in electrical angle. That is, the angle formed by the U-phase winding UA of the first winding group 10A and the U-phase winding UB of the second winding group 10B is set to 0 ° in electrical angle. In the present embodiment, the first winding group 10A and the second winding group 10B have the same configuration. Specifically, the number of turns of each of the U, V, W phase windings UA, VA, WA constituting the first winding group 10A and the U, V, W phase windings UB constituting the second winding group 10B. , VB, WB are set equal to the number of turns.

  The rotary electric machine 10 is electrically connected to first and second inverters 30A and 30B corresponding to the first and second winding groups 10A and 10B. The first inverter 30A includes a series connection body of first U, V, W-phase upper arm switches SUp1, SVp1, SWp1 and first U, V, W-phase lower arm switches SUn1, SVn1, SWn1. U, V, and W phase windings UA, VA, and WA constituting the first winding group 10A are connected to connection points of the series connection bodies in the U, V, and W phases. In the present embodiment, N-channel MOSFETs are used as the switches SUp1 to SWn1. The body diodes DUp1, DUn1, DVp1, DVn1, DWp1, DWn1 are connected in antiparallel to the switches SUp1, SUn1, SVp1, SVn1, SWp1, SWn1. The switches SUp1 to SWn1 are not limited to MOSFETs but may be IGBTs, for example.

  Similarly to the first inverter 30A, the second inverter 30B is connected in series with the second U, V, W phase upper arm switches SUp2, SVp2, SWp2 and the second U, V, W phase lower arm switches SUn2, SVn2, SWn2. Has a body. U, V, and W phase windings UB, VB, and WB constituting the second winding group 10B are connected to connection points of the series connection bodies in the U, V, and W phases. In the present embodiment, N-channel MOSFETs are used as the switches SUp2 to SWn2. The body diodes DUp2, DUn2, DVp2, DVn2, DWp2, and DWn2 are connected in antiparallel to the switches SUp2, SUn2, SVp2, SVn2, SWp2, and SWn2. The switches SUp2 to SWn2 are not limited to MOSFETs but may be IGBTs, for example.

  Connected to the collectors of the upper arm switches of the first and second inverters 30A and 30B is a positive terminal of a battery 40 that is a DC power source. The negative terminal of the battery 40 is connected to the emitters of the lower arm switches of the first and second inverters 30A and 30B. The output voltage of the battery 40 is, for example, 12V. Note that a capacitor 41 and an electric load 42 are connected to the battery 40 in parallel. The electric load 42 includes, for example, a headlight.

  The control system according to the present embodiment includes a voltage detection unit 50, a rotation angle detection unit 51, a field current detection unit 52, a first current detection unit 53A, and a second current detection unit 53B. Voltage detector 50 detects the terminal voltage of battery 40 as power supply voltage VDC. The rotation angle detection unit 51 detects the electrical angle of the rotating electrical machine 10. The field current detector 52 detects a field current flowing through the field winding 11. The first current detector 53A detects the phase currents Iu1, Iv1, and Iw1 that flow through the U, V, and W phase windings UA, VA, and WA constituting the first winding group 10A. The second current detection unit 53B detects the phase currents Iu2, Iv2, and Iw2 flowing through the U, V, and W phase windings UB, VB, and WB constituting the second winding group 10B. For example, a resolver can be used as the rotation angle detection unit 51. Moreover, as the field current detection part 52, what is provided with a current transformer and a resistor can be used, for example. Furthermore, as each current detection part 53A, 53B, what is equipped with a resistor and a Hall element can be used, for example.

  The detection values of the various detection units are taken into a control device 60 mainly composed of a microcomputer. The control device 60 includes a CPU and a memory, and the CPU stores a program stored in the memory. In the present embodiment, the control device 60 includes a “setting unit” and an “operation unit”.

  In this embodiment, when driving the rotary electric machine 10 as an electric motor, the control device 60 operates the first and second inverters 30A and 30B to control the control amount of the rotary electric machine 10 to the target value. The control amount is, for example, output torque. Specifically, the control device 60 converts the DC voltage output from the battery 40 into an AC voltage and supplies it to the first and second winding groups 10A and 10B based on the detection values of the detection units 50 to 52. Thus, an operation signal for turning on / off each switch of the first inverter 30A and the second inverter 30B is generated. In FIG. 1, signals for operating the switches SUp1, SUn1, SVp1, SVn1, SWp1, SWn1 of the first inverter 30A are shown as first operation signals gUp1, gUn1, gVp1, gVn1, gWp1, gWn1, and the second inverter 30B. Signals for operating the switches SUp2, SUn2, SVp2, SVn2, SWp2, and SWn2 are shown as second operation signals gUp2, gUn2, gVp2, gVn2, gWp2, and gWn2.

  On the other hand, when driving the rotary electric machine 10 as a generator, the control device 60 operates the first and second inverters 30A and 30B to control the power supply voltage VDC detected by the voltage detection unit 50 to the target voltage Vtgt. . Specifically, the control device 60 converts each AC voltage output from the first and second winding groups 10 </ b> A and 10 </ b> B with the rotation of the rotor 12 into a DC voltage and supplies the DC voltage to the battery 40. Based on the detected values of .about.52, the first operation signals gUp1, gUn1, gVp1, gVn1, gWp1, gWn1 and the second operation signals gUp2, gUn2, gVp2, gVn2, gWp2, gWn2 are generated.

  In the present embodiment, each operation signal is a binary signal that takes either H or L. In the present embodiment, H instructs to turn on the upper arm switch and instructs to turn off the lower arm switch. Further, L instructs to turn off the upper arm switch, and instructs to turn on the lower arm switch.

  The power generation control of the rotating electrical machine 10 executed by the control device 60 will be described with reference to FIG.

  The voltage deviation calculation unit 60a calculates the voltage deviation ΔV by subtracting the power supply voltage VDC from the target voltage Vtgt. For example, the target voltage Vtgt may be set to a fixed value or may be variably set. When the target voltage Vtgt is variably set, for example, when the target output power Wtgt of the rotating electrical machine 10 is large, the target voltage Vtgt may be set higher than when the target output power Wtgt is small. The target output power Wtgt is determined by, for example, the driving state of the electric load 42 and the amount of power stored in the battery 40 such as SOC.

  The speed calculation unit 60 b calculates the electrical angular speed ωe (rotational speed) of the rotating electrical machine 10 based on the electrical angle θe detected by the rotation angle detection unit 51.

  The command value calculation unit 60c calculates each command value for realizing the target voltage Vtgt based on the voltage deviation Δ and the electrical angular velocity ωe. Specifically, the command value calculation unit 60c includes the first d and q-axis command currents Id1tgt and Iq1tgt that flow through the first winding group 10A, and the second d and q-axis command currents Id2tgt and Iq2tgt that flow through the second winding group 10B. And a target field current Ifgtt to be passed through the field winding 11 is calculated. Incidentally, the command currents Id1tgt, Iq1tgt, Id2tgt, and Iq2tgt may be calculated using, for example, map information in which the command currents Id1tgt to Iq2tgt are defined in relation to the voltage deviation ΔV and the electrical angular velocity ωe. Further, the target field current Ifgtt may be calculated using, for example, map information in which the target field current Ifgtt is defined in relation to the voltage deviation ΔV and the electrical angular velocity ωe.

  Note that the first d-axis command current Id1tgt and the second d-axis command current Id2tgt may be set to the same value or different values. Further, the first q-axis command current Iq1tgt and the second q-axis command current Iq2tgt may be set to the same value or different values.

  Based on the phase currents Iu1, Iv1, Iw1 and the electrical angle θe detected by the first current detection unit 53A, the first current conversion unit 61a is configured to output each phase current Iu1, in the three-phase fixed coordinate system of the rotating electrical machine 10. Iv1 and Iw1 are converted into first d and q axis currents Id1r and Iq1r in a dq coordinate system which is a two-phase rotational coordinate system.

  The first current deviation calculation unit 61b calculates the first d-axis current deviation ΔId1 by subtracting the first d-axis current Id1r from the first d-axis command current Id1tgt. The first current deviation calculation unit 61b calculates the first q-axis current deviation ΔIq1 by subtracting the first q-axis current Iq1r from the first q-axis command current Iq1tgt.

  The first command voltage calculation unit 61c is requested to feedback-control the first d and q axis currents Id1r and Iq1r to the first d and q axis command currents Id1tgt and Iq1tgt based on the first d and q axis current deviations ΔId1 and ΔIq1. First d- and q-axis voltages Vd1, Vq1 corresponding to the first winding group 10A are calculated. As shown in FIG. 3, the first d and q-axis voltages Vd1 and Vq1 are d and q-axis components of the first voltage vector Vn1. In the present embodiment, the first voltage phase δ1 when the first voltage vector Vn1 rotates counterclockwise with the positive d axis in the dq coordinate system of the rotating electrical machine 10 as a reference is defined as a positive value. Incidentally, the first d and q-axis voltages Vd1 and Vq1 may be calculated using, for example, map information related to the voltage deviation ΔV and defining the first d and q-axis voltages Vd1 and Vq1. For example, proportional-integral control may be used as feedback control in the first command voltage calculation unit 61c.

  The first converter 61d converts the first d and q-axis voltages Vd1 and Vq1 into the first U, V, and W phase modulation signals VU1, in the three-phase fixed coordinate system of the rotating electrical machine 10, based on the electrical angle θe and the power supply voltage VDC. Convert to VV1 and VW1. Specifically, first, the first converter 61d outputs U, V, W phase command voltages VU * 1, VV * 1, output from the U, V, W phase windings UA, VA, WA to the first inverter 30A. VW * 1 is calculated. In the present embodiment, the first U, V, and W phase command voltages VU * 1, VV * 1, and VW * 1 are sinusoidal signals having a median value of 0 and phases shifted from each other by 120 ° in electrical angle. . The first converter 61d generates signals “VU * 1 / VDC, VV * 1 / VDC, VW obtained by normalizing the first U, V, and W phase command voltages VU * 1, VV * 1, and VW * 1 with the power supply voltage VDC. As 1 / VDC, first U, V, W phase modulation signals VU1, VV1, VW1 are calculated. Therefore, the first U, V, and W phase modulation signals VU1, VV1, and VW1 are sinusoidal signals that have a median value of 0 and are out of phase with each other by 120 ° in electrical angle. In the present embodiment, the modulation signal corresponds to the correlation value of the command voltage.

  The first PWM generation unit 61e performs the first operation signals gUp1, gUn1, gVp1, gVn1, gWp1 by PWM processing based on the magnitude comparison between the first U, V, W phase modulation signals VU1, VV1, VW1 and the first carrier signal Sig1. , GWn1 are generated and output as first U, V, W phase PWM signals GU1, GV1, GW1. In the present embodiment, a triangular wave signal having a median value of 0 is used as the first carrier signal Sig1.

  For example, the first PWM generation unit 61e will be described using the U phase as an example. As shown in FIGS. 4A and 4B, the first U phase modulation signal VU1 exceeds the first carrier signal Sig1, as shown in FIGS. When the PWM signal GU1 is H and the first U-phase modulation signal VU1 is equal to or lower than the first carrier signal Sig1, the first U-phase PWM signal GU1 is L. Further, in the present embodiment, the first PWM generation unit 61e includes the first U, V, W phase PWM signals GU1, GV1, over the period when the first U, V, W phase modulation signals VU1, VV1, VW1 are 0 or less. Let GW1 be L.

  The first operation signal generation unit 61f generates a logical inversion signal of the first U, V, and W phase PWM signals GU1, GV1, and GW1. The first operation signal generation unit 61f delays the switching timing of the first U, V, and W phase PWM signals GU1, GV1, and GW1 from L to H by a dead time, whereby the first operation signal gUp1, gVp1 and gWp1 are generated. The first operation signal generation unit 61f generates the first operation signals gUn1, gVn1, and gWn1 on the lower arm side by delaying the switching timing of the logic inversion signal from L to H by the dead time. Thereby, the operation mode of each switch constituting the first inverter 30A is a sine wave operation mode when the peak value of the command voltage is equal to or lower than the power supply voltage VDC.

  The second current conversion unit 62a converts the phase currents Iu2, Iv2, Iw2 in the three-phase fixed coordinate system based on the phase currents Iu2, Iv2, Iw2 and the electrical angle θe detected by the second current detection unit 53B. , Dq coordinate system to second d, q axis currents Id2r, Iq2r.

  The second current deviation calculator 62b calculates a second d-axis current deviation ΔId2 by subtracting the second d-axis current Id2r from the second d-axis command current Id2tgt. The second current deviation calculator 62b calculates the second q-axis current deviation ΔIq2 by subtracting the second q-axis current Iq2r from the second q-axis command current Iq2tgt.

  The second command voltage calculation unit 62c is required to control the second d and q axis currents Id2r and Iq2r to the second d and q axis command currents Id2tgt and Iq2tgt based on the second d and q axis current deviations ΔId2 and ΔIq2. The second d- and q-axis voltages Vd2 and Vq2 corresponding to the second winding group 10B are calculated. The second d and q axis voltages Vd2 and Vq2 are d and q axis components of the second voltage vector Vn2. In the present embodiment, similarly to the first voltage vector Vn1, the second voltage phase δ2 when the second voltage vector Vn2 rotates counterclockwise with reference to the positive d axis in the dq coordinate system of the rotating electrical machine 10 is determined. Define with a positive value. Incidentally, the second d and q-axis voltages Vd2 and Vq2 may be calculated using, for example, map information related to the voltage deviation ΔV and defining the second d and q-axis voltages Vd2 and Vq2. For example, proportional-integral control may be used as feedback control in the second command voltage calculation unit 62c.

  The second converter 62d converts the second d and q-axis voltages Vd2 and Vq2 into the second U, V, and W phase modulation signals VU2, VV2, and VW2 in the three-phase fixed coordinate system based on the electrical angle θe and the power supply voltage VDC. Convert. The second U, V, and W phase modulation signals VU2, VV2, and VW2 are sinusoidal signals having a median value of 0 and having phases shifted from each other by 120 ° in electrical angle. In the present embodiment, the second U, V, and W phase modulation signals VU2, VV2, and VW2 have the same amplitude and frequency as those of the first U, V, and W phase modulation signals VU1, VV1, and VW1. Yes.

  The second PWM generator 62e generates second operation signals gUp2, gUn2, gVp2, gVn2, and gWp2 through PWM processing based on the magnitude comparison between the second U, V, and W phase modulation signals VU2, VV2, and VW2 and the second carrier signal Sig2. , GWn2 are generated and output as second U, V, W phase PWM signals GU2, GV2, GW2. In the present embodiment, a triangular wave signal having a median value of 0 is used as the second carrier signal Sig2. In the present embodiment, the amplitude of the second carrier signal Sig2 and the amplitude of the first carrier signal Sig1 are the same.

  For example, the second PWM generation unit 62e will be described by taking the U phase as an example. As shown in FIGS. 4C and 4D, when the second U phase modulation signal VU2 exceeds the second carrier signal Sig2, the second U phase When the PWM signal GU2 is H and the second U-phase modulation signal VU2 is equal to or lower than the second carrier signal Sig2, the second U-phase PWM signal GU2 is set to L. Further, in the present embodiment, the second PWM generator 62e includes the second U, V, and W phase PWM signals GU2, GV2, over the period when the second U, V, and W phase modulation signals VU2, VV2, and VW2 are 0 or less. Let GW2 be L.

  The second operation signal generation unit 62f generates a logic inversion signal of the second U, V, W phase PWM signals GU2, GV2, GW2. The second operation signal generator 62f delays the switching timing of the second U, V, and W phase PWM signals GU2, GV2, and GW2 from L to H by a dead time, so that the second operation signal gUp2, gVp2 and gWp2 are generated. The second operation signal generation unit 62f generates the second operation signals gUn2, gVn2, and gWn2 on the lower arm side by delaying the switching timing of the logic inversion signal from L to H by the dead time. Thereby, the operation mode of each switch which comprises the 2nd inverter 30B is made into a sine wave operation mode.

  Current deviation calculation unit 63a calculates current deviation ΔIf by subtracting field current Ifr detected by field current detection unit 52 from target field current Iftgt.

  The field calculation unit 63b applies to the field winding 11 a voltage Vf for controlling the field current Ifr flowing in the field winding 11 to the target field current Iftgt based on the current deviation ΔIf.

  In the present embodiment, as shown in FIG. 4, the first carrier frequency fc1 that is the frequency of the first carrier signal Sig1 is set higher than the second carrier frequency fc2 that is the frequency of the second carrier signal Sig2. Thereby, the frequency | count of switching in 1 electrical angle cycle (360 degrees) of 1st inverter 30A becomes larger than the frequency | count of switching in 1 electrical angle cycle of 2nd inverter 30B. FIG. 4 shows the transition of each waveform for the U phase only. Further, the modulation method in the inverter is not limited to the two-phase modulation shown in FIG. 4 and may be three-phase modulation.

  As shown in FIG. 5, the lower the carrier frequency fcL, the lower the noise level at each frequency tends to be lower than the higher carrier frequency fcH. For this reason, by making the first carrier frequency fc1 and the second carrier frequency fc2 different in the sine wave PWM control, the spectrum of noise generated due to the switching of the switches constituting the inverters 30A and 30B can be dispersed. Noise includes radiation and conduction noise. Since the spectrum can be dispersed, noise generated by the switching operation can be reduced.

  Further, according to the present embodiment, noise can be reduced with a simple configuration in which carrier frequencies in the first and second inverters 30A and 30B are made different.

(Second Embodiment)
Hereinafter, the second embodiment will be described with reference to the drawings with a focus on differences from the first embodiment. In the present embodiment, the first inverter 30A is driven by sinusoidal PWM control, and the second inverter 30B is driven by overmodulation PWM control.

  FIG. 6 shows a block diagram of processing of the control device 60 according to the present embodiment. In FIG. 6, the same components as those shown in FIG. 2 are given the same reference numerals for the sake of convenience.

  As illustrated, the second d-axis voltage Vd2 calculated by the second command voltage calculation unit 62c is input to the Vd increase unit 64. As illustrated in FIG. 7, the Vd increasing unit 64 increases and corrects the absolute value of the second d-axis voltage Vd2 and outputs it as a corrected d-axis voltage Vdr. Specifically, for example, the Vd increasing unit 64 calculates the corrected d-axis voltage Vdr by multiplying the second d-axis voltage Vd2 by a predetermined coefficient. In FIG. 7, the second voltage vector after increasing the second d-axis voltage Vd2 is shown as Vnr.

  Returning to the description of FIG. 6, the corrected d-axis voltage Vdr and the second q-axis voltage Vq2 are input to the second conversion unit 62d. The second converter 62d converts the corrected d-axis voltage Vdr and the second q-axis voltage Vq2 into the second U, V, and W phase modulation signals VU2, VV2, and the like in the three-phase fixed coordinate system based on the electrical angle θe and the power supply voltage VDC. Convert to VW2. The amplitudes of the second U, V, and W phase modulation signals VU2, VV2, and VW2 are larger than the amplitudes of the first U, V, and W phase modulation signals VU1, VV1, and VW1, and the amplitude of the second carrier signal Sig2. In the present embodiment, the amplitude and frequency of the second carrier signal Sig2 are the same as the amplitude and frequency of the first carrier signal Sig1.

  The second operation signal is generated by the second operation signal generation unit 62f, so that the operation mode of each switch constituting the second inverter 30B is overmodulated when the peak value of the command voltage exceeds the power supply voltage VDC. The operation mode is used. Further, in the present embodiment, the control device 60 performs the “voltage calculation unit”, “first modulation calculation unit”, “first operation setting unit”, “d-axis increase unit”, “second modulation calculation unit”, and “second modulation unit”. Operation setting part "is included. Incidentally, the Vd increasing unit 64 may be included in the command value calculating unit 60c.

  Explaining by taking the U phase as an example, as shown in FIG. 8, the second U phase PWM signal GU2 is generated by overmodulation PWM control. For this reason, the frequency | count of switching in one electrical angle cycle of the switch which comprises the 2nd inverter 30B can be made sufficiently smaller than the frequency | count of switching in 1 electrical angle cycle of the switch which comprises the 1st inverter 30A. As a result, as shown in FIG. 9, the noise level can be reduced from the noise level of the related art. The related technology is a configuration in which the first carrier frequency fc1 and the second carrier frequency fc2 are the same in the configuration shown in FIG. 2 of the first embodiment.

(Third embodiment)
Hereinafter, the third embodiment will be described with reference to the drawings with a focus on differences from the first embodiment. In the present embodiment, when the target output power Wtgt of the rotating electrical machine 10 is less than the predetermined power Wth, the switching operation of the switch constituting the second inverter 30B is stopped. In the present embodiment, the target output power Wtgt corresponds to the output required for the rotating electrical machine 10. In the present embodiment, the first carrier frequency fc1 and the second carrier frequency fc2 are the same.

  FIG. 10 shows the procedure of the driving operation stop process according to the present embodiment. This process is repeatedly executed by the second PWM generator 62e, for example, every predetermined period.

  In this series of processing, first, in step S10, the target output power Wtgt to be generated by the rotating electrical machine 10 is acquired. In a succeeding step S11, it is determined whether or not the acquired target output power Wtgt is less than a predetermined power Wth.

  If it is determined in step S11 that the target output power Wtgt is greater than or equal to the predetermined power Wth, the process proceeds to step S12, and as described in the first embodiment, the second PWM generation unit 62e causes the second U, V, and W phases. PWM signals GU2, GV2, and GW3 are generated. Thereby, the switching operation of the switch constituting the second inverter 30B is continued. FIGS. 11A1 and 11A2 show transitions of the first U-phase PWM signal GU1 and the second U-phase PWM signal GU2 when it is determined that the target output power Wtgt is equal to or greater than the predetermined power Wth.

  On the other hand, when it determines with target output electric power Wtgt being less than predetermined electric power Wth in step S11, it progresses to step S13 and stops switching operation of the switch which comprises the 2nd inverter 30B. FIGS. 11B1 and 11B2 show transitions of the first U-phase PWM signal GU1 and the second U-phase PWM signal GU2 when it is determined that the target output power Wtgt is less than the predetermined power Wth. As a result, the upper arm switches SUp2 to SWp2 constituting the second inverter 30B are turned off, and the lower arm switches SUn2 to SWn2 are turned on.

  In step S13, both the upper arm switches SUp2 to SWp2 and the lower arm switches SUn2 to SWn2 constituting the second inverter 30B may be turned off. In step S13, processing for instructing the processing units 62a to 62d to stop the processing may be performed.

  According to the present embodiment described above, when it is determined that the target output power Wtgt is less than the predetermined power Wth, the switching operation of the switch configuring the second inverter 30B is stopped, and the switching in the second inverter 30B is performed. The number of times was set to zero. For this reason, the frequency | count of switching in 1st, 2nd inverter 30A, 30B becomes a half before stopping switching operation, and as shown in FIG. 12, a noise level can be reduced rather than the noise level of related technology.

(Fourth embodiment)
Hereinafter, the fourth embodiment will be described with reference to the drawings with a focus on differences from the third embodiment. In the present embodiment, the first inverter 30A is driven by overmodulation PWM control as shown in FIGS. 8C and 8D in place of the sine wave PWM control. Thereby, as shown in FIG. 13, the number of times of switching can be reduced, and the noise level can be reduced more than the noise level of the third embodiment.

(Fifth embodiment)
Hereinafter, the fifth embodiment will be described with reference to the drawings with a focus on differences from the first embodiment. In the present embodiment, the first inverter 30A is driven by rectangular wave control instead of the sine wave PWM control.

  FIG. 14 shows a block diagram of processing of the control device 60 according to the present embodiment. In FIG. 14, the same components as those shown in FIG. 2 are given the same reference numerals for the sake of convenience.

  As illustrated, the command value calculation unit 60c calculates the first voltage phase δ1 for feedback control of the power supply voltage VDC to the target voltage Vtgt based on the voltage deviation ΔV and the electrical angular velocity ωe. Note that the first voltage phase δ1 may be calculated using, for example, map information in which the first voltage phase δ1 is defined in relation to the voltage deviation ΔV and the electrical angular velocity ωe.

  The rectangular wave generator 61g generates and outputs first U, V, and W phase PWM signals GU1, GV1, and GW1 as rectangular wave voltage signals based on the first voltage phase δ1 and the electrical angle θe. The U phase will be described as an example. As shown in FIG. 15A, in one electrical angle cycle, the first U phase PWM signal GU1 includes a period set to H and a period set to L once. . In this embodiment, the period set to H and the period set to L are set to an electrical angle half cycle (180 °). FIGS. 15B and 15C also show transitions of the signals Sig2, VU2, and GU2.

  By the rectangular wave control, the operation mode of each switch constituting the first inverter 30A is the rectangular wave operation mode when the peak value of the command voltage exceeds the power supply voltage VDC. Thereby, the switching frequency in the first inverter 30 </ b> A becomes the electrical angular frequency of the rotating electrical machine 10. In the present embodiment, the switching frequency in the first inverter 30A is about 1/10 of the switching frequency in the second inverter 30B.

  As a result, as shown in FIG. 16, the noise level can be reduced from the noise level of the related art.

(Other embodiments)
Each of the above embodiments may be modified as follows.

  In the fifth embodiment, the period in which the first U, V, and W phase PWM signals GU1, GV1, and GW1 are set to H and the period in which the first U, V, and GW1 are set to L is set to 180 °. An electrical angle range of less than may be set. Here, for example, when the angle is set to 120 °, the voltage utilization rate is lower than when the angle is set to 180 °. However, the power supply voltage VDC can be controlled to the target voltage Vtgt by adjusting the first voltage phase δ1.

  In the fourth embodiment, the first inverter 30A may be driven by rectangular wave control.

  In the second embodiment, only the second q-axis voltage Vq2 of the second d and q-axis voltages Vd2 and Vq2 may be increased, or both the second d and q-axis voltages Vd2 and Vq2 may be increased.

  The carrier signal is not limited to a triangular wave signal, and may be a sawtooth wave signal, for example.

  The modulation signal is not limited to a signal obtained by standardizing the command voltage with the power supply voltage, but may be the command voltage itself. In this case, for example, the first and second PWM generators 61e and 62e in FIG. 2 may variably set the amplitudes of the first and second carrier signals Sig1 and Sig2 according to the power supply voltage VDC.

  -Even when the rotating electrical machine 10 is driven as an electric motor, by using the same method as the method described in each of the above embodiments, the number of times of switching in each of the first and second inverters 30A and 30B is made different, and noise is reduced. A reduction effect can be obtained.

  In the third embodiment, when the rotating electrical machine 10 is driven as an electric motor, the control device 60 configures the second inverter 30B when determining that the target output torque of the rotating electrical machine 10 is less than a predetermined value. The switching operation of the switch may be stopped.

  The operation mode of the switch is not limited to that described in the above embodiments, and may be determined by a three-phase 180 ° energization method, for example. Hereinafter, this operation mode will be described.

  The operation mode defined by the three-phase 180 ° energization method is that the upper arm switch and the lower arm switch are alternately turned on at every electrical angle of 180 ° for each phase, and the upper arm switch is turned off. Is an operation mode in which each phase is shifted by 120 ° in electrical angle for each phase. This operation mode is used in each of the first inverter 30A and the second inverter 30B.

  Then, in either one of the first inverter 30A and the second inverter 30B, in order to adjust the generated power, the lower arm switch is turned on / off at a predetermined time ratio during the lower arm switch on operation period. According to this configuration, the number of times of switching can be made different in each of the first inverter 30A and the second inverter 30B. The energization method is not limited to the 180 ° energization method, and may be a 120 ° energization method, for example.

  -You may remove the rotation angle detection part 51 from a control system, and may use the electrical angle (theta) e acquired by position sensorless control of the rotary electric machine 10 for control of a rotary electric machine.

  The rotating electrical machine 10 is not limited to a wound field type, but may be a permanent magnet field type, for example. Further, the rotating electric machine is not limited to a three-phase one, and may be a two-phase or four-phase or more one.

  The spatial phase difference between the first winding group 10A and the second winding group 10B may be a value other than 0 ° in electrical angle.

  -The rotating electrical machine may be provided with three or more winding groups. Here, for example, when three winding groups are provided, the control system includes three inverters. In this case, the carrier frequencies in the inverters may be different from each other.

  For example, when there are three winding groups, of the three inverters, for example, one inverter is the first device and the remaining two inverters are the second device. In each of the above embodiments, the same processing as that in the first inverter 30A may be performed for the first device, and the same processing as that in the second inverter 30B may be performed for the second device.

  The current detection units 53A and 53B that detect the phase currents of the winding groups 10A and 10B may be provided on the electrical path connecting the inverters 30A and 30B and the winding groups 10A and 10B.

  As shown in FIG. 4, FIG. 8, FIG. 11, and FIG. 15, the modulation signal includes the first inverter 30A and the second inverter regardless of the signals having the same phase in the first inverter 30A and the second inverter 30B. A signal having a phase different from that of the inverter 30B may be used.

  DESCRIPTION OF SYMBOLS 10 ... Rotary electric machine, 10A, 10B ... 1st, 2nd winding group, 30A, 30B ... 1st, 2nd inverter, 60 ... Control apparatus.

Claims (6)

A multiple winding rotating electrical machine (10) having a plurality of winding groups (10A, 10B) wound around a stator (13);
The switches (SUp1 to SWn1, SUp2 to SWn2) are provided individually corresponding to each of the plurality of winding groups, and power is exchanged with the corresponding winding groups by the switching operation of the switches. And a power converter (30A, 30B) that performs transmission,
A setting unit (60) for setting an operation mode of the switch constituting each power converter so that the number of times of switching of the switch per electrical angle cycle of the rotating electrical machine is different between the power converters; ,
A control device for a rotating electrical machine, comprising: an operation unit (60) for operating the switch constituting each of the power converters based on an operation mode set by the setting unit. Each power converter includes, as the switches, an upper arm switch (SUp1, SVp1, SWp1, SUp2, SVp2, SWp2) and a lower arm switch (SUn1, SVn1, SWn1, SUn2, connected in series to the upper arm switch). SVn2, SWn2),
A DC power source (40) is connected in parallel to the series connection body of the upper arm switch and the lower arm switch,
In the case where the peak value of the command voltage between the power converter and the winding group is equal to or less than the voltage of the DC power supply, a modulation signal that is either the command voltage or a correlation value thereof, and a carrier signal, The operation mode of the upper arm switch and the lower arm switch determined by the sine wave PWM processing based on the size comparison of
When the peak value of the command voltage exceeds the voltage of the DC power supply, the operation modes of the upper arm switch and the lower arm switch that are determined by overmodulation PWM processing based on the magnitude comparison between the modulation signal and the carrier signal are It is an overmodulation operation mode,
Among each of the power converters, at least one power converter is a first device (30A), and the remaining power converter is a second device (30B),
The setting unit sets an operation mode of the upper arm switch and the lower arm switch configuring the first device to the sine wave operation mode, and the upper arm switch configuring the second device and the The control device for a rotating electrical machine according to claim 1, wherein an operation mode of the lower arm switch is set to the overmodulation operation mode. In the case where the rotating electrical machine is driven as a generator, the first device and the second device for controlling the DC voltage output from each of the first device and the second device to the DC power source to the target voltage. A voltage calculation unit (60) for calculating d and q-axis voltages in each;
A first modulation calculation unit (60) for calculating the modulation signal in the first device based on the d and q axis voltages calculated by the voltage calculation unit;
A first operation setting unit (60) for setting the sine wave operation mode based on the modulation signal calculated by the first modulation calculation unit;
A d-axis increasing unit (60) that increases only the absolute value of the d-axis voltage among the d and q-axis voltages calculated by the voltage calculating unit;
A second modulation calculation unit (60) for calculating the modulation signal in the second device based on the q-axis voltage calculated by the voltage calculation unit and the d-axis voltage increased by the d-axis increase unit; ,
A second operation setting section (60) for setting the overmodulation operation mode based on the modulation signal calculated by the second modulation calculation section,
The setting unit sets an operation mode of the upper arm switch and the lower arm switch constituting the first device to the sine wave operation mode set by the first operation setting unit, and the first unit 3. The control device for a rotating electrical machine according to claim 2, wherein operation modes of the upper arm switch and the lower arm switch constituting the two device are set to the overmodulation operation mode set by the second operation setting unit. Each power converter includes, as the switches, an upper arm switch (SUp1, SVp1, SWp1, SUp2, SVp2, SWp2) and a lower arm switch (SUn1, SVn1, SWn1, SUn2, connected in series to the upper arm switch). SVn2, SWn2),
A DC power source (40) is connected in parallel to the series connection body of the upper arm switch and the lower arm switch,
In the case where the peak value of the command voltage between the power converter and the winding group is equal to or less than the voltage of the DC power supply, a modulation signal that is either the command voltage or a correlation value thereof, and a carrier signal, The operation mode of the upper arm switch and the lower arm switch determined by the sine wave PWM processing based on the size comparison of
In one electrical angle cycle of the rotating electrical machine, the operation mode in which the on-operation period of the upper arm switch and the on-operation period of the lower arm switch are performed once is a rectangular wave operation mode,
Among each of the power converters, at least one power converter is a first device (30A), and the remaining power converter is a second device (30B),
The setting unit sets the operation mode of the upper arm switch and the lower arm switch constituting the first device to the rectangular wave operation mode, and the upper arm switch constituting the second device and the The control device for a rotating electrical machine according to claim 1, wherein an operation mode of the lower arm switch is set to the sine wave operation mode. In the case of driving the rotating electrical machine as a generator, a voltage for controlling the DC voltage output from the first device to the DC power source to the target voltage, the winding corresponding to the first device A phase calculation unit (60) for calculating a phase of a rectangular wave voltage applied to the group;
A modulation calculation unit (60) for calculating the modulation signal in the first device based on the phase calculated by the phase calculation unit;
The control device for a rotating electrical machine according to claim 4, further comprising: an operation setting unit (60) configured to set the rectangular wave operation mode used in the setting unit based on the modulation signal calculated by the modulation calculation unit. . Among each of the power converters, at least one power converter is a first device (30A), and the remaining power converter is a second device (30B),
When the setting unit determines that the output required for the rotating electrical machine is less than a predetermined value, the number of switching times per electrical angle cycle of the rotating electrical machine of the switch constituting the first device, and the first Set the switching operation mode of the switch constituting each of the first device and the second device so that the number of switching per electrical angle cycle of the rotating electrical machine of the switch constituting the device is different, When it is determined that the output required for the rotating electrical machine is greater than or equal to the predetermined value, the switching operation of the switch constituting the second device is set while setting the switching operation mode of the switch constituting the first device. The control apparatus of the rotary electric machine of any one of Claims 1-5 which stops.