JP5573580B2 - Rotating machine control device and rotating machine control system - Google Patents

Description

  The present invention relates to a control device for a rotating machine that controls the actual torque of the rotating machine by controlling a switching element based on a torque command value when the supplied voltage is converted by a power conversion circuit and transmitted to the rotating machine. And a control system for a rotating machine.

  Conventionally, when controlling the actual torque (actual torque) of a rotating machine to a torque command value (required torque), an example of a technique for maintaining high controllability of the rotating machine even in a region where a high voltage utilization rate is required. It is disclosed (for example, see Patent Document 1). In this technique, based on the torque command value for the rotating machine and the rotation speed (rotational speed) of the rotating machine, the norm setting means calculates the norm (voltage command amplitude) of the voltage vector output from the power conversion circuit in the rotating two-phase coordinate system. The phase setting means sets the phase of the voltage output from the power conversion circuit in the rotating two-phase coordinate system based on the difference between the actual torque and the torque command value. The norm of the voltage vector functions as a feedforward operation amount for controlling the torque command value, and the actual torque of the rotating machine follows the torque command value.

JP 2009-232531 A

  However, in an actual rotating machine, the characteristic of the torque gradient with respect to the phase of the voltage output from the power conversion circuit depends on the rotation speed of the rotating machine or the norm (voltage command amplitude) of the voltage vector output by the power conversion circuit. Change. There is a problem that the torque response varies with the change of characteristics. In particular, the torque response deteriorates as the rotational speed of the rotating machine increases, and the torque response deteriorates as the voltage value decreases.

  The present invention has been made in view of such points, and even when the rotational speed and the voltage command amplitude change, the control device for the rotating machine and the control of the rotating machine that can improve the torque response than the conventional one. The purpose is to provide a system.

In order to solve the above-mentioned problem, the invention according to claim 1 is included in the power conversion circuit based on a torque command value when the supplied voltage is converted by the power conversion circuit and transmitted to the rotating machine. by controlling the switching element, wherein the control device of the rotary machine to control the torque of the rotating machine, and the rotational speed of the rotating machine, the voltage value input to {the power conversion circuit, the voltage instruction amplitude and the torque command A gain setting device for setting a control gain based on one or more of the values } , a deviation between the torque command value and the torque, and a control set by the gain setting device, including at least an integral element A feedback controller that performs feedback control based on the gain and outputs a voltage phase command indicating a phase of a voltage output from the power conversion circuit; and the feedback control. A switching signal generator that generates a control signal for controlling the switching element based on a voltage phase command output from the control unit and outputs the control signal to the power conversion circuit, and the gain setting unit includes: The control gain is set to increase as the rotational speed increases, and the control gain is set to increase as one or more of the voltage value, the voltage command amplitude, and the torque command value decrease. It is characterized by that.

According to this configuration, the gain setting device sets the control gain based on the rotation speed and { one or more of the voltage value, voltage command amplitude (norm) and torque command value }, and the feedback controller deviates. And feedback control based on the control gain. The characteristics of the rotating machine change according to the rotation speed and the voltage command amplitude, but the voltage command amplitude that can be output changes according to the voltage value input to the power conversion circuit, so that it depends on the voltage value input to the power conversion circuit. Changes the characteristics of the rotating machine. Since the power conversion circuit is controlled so that the output voltage of the power conversion circuit follows the voltage command value (modulation rate is controlled), although the actual output voltage amplitude slightly changes depending on the modulation rate, the actual modulation rate used is In a high situation, the change in the characteristics due to the change in the modulation rate is small, so that it can be considered that the characteristics of the rotating machine change depending on the voltage value input to the power conversion circuit. Further, as in the technique of Patent Document 1 described above, based on the torque command value and the rotation speed of the rotating machine, the norm setting unit outputs the norm (voltage) of the voltage vector output from the power conversion circuit in the rotating two-phase coordinate system. In the control method for determining (command amplitude), since the voltage command amplitude changes based on the torque command, it can be considered that the characteristics of the rotating machine change depending on the torque command value. The rotation speed, voltage value, even if characteristics change in accordance with the one or more of the voltage instruction amplitude and the torque command value, the appropriate control gain by the gain setting unit is set, improved torque response Can be made. In other words, an equivalent torque response can be obtained regardless of any change in the rotational speed, voltage value, voltage command amplitude, and torque command value. Furthermore, since an appropriate control gain according to the rotation speed, voltage value, voltage command amplitude, and torque command value is set, the torque response can be improved more reliably than in the past.

  “Torque command value” means a torque value commanded as a target value, and is synonymous with “target torque”, “requested torque”, and the like. “Torque” means an actual torque value generated in the rotating machine, and is synonymous with “output torque” or the like. “Rotating machine” corresponds to, for example, an electric motor (motor), a generator, a generator motor, or the like. The “feedback controller” inputs a deviation between the torque command value and the torque, and performs “PI control”, “PID control”, and the like based on the control gain. “Control gain” means a gain required when performing feedback control, and corresponds to, for example, a proportional gain, an integral gain, or the like. As the “switching element”, any element that can be controlled to be turned on / off based on a control signal can be applied. For example, an FET (specifically, MOSFET, JFET, MESFET, etc.), IGBT, GTO, power transistor, etc. are applicable.

According to a second aspect of the present invention, there is provided a recording medium for recording gain information defining a relationship between one or more of the rotation speed, the voltage value, the voltage command amplitude, and the torque command value and the control gain. The gain setting device refers to the gain information recorded on the recording medium and corresponds to one or more of the rotation speed, the voltage value, the voltage command amplitude, and the torque command value. The control gain is specified and set. According to this configuration, referring to the gain information, a control gain corresponding to any of the rotation speed, voltage value, voltage command amplitude, and torque command value can be easily obtained. Since it is not necessary to perform arithmetic processing, torque response can be improved while suppressing the processing load.

According to a third aspect of the present invention, the gain setting device defines one or more reference values among the rotation speed, the voltage value, the voltage command amplitude, and the torque command value, and the rotation speed, The control gain is set based on a ratio between one or more values among the voltage value, the voltage command amplitude, and the torque command value and the reference value. According to this configuration, the corresponding control gain can be obtained quickly only by calculating the ratio. Since simple arithmetic processing is sufficient, the torque response can be improved while suppressing the processing load.

According to a fourth aspect of the present invention, there is provided a rotating machine control system comprising the rotating machine control device according to any one of the first to third aspects and the power conversion circuit. According to this configuration, it is possible to provide a control system for a rotating machine in which torque response is improved as compared with the related art even when any one of a voltage value, a voltage command amplitude, and a torque command value changes.

It is a schematic diagram which shows the structural example concerning the control apparatus of a rotary machine. It is a schematic diagram which shows the structural example of a gain setting device and a feedback controller. It is a schematic diagram which shows the structural example concerning the control system of a rotary machine. It is a flowchart which shows the example of a procedure of a feedback control process. It is a graph which shows the example of a relationship between a voltage phase (q-axis reference | standard) and a torque. It is a graph which shows the relationship between a voltage value and a torque / voltage phase. It is a graph which shows the example of a relationship between a voltage phase (q-axis reference | standard) and a torque. It is a graph which shows the relationship between a rotation speed and a torque / voltage phase.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. Unless otherwise specified, “connect” means electrical connection. Each figure shows elements necessary for explaining the present invention, and does not show all actual elements. The continuous code is simplified using the symbol “˜”. For example, “switching elements Q1 to Q6” means “switching elements Q1, Q2, Q3, Q4, Q5, Q6”. When referring to directions such as up, down, left and right, the description in the drawings is used as a reference.

  A configuration example according to a control device for a rotating machine will be described with reference to FIGS. In this embodiment, a permanent magnet synchronous motor (denoted as “M” in the drawing) that is a three-phase motor is applied as the “rotating machine”. Specifically, it is a salient pole type permanent magnet synchronous motor (IPMSM).

The control device 20 shown in FIG. 1 has a function of converting a supplied voltage by a power conversion circuit 42 (see FIG. 3) and transmitting the converted voltage to the electric motor 50. This function includes a function of controlling the torque T of the electric motor 50 by controlling the switching elements Q1 to Q6 (see FIG. 3) included in the power conversion circuit 42 based on the torque command value T ^* . The control device 20 includes a recording medium 21, a gain setting unit 23, a feedback controller 24, a switching signal generator 25, a rotation speed calculator 26, and the like. The configuration of each element is arbitrary except for the recording medium 21. For example, a configuration in which software control is performed by a CPU (including a microcomputer) or a configuration in which hardware control is performed using an electronic component such as an IC (including an LSI or a gate array) or a transistor may be employed.

As the recording medium 21, any medium capable of recording at least one or both of the gain information 21a and the map 21b is used. For example, a nonvolatile memory such as a ROM, an EEPROM, a magneto-optical disk or the like is desirable. The gain information 21a is one of the rotation speed N, the voltage value input to the power conversion circuit 42 (hereinafter referred to as “voltage value Vdc”), the norm Vn corresponding to the voltage command amplitude, and the torque command value T ^*. This is information that defines the relationship between the proportional gain Kp and the integral gain Ki. The format to be defined is arbitrary, such as a map format or a table format. The gain setting unit 23 and the feedback controller 24 will be described later (see FIG. 2). The switching signal generator 25 generates a control signal Sc for controlling the switching elements Q <b> 1 to Q <b> 6 based on the voltage phase command θ ^* (and norm Vn) output from the feedback controller 24 to generate the power conversion circuit 42. Output to. In this embodiment, a pulse width modulation (PWM) signal is used as the control signal Sc. The voltage phase command θ ^* is the phase of the voltage output from the power conversion circuit 42. The norm Vn (voltage command amplitude) is an output voltage vector (or vector magnitude) of the power conversion circuit 42 in the rotating two-phase coordinate system. Rotational speed calculator 26, the resolver 51 performs a function which calculates the rotational speed N is output based on the electrical angle theta _e outputted from (1, see Figure 3).

FIG. 2 shows a configuration example of the gain setting unit 23 and the feedback controller 24. The gain setting unit 23 has a function of increasing / decreasing and setting a control gain (ie, proportional gain Kp, integral gain Ki, etc.) for performing feedback control. The feedback controller 24 includes at least an integration element, and has a function of performing feedback control based on the deviation ΔT between the torque command value T ^* and the torque T and the gain set and output by the gain setting unit 23. According to the feedback control, the voltage phase command θ ^* (and norm Vn) is output.

The gain setting unit 23 has one or both of the gain calculation unit 23a and the gain reference unit 23b. For example, the integral gain Ki is set so that the integral gain Ki increases as the rotational speed N increases. On the other hand, the integral gain Ki is set to decrease as the rotational speed N decreases. Further, the integral gain Ki is set to increase as one or more of the voltage value Vdc, norm Vn, and torque command value T ^* decrease. On the other hand, the integral gain Ki is set to decrease as one or more of the voltage value Vdc, norm Vn, and torque command value T ^* increase. The proportional gain Kp is set in the same manner as the integral gain Ki.

The gain calculation unit 23a sets a control gain based on a ratio of one or more values among the rotation speed N, the voltage value Vdc, the norm Vn, and the torque command value T ^* and a reference value. The ratio includes the rotation speed ratio between the rotation speed N and the reference rotation speed N_base (that is, N / N_base), the voltage value ratio between the voltage value Vdc and the reference voltage value Vdc_base (that is, Vdc_base / Vdc), the norm Vn, and the reference norm Vn_base. 1 or more among the norm ratio (that is, Vn_base / Vn) and the torque command value ratio between the torque command value T ^* and the reference torque command value T ^* _base (that is, T ^* _base / T ^* ).

The reference rotation speed N_base is a rotation speed that serves as a reference for the electric motor 50 (for example, a rated rotation speed). The reference voltage value Vdc_base is a voltage value that serves as a reference for the voltage supplied to the power conversion circuit 42 (for example, the rated voltage value of the converter circuit 41 shown in FIG. 3). The reference norm Vn_base is a voltage command amplitude serving as a reference for the norm Vn. Reference torque command value T ^* _base is a torque command value as a torque command value T ^* of the reference.

  An example of calculation formulas by the gain calculation unit 23a is shown in the following formulas (1) and (2). Formula (1) is a calculation formula for obtaining the integral gain Ki, and Formula (2) is a calculation formula for calculating the proportional gain Kp. The reference integral gain serving as the reference for the control gain is “Ki_base”, and the reference proportional gain is “Kp_base”.

  Expressions (1) and (2) described above are examples using a rotation speed ratio and a voltage value ratio, but a norm ratio or a torque command value ratio may be further used. Therefore, examples of the calculation formula using the norm ratio are shown in the following formulas (3) and (4), and examples of the calculation formula using the torque command value ratio are shown in the following formulas (5) and (6). Expressions (3) and (5) are calculation expressions for obtaining the integral gain Ki, and Expressions (4) and (6) are calculation expressions for determining the proportional gain Kp. It should be noted that a calculation formula other than the above, and an integral gain Ki using a ratio of one or more of a rotation speed ratio, a voltage value ratio, a norm ratio, and a torque command value ratio in accordance with the type and purpose of use of the electric motor 50. Alternatively, a calculation formula for obtaining the proportional gain Kp may be defined.

The gain reference unit 23b refers to the gain information 21a recorded on the recording medium 21, and specifies an integral gain Ki corresponding to one or more of the rotational speed N, voltage value Vdc, norm Vn, and torque command value T ^*. To set. The gain information 21a recorded in a map format, a table format, or the like is merely an aggregate of discrete data because the recording capacity of the recording medium 21 has an upper limit. Therefore, the integral gain Ki is specified by a required specifying method. Below, two specific methods are demonstrated easily as an example.

The first specifying method uses one or more numerical values as a reference value among the recorded rotation speed N, voltage value Vdc, norm Vn, and torque command value T ^* , and is a numerical value within a predetermined range including the reference value. In some cases, an integral gain Ki corresponding to one or more of the rotation speed N, voltage value Vdc, norm Vn, and torque command value T ^* is specified.

  The second specifying method specifies by performing interpolation according to a predetermined interpolation method based on two or more adjacent numerical values recorded on the recording medium 21. The predetermined interpolation method includes, for example, zero-order interpolation (also referred to as nearest neighbor interpolation or nearest neighbor point interpolation), linear interpolation (also referred to as linear interpolation or primary interpolation), parabolic interpolation (also referred to as quadratic interpolation), or polynomial. Interpolation, cubic interpolation (also called cubic interpolation), cubic convolution, Lagrange interpolation, spline interpolation, Sinc function, Lanczos-n interpolation, and the like are applicable.

The feedback controller 24 includes an adder 24a, a PI controller 24b, a norm calculator 24c, a torque estimator 24d, a two-phase converter 24e, and the like. The adding unit 24a performs addition of input signals. In the example of FIG. 2, in order to form a negative feedback loop, the torque T is subtracted from the torque command value T ^* , and the difference value is output as a deviation ΔT. Since the PI control unit 24b performs PI control based on the deviation ΔT output from the adding unit 24a and the proportional gain Kp, the integral gain Ki, and the like output from the gain setting unit 23, the voltage phase command θ ^* is set. Calculate and output. An example of a calculation formula calculated by the PI control unit 24b is shown in the following formula (7). In formula (7), taking into account the change over time, the time t is shown in parentheses as a parameter.

The norm calculation unit 24c calculates and outputs a norm Vn based on the torque command value T ^* and the rotation speed N. When calculating using the electrical angular velocity ω, it may be calculated using the rotation speed N and the pole pair number P (ω = 2πPN / 60). The two-phase converter 24e converts the U-phase current Iu, the V-phase current Iv, and the W-phase current Iw flowing through the three-phase motor 50 into a two-phase current, that is, a q-axis current Iq and a d-axis current Id, and outputs them. The torque estimation unit 24d estimates and outputs the torque T of the electric motor 50 based on the q-axis current Iq and the d-axis current Id output from the two-phase conversion unit 24e. Since both the calculation method of the norm calculation unit 24c and the conversion method of the two-phase conversion unit 24e are well known, description and illustration of a specific configuration example are omitted. The estimation method of the torque estimation unit 24d is estimated by, for example, a method of estimating from a torque map for current, a method of estimating using a current and a motor model, or the like. Further, a value detected from a torque meter provided in the electric motor 50 may be used instead of the estimated torque value.

  Next, a configuration example according to the control system of the rotating machine including the control device 20 described above will be described with reference to FIG. The control system shown in FIG. 3 includes at least the control device 20 and the power conversion mechanism 40. The same elements as those in FIGS. 1 and 2 are denoted by the same reference numerals and description thereof is omitted. Hereinafter, a configuration example of the power conversion mechanism 40 will be mainly described.

  The power conversion mechanism 40 illustrated in FIG. 3 includes a converter circuit 41, a power conversion circuit 42, and the like. The converter circuit 41 is provided as necessary, and a DC voltage (voltage value Vin; for example, 300 volts) supplied from the power supply 30 via the smoothing capacitor C1 is converted into a DC voltage required by the power conversion circuit 42 ( The voltage value Vdc) is converted and output. Since the configuration and operation of the converter circuit 41 are well known, illustration and description thereof are omitted.

  The power conversion circuit 42 has a function of converting a supplied DC voltage (voltage value Vdc; for example, 660 volts) and outputting the converted voltage to the electric motor 50. A converter circuit 41 is interposed between the power source 30 (for example, a battery) and the power conversion circuit 42. A smoothing capacitor C <b> 2 is connected between the converter circuit 41 and the power conversion circuit 42. The capacitor C2 has a function of reducing the potential fluctuation of the output voltage value (voltage value Vdc) of the converter circuit 41.

  The power conversion circuit 42 includes switching elements Q1 to Q6, diodes D1 to D6, and the like. IGBTs are used for the switching elements Q <b> 1 to Q <b> 6 and are turned on / off in accordance with a control signal Sc transmitted individually from the control device 20. Diodes D1-D6 are connected in parallel between the collector terminals and emitter terminals of switching elements Q1-Q6, respectively. These diodes D1 to D6 all function as freewheeling diodes. Switching elements Q1-Q3, diodes D1-D3, etc. are arranged on the upper arm side, and switching elements Q4-Q6, diodes D4-D6, etc. are arranged on the lower arm side. The common potential G2 is a common potential (same potential ground) in the power conversion mechanism 40, and becomes 0 [V] when connected to the ground G1 to be grounded. The common potential G2 is often not the same as the ground potential, and is illustrated using a different symbol from the ground G1.

  The circuit elements in the power conversion circuit 42 are divided into three phases (U phase, V phase, and W phase in this example) as shown by being surrounded by a one-dot chain line, and the operation is controlled for each phase by the control device 20. The U phase is composed of switching elements Q1, Q4, diodes D1, D4, and the like. The V phase includes switching elements Q2 and Q5, diodes D2 and D5, and the like. The W phase includes switching elements Q3 and Q6, diodes D3 and D6, and the like. The U-phase switching elements Q1 and Q4 are connected in series to form a half bridge. Similarly, the V-phase switching elements Q2 and Q5 and the W-phase switching elements Q3 and Q6 are connected in series to form a half bridge. Each connection point of the half bridge and the three-phase terminal of the electric motor 50 are connected for each phase by lines Ku, Kv, Kw. A U-phase current Iu flows through the line Ku, a V-phase current Iv flows through the line Kv, and a W-phase current Iu flows through the line Kw.

The control device 20 shown in FIG. 3 governs operations of the converter circuit 41, the power conversion circuit 42, and the like. The signal input by the control device 20 includes a torque command value T ^* transmitted from the ECU 60 corresponding to an external device, a current I (Iu, Iv, Iw) transmitted from the current sensor 52, and an electric power output from the resolver 51. There is an angle θ _e and the like. The signal output from the control device 20 includes a control signal Sc transmitted to the control terminals P1 to P6 of the switching elements Q1 to Q6, a control signal transmitted to a drive circuit provided in the converter circuit 41, and the like.

The electric motor 50 includes a current sensor 52, a resolver 51, and the like. As the current sensor 52, a sensor capable of detecting the current (Iu, Iv, Iw) of each phase can be used. For example, a magnetic proportional sensor, an electromagnetic induction sensor, a Faraday effect sensor, a current transformer sensor, etc. Applicable. The resolver 51 corresponds to the "position (rotation) sensor", detects and outputs the electrical angle theta _e of the rotor (rotor) with the motor 50.

  It is desirable that the control system for the rotating machine (that is, the control device 20 and the power conversion circuit 42 shown in FIGS. For example, automobiles, airplanes, ships, railway vehicles, and the like correspond to the transportation equipment.

  The processing content executed in the control device 20 configured as described above will be described with reference to FIG. FIG. 4 is a flowchart showing a procedure example of the feedback control process. The feedback control process is repeatedly executed during the operation of the control device 20.

  The relationship between the above-described elements and each step in FIG. 4 is as follows. That is, step S10 corresponds to the adding unit 24a, steps S11 to S13 correspond to the gain setting unit 23, step S14 corresponds to the PI control unit 24b, and step S16 corresponds to the switching signal generator 25.

In FIG. 4, a deviation ΔT between the torque command value T ^* and the torque T is obtained [Step S10], and a control gain is set [Steps S11 to S13]. As the rotational speed N, the rotational speed output from the rotational speed calculator 26 is used. The control gain is set by the following method. In the first setting method, the integral gain Ki is obtained according to the equation (1) based on the rotation speed ratio (ie, N / N_base) and the voltage value ratio (ie, Vdc_base / Vdc), and the proportional gain Kp is obtained according to the equation (2). Obtain and set [step S11]. In the second setting method, the gain information 21a is referred to and the integral gain Ki and the proportional gain Kp corresponding to one or more of the rotational speed N, the voltage value Vdc, the norm Vn, and the torque command value T ^* are individually specified. [Step S12]. In the third setting method, the integral gain Ki and the proportional gain Kp are individually set with reference to the map 21b [step S13]. The setting method shown in steps S11, S12, and S13 may be set with a value obtained by a step setting method that satisfies a condition, or an average value of values obtained in two or more steps may be obtained and set.

What is common to steps S11 and S12 is that the integral gain Ki is set to increase as the rotational speed N increases, while the integral gain Ki is set to decrease as the rotational speed N decreases. The proportional gain Kp is set similarly. This setting is easy to understand with reference to FIGS. 5 and 6 with the rotation speed N as a parameter. FIG. 5 shows the relationship between the torque T (vertical axis) and the voltage phase command θ ^* (horizontal axis). FIG. 6 shows the relationship between the torque T / voltage phase command θ ^* (vertical axis) and the voltage value Vdc (horizontal axis). According to FIGS. 5 and 6, the characteristic line for obtaining torque T shifts downward as the rotational speed N increases (increases), and the characteristic line for obtaining torque T decreases as the rotational speed N decreases (decreases). It is clear from the upward movement.

On the other hand, the integral gain Ki is set to increase as the voltage value Vdc decreases. On the other hand, the integral gain Ki is set to decrease as the voltage value Vdc increases. The proportional gain Kp is set similarly. This setting can be easily understood with reference to FIGS. 7 and 8 in which the voltage value Vdc is a parameter. FIG. 7 shows the relationship between the torque T (vertical axis) and the voltage phase command θ ^* (horizontal axis). FIG. 8 shows the relationship between the torque T / voltage phase command θ ^* (vertical axis) and the rotational speed N (horizontal axis). According to FIGS. 7 and 8, the characteristic line for obtaining the torque T shifts upward as the voltage value Vdc increases (increases), and the characteristic line for obtaining the torque T decreases as the voltage value Vdc decreases (decreases). It is clear from the downward movement. Although not shown in the figure, the same relationship as in FIGS. 7 and 8 is obtained when the norm Vn and the torque command value T ^* are used as parameters instead of the voltage value Vdc for the following reason.
(Reason 1) FIGS. 7 and 8 are diagrams in which the modulation rate is constant and the inverter input voltage Vdc is changed as a parameter. In this case, since changing the inverter input voltage Vdc is the same as changing the norm Vn (voltage command amplitude), the case where the norm Vn (voltage command amplitude) is taken as a parameter is also shown in FIGS. It becomes the same relationship.
(Reason 2) The norm of the voltage vector output from the power conversion circuit in the rotating two-phase coordinate system by the norm setting means based on the torque command value and the rotational speed of the rotating machine as in the technique of Patent Document 1 described above. In the control method for determining Vn (voltage command amplitude), the voltage command amplitude changes based on the torque command value. Therefore, even when the torque command value T ^* is taken as a parameter, the relationship is the same as in FIGS.

Based on the deviation ΔT obtained in step S10, the proportional gain Kp and the integral gain Ki set in steps S11 and S12, etc., the voltage phase command θ ^* is calculated according to the equation (7) [step S14], and in step S14 A control signal Sc is generated based on the calculated voltage phase command θ ^* and norm Vn and output to the power conversion circuit 42 (specifically, the switching elements Q1 to Q6) [step S15], and the feedback control process is returned. Since the method of generating the control signal Sc based on the voltage phase command θ ^* and the norm Vn is well known, the configuration and description are omitted.

According to the embodiment described above, the following effects can be obtained .
(1) The control device 20 controls the control gain (ie, integral gain Ki, proportional gain Kp, etc.) based on one or more of the rotation speed N, voltage value Vdc, norm Vn (voltage command amplitude), and torque command value T ^*. And a gain setting unit 23 that sets at least an integral element, and performs feedback control based on a deviation ΔT between the torque command value T ^* and the torque T and a control gain set by the gain setting unit 23, and a power conversion circuit 42 A feedback controller 24 that outputs a voltage phase command θ ^* indicating the phase of the voltage that is output from the control signal Sc and a control signal Sc that controls the switching elements Q1 to Q6 based on the voltage phase command θ ^* output from the feedback controller 24. And a switching signal generator 25 that outputs to the power conversion circuit 42 (see FIGS. 1 to 3). According to this configuration, an appropriate control gain is set by the gain setting unit 23 even if the characteristics change according to one or more of the rotational speed N, voltage value Vdc, norm Vn, and torque command value T ^*. Therefore, torque response can be improved. In other words, an equivalent torque response can be obtained regardless of any change in the rotational speed, voltage value, voltage command amplitude, and torque command value.

(2) The gain setting unit 23 sets the control gain to increase as the rotational speed N increases, and increases the control gain as one or more of the voltage value Vdc, norm Vn and torque command value T ^* decreases. The configuration is set so as to increase. According to this configuration, since an appropriate control gain is set according to the rotational speed N, voltage value Vdc, norm Vn, and torque command value T ^* , it is possible to improve the torque response more reliably than before.

(3) The recording medium 21 is provided that records gain information 21a that defines the relationship between one or more of the rotation speed N, the voltage value Vdc, the norm Vn, and the torque command value T ^* and the control gain (see FIG. 1). The gain setting unit 23 refers to the gain information 21a recorded on the recording medium 21, and specifies a control gain corresponding to one or more of the rotation speed N, voltage value Vdc, norm Vn, and torque command value T ^*. The configuration is set (see step S12 in FIG. 4). According to this configuration, referring to the gain information 21a, a control gain corresponding to any one of the rotation speed N, the voltage value Vdc, the norm Vn, and the torque command value T ^* can be quickly obtained. Since simple arithmetic processing is sufficient, the torque response can be improved while suppressing the processing load.

(4) The gain setting unit 23 has one or more reference values among the rotation speed N, the voltage value Vdc, the norm Vn, and the torque command value T ^* (that is, the reference rotation speed N_base, the reference voltage value Vdc_base, the reference norm Vn_base, the reference Torque command value T ^* _base) is defined, and the control gain is set based on the ratio of the rotational speed N, voltage value Vdc, norm Vn, and torque command value T ^* to the reference value (formula ( 1), formula (2) and step S11 of FIG. 4). According to this configuration, the corresponding control gain can be obtained simply by calculating the ratio. Since simple arithmetic processing is sufficient, the torque response can be improved while suppressing the processing load.

(5) The control system of the electric motor 50 is configured to include the control device 20 and the power conversion circuit 42 (see FIG. 3). According to this configuration, it is possible to provide a control system for the electric motor 50 in which the torque response is improved as compared with the related art even if any of the rotation speed N, norm Vn, and torque command value T ^* changes.

[Other Embodiments]
Although the form for implementing this invention was demonstrated above, this invention is not limited to the said form at all. In other words, various forms can be implemented without departing from the scope of the present invention. For example, the following forms may be realized.

  In the above-described embodiment, the IGBT is applied as the switching element (see FIGS. 1 to 3). Instead of this form, other switching elements may be applied. Examples of other switching elements include FETs (specifically MOSFETs, JFETs, MESFETs, etc.), GTOs, power transistors, and the like. Regardless of which is applied, the same function as the above-described embodiment can be obtained because it functions in the same manner as the IGBT.

  In the embodiment described above, the salient pole type permanent magnet synchronous motor (IPMSM) 50 is applied as the rotating machine. Instead of this form, a non-salient permanent magnet synchronous motor (SPMSM) may be used. In addition, the rotating machine is not limited to a permanent magnet synchronous motor. For example, a synchronous reluctance motor (SynRM), a winding type synchronous motor with a rotor winding type (a salient pole and a non-salient pole type), an induction machine ( IM). Further, the rotating machine is not limited to the electric motor operation, and the generator operation may be performed. Regardless of which is applied, the same function as that of the above-described embodiment can be obtained because it functions in the same manner as the electric motor 50.

  In the above-described embodiment, the integral gain Ki and the proportional gain Kp are applied as the control gain, and the setting is performed using the first setting method to the third setting method (steps S11 to S13 in FIG. 4 are performed). reference). Instead of this form, one of the integral gain Ki and the proportional gain Kp may be set to a constant value. Even when one control gain is set to a constant value, the torque response is improved as compared with the conventional case.

In the embodiment described above, the PI control unit 24b is configured to perform PI control (see FIG. 2). Instead of this form, PID control may be performed including a differential element. In this case, the gain setting unit 23 may be configured to increase or decrease the differential gain Kd in the same manner as the setting of the proportional gain Kp and the integral gain Ki. Depending on the performance and application of the rotating machine, the rotational speed N may change abruptly, and the torque response can also be improved for such a rotating machine. When performing PID control, the voltage phase command θ ^* is calculated according to the following equation (8). The reference differential gain serving as the reference for the control gain is “Kd_base”.

  In the above-described embodiment, the control device 20 is configured to be provided separately from the power conversion mechanism 40 and the ECU 60 (see FIG. 3). Instead of this form, the control device 20 and the power conversion mechanism 40 may be provided integrally, or the control device 20 and the ECU 60 may be provided integrally, and the control device 20, the power conversion mechanism 40, and the ECU 60 may be provided. It is good also as a structure provided integrally. Since it is only a difference in form and has the same function, it is possible to obtain the same effect as the above-described embodiment.

  In the above-described embodiment, the power conversion circuit 42 is configured to convert the voltage (voltage value Vdc) supplied via the converter circuit 41 and output it to the electric motor 50 (see FIGS. 1 and 3). Instead of this form, the converter circuit 41 may be unnecessary, and the power conversion circuit 42 may be configured to convert the voltage (voltage value Vin) directly supplied from the power supply 30 and output it to the electric motor 50. In this case, Vdc = Vin is considered and the same processing may be performed. Since only the voltage supply means is different, the same effect as the above-described embodiment can be obtained.

In the above-described embodiment, the rotational speed N input to the gain setting device 23 or the feedback controller 24 is calculated by the rotational speed calculator 26 based on the electrical angle θ _e detected by the resolver 51 provided in the electric motor 50. (See FIG. 2). Instead of this form, a rotary encoder (incremental type or absolute type) as a position (rotation) detection sensor is provided in the electric motor 50, and the rotational speed N is calculated based on a signal (for example, a pulse signal or the like) output from the rotary encoder. It is good also as a structure provided with the rotation speed calculator which performs. Similarly, an angular velocity sensor (for example, a gyroscope) as a position (rotation) detection sensor is provided in the electric motor 50, and a rotational speed calculation for calculating the rotational speed N based on a signal (for example, an angular velocity signal) output from the angular velocity sensor. It is good also as a structure provided with a vessel. Since any position (rotation) detection sensor can be used to obtain the rotational speed N of the electric motor 50, it is possible to obtain the same effects as those of the above-described embodiment.

  In the above-described embodiment, the control gain is set using the rotation speed N of the electric motor 50 (see steps S11 to S13 in FIG. 4). Instead of this form, an estimated value estimated without a sensor may be used as the rotation speed N. For example, the rotational speed is estimated based on a mathematical model represented by a function formula or the like, or the rotational speed is estimated based on another sensor or control amount of the vehicle system. The control gain may be set using the rotation speed thus estimated as the rotation speed N. Even when the estimated number of revolutions N is used, a control gain corresponding to the situation can be set, so that the same effect as that of the above-described embodiment can be obtained.

  In the above-described embodiment, the control gain is set using the rotational speed N of the electric motor 50 (see the equations (1) to (6)), but the control gain is set using the electrical angular velocity ω. It is good also as composition which performs. As the electrical angular velocity ω can be expressed by “ω = 2πPN / 60”, the same physical quantity is represented only by different dimensions, and thus the same effect can be obtained. The voltage command amplitude (norm Vn) used for setting the control gain may be any of the voltage command amplitude in the rotating two-phase coordinate system and the voltage command amplitude in the three-phase coordinate system. Alternatively, the voltage amplitude of the voltage Vp output from the power conversion circuit 42 (the amplitude of the primary component of the electrical angular frequency) may be used. Since the power conversion circuit 42 outputs a voltage based on the voltage command value, the same effect can be obtained.

  In the above-described embodiment, the pulse width modulation signal is used as the control signal Sc output (transmitted) from the control device 20 to the power conversion circuit 42. Instead of this form, the control signal Sc may be output using a map in which the switching signal for the electrical angle is stored in advance in the recording medium 21 or the like. In any case, any signal that can control the electric motor 50 can be applied. Even in this case, since the electric motor 50 can be controlled, it is possible to obtain the same effects as those of the above-described embodiment.

DESCRIPTION OF SYMBOLS 20 Control apparatus 21 Recording medium 21a Gain information 23 Gain setting device 23a Gain calculation part 23b Gain reference part 24 Feedback controller 24a Addition part 24b PI control part 24c Norm calculation part 24d Torque estimation part 24e Two-phase conversion part 25 Switching signal generation 26 Rotational speed calculator 30 Power supply 40 Power conversion mechanism 41 Converter circuit 42 Power conversion circuit 50 Electric motor (rotary machine)
51 Resolver (position (rotation) detection sensor)
52 Current sensor 60 ECU (external device)
Kp proportional gain (control gain)
Ki integral gain (control gain)
Kd Differential gain (control gain)
N Rotation speed Sc Control signal Sv Detected value T Torque T ^* Torque command value Vdc Voltage value (voltage value input to power conversion circuit)
Vp Power converter output voltage Vn norm (Voltage command amplitude)
θ ^* Voltage phase command

Claims (4)

When the supplied voltage is converted by the power conversion circuit and transmitted to the rotating machine, the switching element included in the power conversion circuit is controlled based on the torque command value, thereby controlling the torque of the rotating machine. In the control device of the machine,
The rotation speed of the rotating machine, the voltage value to be input to the power conversion circuit, based on the one or more of the voltage instruction amplitude and the torque command value, a gain setter for setting a control gain,
A voltage that includes at least an integration element, performs feedback control based on a deviation between the torque command value and the torque, and a control gain set by the gain setting device, and indicates a phase of a voltage output from the power conversion circuit A feedback controller that outputs a phase command;
A switching signal generator that generates a control signal for controlling the switching element based on a voltage phase command output from the feedback controller and outputs the control signal to the power conversion circuit ;
The gain setter is set to increase the control gain as the rotational speed increases, and the control gain increases as one or more of the voltage value, the voltage command amplitude, and the torque command value decrease. A control device for a rotating machine, characterized in that the setting is made to increase . A recording medium for recording gain information defining a relationship between one or more of the rotation speed, the voltage value, the voltage command amplitude, and the torque command value, and the control gain;
The gain setting unit refers to the gain information recorded on the recording medium, and determines the control gain corresponding to one or more of the rotation speed, the voltage value, the voltage command amplitude, and the torque command value. 2. The control device for a rotating machine according to claim 1 , wherein the control device is specified and set. The gain setting device defines one or more reference values among the rotation speed, the voltage value, the voltage command amplitude, and the torque command value, and the rotation speed, the voltage value, the voltage command amplitude, and the 2. The control device for a rotating machine according to claim 1 , wherein the control gain is set based on a ratio between one or more values of torque command values and the reference value. A control system for a rotating machine comprising the control device for a rotating machine according to any one of claims 1 to 3 and the power conversion circuit.

Images