JP4777192B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device.

2. Description of the Related Art Conventionally, there has been known a motor that includes a first permanent magnetic pole piece and a second permanent magnetic pole piece whose mutual phase positions can be changed by servo pressure, for example, and whose field magnetic flux amount can be changed (see, for example, Patent Document 1). ).
JP-A-55-153300

By the way, when the motor according to the above prior art is operated according to the appropriate required torque and the required rotational speed, when the control is performed so that the energy consumption by the motor is minimized, the field magnetic flux amount, that is, the motor It is desired to improve the energy efficiency of the motor while taking into account the energy consumption required to change the induced voltage constant.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a motor control device capable of improving the energy efficiency of a motor capable of changing an induced voltage constant.

In order to solve the above problems and achieve the object, a motor control device according to a first aspect of the present invention has a magnet piece (for example, the permanent magnet 9 in the embodiment) in each of them and is relative to each other. A plurality of rotors (for example, the outer circumferential rotor 5 and the inner circumferential rotor 6 in the embodiment) that can change the appropriate phase and the relative phase settings of the plurality of rotors are changed, and a predetermined induced voltage is changed. A motor control device including phase change means (for example, phase change means 12 in the embodiment) that is set to a constant, wherein the phase is from an arbitrary phase to an appropriate phase after the setting change by the phase change means Transition time calculation means (for example, the efficiency state calculation unit 62 in the embodiment) for calculating the transition time at the time of transition, and a first consumption energy consumed by the transition by the phase change means based on the transition time -First calculation means (for example, step S42 in the embodiment) for calculating (for example, consumed energy ΔE in the embodiment), and driving by changing the phase from an arbitrary phase to an appropriate phase after setting change Second computing means (for example, step S43 in the embodiment) for computing second consumed energy (for example, consumed energy Δe in the embodiment) consumed by the control of the motor when generating force, and the phase Third computing means (for example, step S44 in the embodiment) for computing third consumed energy (for example, consumed energy Δη in the embodiment) consumed by the control of the motor without being changed, and the first and second 2 When the sum of the consumed energy is smaller than the third consumed energy, the phase changing means is allowed to change the phase. Permitting means (for example, the efficiency state calculation unit 62 in the embodiment), and the second energy consumption is performed while the motor is controlled over a predetermined time set in advance from the completion of the transition. Control of the motor over the transition time and the predetermined time calculated using the energy consumed by maintaining the phase unchanged, the motor operation efficiency before the phase change and the motor operation efficiency after the phase change The third energy consumption is calculated over the transition time and the predetermined time calculated using the motor operation efficiency before the phase change and the motor operation efficiency after the phase change. The energy consumed by the motor without changing the phase and the energy consumed by maintaining the phase unchanged. Is et operation is characterized in Rukoto.

  According to the motor control apparatus having the above-described configuration, the energy efficiency of the motor is appropriately improved by considering the difference in energy consumption depending on whether or not the phase change is performed with respect to the motor capable of changing the induced voltage constant. be able to.

  According to the motor control device having the above-described configuration, in addition to the energy consumption in the transition time when the phase of the motor transitions from an arbitrary phase to an appropriate phase, the motor is considered in consideration of energy consumption in a predetermined time after the phase change Therefore, it is possible to accurately grasp the energy consumed by the motor, and to appropriately improve the energy efficiency of the motor.

Furthermore, the motor control device according to the second aspect of the invention is characterized by comprising temperature correction means (for example, the efficiency state calculation unit 62 in the embodiment) for correcting the transition time based on the temperature of the working fluid. Yes.

  According to the motor control device having the above-described configuration, even if the transition time varies according to the temperature of the working fluid in the phase changing unit that changes the relative phases of the plurality of rotors by the fluid pressure of the working fluid. The transition time can be calculated with high accuracy.

Furthermore, the motor control apparatus according to the third aspect of the present invention includes resistance correction means (for example, the efficiency state calculation unit 62 in the embodiment) that corrects the transition time based on the operating resistance of the phase change means. It is characterized by.

  According to the motor control device having the above-described configuration, even if the transition time varies depending on the operating resistance of the phase changing means (for example, sliding resistance, working fluid flow path resistance, etc.), the transition time is accurate. You can calculate well.

According to the motor control apparatus of the present invention, the energy efficiency of the motor is appropriately improved by considering the difference in energy consumption depending on whether or not the phase change is performed for the motor capable of changing the induced voltage constant. be able to.
Furthermore , in addition to the energy consumption at the transition time when the phase of the motor shifts from an arbitrary phase to an appropriate phase, the motor is controlled in consideration of the energy consumption at a predetermined time after the phase change. The energy consumption can be accurately grasped, and the energy efficiency of the motor can be improved appropriately.

Furthermore, according to the motor control device of the second aspect of the present invention, even when the transition time varies depending on the temperature of the working fluid, the transition time can be accurately calculated.
Furthermore, according to the motor control device of the invention described in claim 3 , the transition time varies depending on the operating resistance of the phase changing means (for example, sliding resistance, working fluid flow path resistance, etc.). However, the transition time can be calculated with high accuracy.

Embodiments of a motor control apparatus according to the present invention will be described below with reference to the accompanying drawings.
The motor control apparatus according to this embodiment is mounted on a fuel cell vehicle, an electric vehicle, or the like that includes a motor as a travel drive source. Specifically, as shown in FIG. 1, vehicle 100 is an electric vehicle including motor (Mot) 1 as a drive source, and motor 1 and transmission T / M are directly connected in series to drive motor 1. The force is transmitted to the front wheel Wf of the vehicle 100 via the transmission T / M.

When the driving force is transmitted from the front wheel Wf side to the motor 1 during deceleration of the vehicle 100, the motor 1 functions as a generator, generates a so-called regenerative braking force, and converts the kinetic energy of the vehicle body into electric energy (regenerative energy). Energy).
Here, the vehicle provided with the control device 100a includes an accelerator pedal opening sensor (hereinafter simply referred to as an AP opening sensor) s1, a brake pedal switch sensor (hereinafter simply referred to as a BrkSW sensor) s2, an inclination sensor s3, a front wheel. Various sensors such as Wf, a wheel speed sensor 75 provided on the rear wheel Wr, and an oil temperature sensor s4 for detecting the oil temperature of the transmission T / M are provided, and the control device 100a is based on the detection results of these various sensors. Thus, control commands are output to the control systems of the motor 1 and the transmission T / M.

FIG. 7 shows an example of a control system of the motor 1 when the motor 1 is used as a traveling drive source of the vehicle. In this control system, the drive operation and regenerative operation of the motor 1 are performed by a power drive unit 41 (hereinafter referred to as “PDU41”) in response to a control command output from the controller 40.
The PDU 41 includes a PWM inverter that performs pulse width modulation (PWM) using a bridge circuit in which transistor switching elements are bridge-connected, and is connected to a high-voltage battery 42 that exchanges electric energy with the motor 1. .
The PDU 41 turns on / off each transistor paired in each phase in the PWM inverter based on a gate signal (that is, PWM signal) that is a switching command input from the controller 40 when the motor 1 is driven. By switching the (shutoff) state, the DC power supplied from the battery 42 is converted into three-phase AC power, and the energization to the stator winding 2a of the motor 1 is sequentially commutated, whereby the stator of each phase. AC winding U-phase current Iu, V-phase current Iv and W-phase current Iw are passed through winding 2a.

  The motor 1 is an inner rotor type brushless motor in which a rotor unit 3 is disposed on the inner peripheral side of an annular stator 2, as shown in FIGS. Used as a source. The stator 2 has a multi-phase stator winding 2a, and the rotor unit 3 has a rotating shaft 4 at the shaft core. The rotational force of the motor 1 is transmitted to the wheel drive shaft (not shown) via the transmission T / M.

  As shown in FIGS. 2 to 5, the rotor unit 3 includes an annular outer circumferential rotor (rotor) 5 and an annular inner circumferential rotation arranged coaxially inside the outer circumferential rotor 5. A rotor (rotor) 6 is provided, and the outer peripheral rotor 5 and the inner peripheral rotor 6 are relatively rotatable within a predetermined set angle range.

  The outer circumferential rotor 5 and the inner circumferential rotor 6 are formed by, for example, sintered rotor cores 7 and 8 made of sintered metal, which are the main bodies of the rotors, being biased toward the outer circumferential side of the rotor cores 7 and 8. In this position, a plurality of magnet mounting slots 7a and 8a are formed at equal intervals in the circumferential direction. In each of the magnet mounting slots 7a and 8a, two flat plate-like permanent magnets 9 and 9 magnetized in the thickness direction are mounted in parallel. Two permanent magnets 9, 9 mounted in the same magnet mounting slot 7a, 8a are magnetized in the same direction, and a pair of permanent magnets 9 mounted in each adjacent magnet mounting slot 7a, 7a and 8a, 8a. The magnetic poles are set so that the directions of the magnetic poles are opposite to each other. That is, in each of the rotors 5 and 6, a pair of permanent magnets 9 whose outer peripheral side is an N pole and a pair of permanent magnets 9 that are an S pole are alternately arranged in the circumferential direction. Note that the flow of magnetic flux of the permanent magnet 9 is controlled between the adjacent magnet mounting slots 7a, 7a and 8a, 8a on the outer peripheral surfaces of the rotors 5, 6 (for example, suppression of magnetic path short-circuiting, etc.) ) Is formed along the axial direction of the rotors 5 and 6.

  The same number of magnet mounting slots 7a, 8a of the outer rotor 5 and inner rotor 6 are provided, and the permanent magnets 9,..., 9 of the rotors 5, 6 correspond to each other on a one-to-one basis. ing. Therefore, by making the pair of permanent magnets 9 in each of the magnet mounting slots 7a and 8a of the outer peripheral rotor 5 and the inner peripheral rotor 6 face each other with the same polarity (with different polar arrangement), the rotor unit 3 is able to obtain a field-weakening state (see FIGS. 5 and 6B) where the entire field is weakened most, and the magnet mounting slots 7a of the outer rotor 5 and the inner rotor 6. , 8a, the pair of permanent magnets 9 are opposed to each other with different polarities (with the same polarity arrangement), so that the field of the entire rotor unit 3 is most strengthened (see FIGS. 3 and 6). (See (a)) can be obtained.

  The rotor unit 3 includes a rotation mechanism 11 for relatively rotating the outer peripheral rotor 5 and the inner peripheral rotor 6. The rotating mechanism 11 constitutes a part of phase changing means 12 for arbitrarily changing the relative phase between the rotors 5 and 6, and is a hydraulic fluid (transmission) that is an incompressible working fluid. It may be operated by the pressure of the lubricating oil for use. The phase changing means 12 is composed mainly of the turning mechanism 11 and a hydraulic control device (actuator) 13 shown in FIG. 8 that controls the pressure of the hydraulic fluid supplied to the turning mechanism 11. Yes.

  As shown in FIGS. 2 to 5, the rotation mechanism 11 includes a vane rotor 14 that is spline-fitted to the outer periphery of the rotating shaft 4 and an annular housing that is relatively rotatable on the outer periphery side of the vane rotor 14. 15, and the annular housing 15 is integrally fitted and fixed to the inner peripheral surface of the inner peripheral rotor 6, and the vane rotor 14 is provided on both side end portions of the annular housing 15 and the inner peripheral rotor 6. Are integrally coupled to the outer circumferential rotor 5 via a pair of disk-shaped drive plates 16, 16 straddling each other. Therefore, the vane rotor 14 is integrated with the rotary shaft 4 and the outer peripheral rotor 5, and the annular housing 15 is integrated with the inner peripheral rotor 6.

  In the vane rotor 14, a plurality of vanes 18 projecting radially outward are provided at equal intervals in the circumferential direction on the outer periphery of a cylindrical boss portion 17 that is spline-fitted to the rotary shaft 4. On the other hand, the annular housing 15 is provided with a plurality of concave portions 19 on the inner peripheral surface at equal intervals in the circumferential direction, and the corresponding vanes 18 of the vane rotor 14 are accommodated in the concave portions 19. Each recess 19 is constituted by a bottom wall 20 having an arc surface that substantially matches the rotational trajectory of the tip of the vane 18 and a substantially triangular partition wall 21 that separates the adjacent recesses 19, 19. The vane 18 can be displaced between the one partition wall 21 and the other partition wall 21 during relative rotation of the annular housing 15. In the case of this embodiment, the partition wall 21 also functions as a stopper that restricts the relative rotation of the vane rotor 14 and the annular housing 15 by contacting the vane 18. A seal member 22 is provided along the axial direction at the tip of each vane 18 and the tip of the partition wall 21, and the vane 18, the bottom wall 20 of the recess 19, and the partition wall 21 are provided by these seal members 22. And the outer peripheral surface of the boss portion 17 are liquid-tightly sealed.

  Further, the base portion 15a of the annular housing 15 fixed to the inner peripheral rotor 6 is formed in a cylindrical shape having a constant thickness, and is also provided with respect to the inner peripheral rotor 6 and the partition wall 21 as shown in FIG. Projects outward in the axial direction. Each end projecting outward of the base portion 15a is slidably held in an annular guide groove 16a formed in the drive plate 16, and the annular housing 15 and the inner peripheral rotor 6 are connected to the outer peripheral rotor. 5 and the rotating shaft 4 are supported in a floating state.

  The drive plates 16 and 16 on both sides connecting the outer rotor 5 and the vane rotor 14 are slidably in close contact with both side surfaces (both end surfaces in the axial direction) of the annular housing 15, and the side of each recess 19 of the annular housing 15. Respectively. Therefore, each recessed part 19 forms the independent space part by the boss | hub part 17 of the vane rotor 14, and the drive plates 16 and 16 of both sides, and this space part is the introduction space 23 into which a hydraulic fluid is introduce | transduced. Each introduction space 23 is divided into two chambers by the corresponding vanes 18 of the vane rotor 14, and one room is an advance side working chamber 24 and the other room is a retard side working chamber 25. The advance side working chamber 24 rotates the inner circumferential side rotor 6 relative to the outer circumferential side rotor 5 in the advance direction by the pressure of the working fluid introduced inside, and the retard side working chamber 25 is The inner rotor 6 is rotated relative to the outer rotor 5 in the retard direction by the pressure of the working fluid introduced therein. In this case, “advance angle” means that the inner rotor 6 is advanced in the rotation direction of the motor 1 indicated by the arrow R in FIGS. 3 and 5 with respect to the outer rotor 5. The term “angle” refers to advancing the inner rotor 6 to the opposite side of the rotation direction R of the motor 1 with respect to the outer rotor 5.

  Further, the supply and discharge of the hydraulic fluid to and from each of the advance side working chambers 24 and the retard side working chambers 25 is performed through the rotating shaft 4. Specifically, the advance side working chamber 24 is connected to the advance side supply / discharge passage 26 of the hydraulic control device 13 shown in FIG. 8, and the retard side working chamber 25 is connected to the retard side supply chamber 26 of the hydraulic control device 13. Although connected to the exhaust passage 27, a part of the advance side supply / discharge passage 26 and the retard side supply / exhaust passage 27 are respectively formed on the rotary shaft 4 along the axial direction as shown in FIG. It is constituted by passage holes 26a and 27a. The end portions of the passage holes 26a and 27a are respectively connected to an annular groove 26b and an annular groove 27b formed at two positions offset in the axial direction of the outer peripheral surface of the rotary shaft 4, and the respective annular grooves 26b and 27b. Are connected to a plurality of conduction holes 26c, ..., 26c, 27c, ..., 27c formed in the boss portion 17 of the vane rotor 14 along the substantially radial direction. Each conduction hole 26c of the advance side supply / discharge passage 26 connects the annular groove 26b and each advance side working chamber 24, and each conduction hole 27c of the retard side supply / exhaust passage 27 connects to the annular groove 27b and each retard side. The working chamber 25 is connected.

Here, in the case of the motor 1 of this embodiment, when the inner circumferential rotor 6 is at the most retarded angle position with respect to the outer circumferential rotor 5, the outer circumferential rotor 5 and the inner circumferential rotor 6 are permanent. The magnets 9 are opposed to each other with different polarities and are in a strong field state (see FIGS. 3 and 6A), and the inner rotor 6 is at the most advanced angle position with respect to the outer rotor 5. Sometimes, the permanent magnets 9 of the outer rotor 5 and the inner rotor 6 are set so as to face each other with the same poles and to be in a field-weakening state (see FIGS. 5 and 6B). Yes.
The motor 1 can arbitrarily change the state of the strong field and the state of the weak field by controlling the supply and discharge of the hydraulic fluid to the advance side working chamber 24 and the retard side working chamber 25. Thus, when the strength of the magnetic field is changed, the induced voltage constant Ke is changed accordingly, and as a result, the characteristics of the motor 1 are changed. That is, when the induced voltage constant Ke increases due to the strong field, the allowable rotational speed at which the motor 1 can be operated decreases, but the maximum torque that can be output increases, and conversely, the induced voltage constant Ke decreases due to the weak field. Then, although the maximum torque that can be output by the motor 1 decreases, the allowable rotational speed at which the motor 1 can operate increases.

On the other hand, as shown in FIG. 8, the hydraulic control device 13 sucks the hydraulic fluid from an oil tank (not shown) and discharges it to the passage, and the hydraulic pressure of the hydraulic fluid discharged from the oil pump 32. A regulator valve 35 that adjusts and introduces the hydraulic fluid into the high-pressure line passage 33 and flows the surplus hydraulic fluid into the low-pressure passage 34 for lubricating and cooling various devices, and the hydraulic fluid introduced into the line passage 33 is advanced. A flow switching valve 37 that distributes unnecessary hydraulic fluid to the drain passage 36 in the advance-side supply / discharge passage 26 and the retard-side supply / discharge passage 27, while distributing to the side supply / discharge passage 26 and the retard-side supply / discharge passage 27. It has.
The regulator valve 35 receives the pressure of the line passage 33 as a control pressure, and distributes the hydraulic fluid according to the balance with the reaction force spring 38.
Further, the flow path switching valve 37 has an electromagnetic solenoid 37 b that moves the control spool 37 a forward and backward, and the electromagnetic solenoid 37 b is controlled by the controller 40.

  As shown in FIG. 7, the controller 40 performs current feedback control on the dq coordinates forming the rotation orthogonal coordinates. For example, the controller 40 detects an accelerator opening degree s1 that detects an accelerator opening degree related to the driver's accelerator operation. The d-axis current command Idc and the q-axis current command Iqc are calculated based on the torque command value Tq calculated based on the detection result, and the phase output voltages Vu, Vv are calculated based on the d-axis current command Idc and the q-axis current command Iqc. , Vw are calculated, a PWM signal as a gate signal is input to the PDU 41 according to the phase output voltages Vu, Vv, Vw, and the phase currents Iu, Iv, Iw actually supplied from the PDU 41 to the motor 1 are calculated. Deviations between the d-axis current Id and the q-axis current Iq obtained by converting any two phase currents into a current on the dq coordinate, and the d-axis current command Idc and the q-axis current command Iqc are B performs control so that.

  The controller 40 includes, for example, a target current setting unit 51, a current deviation calculation unit 52, a field control unit 53, a power control unit 54, a current control unit 55, a dq-3 phase conversion unit 56, and a PWM signal generation. Unit 57, filter processing unit 58, three-phase-dq conversion unit 59, rotation speed calculation unit 60, induced voltage constant calculation unit 61, efficiency state calculation unit 62, induced voltage constant command output unit 63, An induced voltage constant difference calculation unit 64 and a phase control unit 65 are provided.

  The controller 40 includes current sensors 71 that detect a two-phase U-phase current Iu and a W-phase current Iw among the three-phase currents Iu, Iv, and Iw output from the PDU 41 to the motor 1. 71, detection signals Ius, Iws output from the battery 71, a detection signal output from the voltage sensor 72 that detects the terminal voltage (power supply voltage) VB of the battery 42, and the rotation angle θM of the rotor of the motor 1 (that is, a predetermined value) The detection signal output from the rotation sensor 73 that detects the rotation angle of the magnetic poles of the rotor from the reference rotation position) and the relative relationship between the inner circumferential rotor 6 and the outer circumferential rotor 5 that are variably controlled by the hydraulic control device 13. Detection signal output from the phase sensor 74 for detecting a specific phase (relative phase) θ and a plurality of wheel speed sensors 75,..., 7 for detecting the rotational speed (wheel speed NW) of each wheel of the vehicle 100. The detection signal output from 5 is input.

  The target current setting unit 51 is required in accordance with, for example, an output of an AP opening sensor s1 that detects a torque command Tq input from an external control device (not shown) (for example, a depression operation amount of an accelerator pedal AP by a driver). Command value for causing the motor 1 to generate torque), the rotational speed NM of the motor 1 input from the rotational speed calculator 60, and the induced voltage constant Ke input from the induced voltage constant calculator 61 described later. Based on the above, a current command for designating each phase current Iu, Iv, Iw supplied from the PDU 41 to the motor 1 is calculated, and this current command is the d-axis target current Idc on the rotating orthogonal coordinates. And the q-axis target current Iqc is output to the current deviation calculation unit 52.

  The dq coordinates that form the rotation orthogonal coordinates are, for example, a field magnetic flux direction of a rotor permanent magnet as a d axis (field axis), and a direction orthogonal to the d axis as a q axis (torque axis). The rotor unit 3 rotates in synchronization with the rotation phase. As a result, the d-axis target current Idc and the q-axis target current Iqc, which are DC signals, are given as current commands for the AC signal supplied from the PDU 41 to each phase of the motor 1.

The current deviation calculation unit 52 includes a d-axis current deviation calculation unit 52a that calculates a deviation ΔId between the d-axis target current Idc input with the d-axis correction current input from the field control unit 53 and the d-axis current Id, The q-axis target current Iqc to which the q-axis correction current input from the control unit 54 is added, and a q-axis current deviation calculation unit 52b that calculates a deviation ΔIq from the q-axis current Iq are configured.
The field control unit 53 controls the current phase so that the field amount of the rotor unit 3 is equivalently weakened in order to suppress an increase in the counter electromotive voltage accompanying an increase in the rotational speed NM of the motor 1, for example. The target value for the field weakening current of the field control is output to the d-axis current deviation calculation unit 52a as the d-axis correction current.
In addition, the power control unit 54 outputs a q-axis correction current for correcting the q-axis target current Iqc to the q-axis current deviation calculation unit 52a according to appropriate power control according to the remaining capacity of the battery 42, for example. .

  The current control unit 55 controls and amplifies the deviation ΔId to calculate the d-axis voltage command value Vd by, for example, a PI (proportional integration) operation according to the rotation speed NM of the motor 1, and controls and amplifies the deviation ΔIq to q-axis. A voltage command value Vq is calculated.

  The dq-3 phase conversion unit 56 uses the rotation angle θM of the rotor unit 3 input from the rotation speed calculation unit 60 to convert the d-axis voltage command value Vd and the q-axis voltage command value Vq on the dq coordinate, The voltage is converted into a U-phase output voltage Vu, a V-phase output voltage Vv, and a W-phase output voltage Vw, which are voltage command values on the three-phase AC coordinates that are stationary coordinates.

  The PWM signal generator 57 turns on each switching element of the PWM inverter of the PDU 41 by pulse width modulation based on, for example, sinusoidal phase output voltages Vu, Vv, Vw, a triangular wave carrier signal, and a switching frequency. A gate signal (that is, a PWM signal) that is a switching command including each pulse to be driven off / off is generated.

  The filter processing unit 58 performs filter processing such as removal of high-frequency components on the detection signals Ius and Iws for the phase currents detected by the current sensors 71 and 71 to obtain the phase currents Iu and Iw as physical quantities. Extract.

  The three-phase-dq conversion unit 59 uses the phase currents Iu and Iw extracted by the filter processing unit 58 and the rotation angle θM of the rotor unit 3 input from the rotation number calculation unit 60 to rotate the rotation phase of the motor 1. The d-axis current Id and the q-axis current Iq on the rotation coordinates by dq, that is, the dq coordinates are calculated.

The rotation speed calculation unit 60 extracts the rotation angle θM of the rotor unit 3 of the motor 1 from the detection signal output from the rotation sensor 73, and calculates the rotation speed NM of the motor 1 based on the rotation angle θM.
The induced voltage constant calculation unit 61 is based on the detection signal of the relative phase θ output from the phase sensor 74, and the induced voltage constant according to the relative relative phase θ between the inner circumferential rotor 6 and the outer circumferential rotor 5. Ke is calculated.

The induced voltage constant command output unit 63 is configured to induce the motor 1 based on, for example, the torque command Tq, the rotation speed NM of the motor 1, the power supply voltage VB, and a phase change command output from the efficiency state calculation unit 62 described later. A command value (induced voltage constant command) Kec for the voltage constant Ke is output.
The induced voltage constant difference calculation unit 64 subtracts the induced voltage constant Ke output from the induced voltage constant calculation unit 61 from the induced voltage constant command value Kec output from the induced voltage constant command output unit 63. A constant difference ΔKe is output.
For example, in response to the induced voltage constant difference ΔKe output from the induced voltage constant difference calculation unit 64, the phase control unit 65 controls the relative phase θ so that the induced voltage constant difference ΔKe is zero. Is output.

The efficiency state calculation unit 62 calculates a transition time when the phase of the motor 1 shifts from an arbitrary phase to an appropriate phase after the setting is changed by the phase changing unit 12, and based on this transition time, the phase changing unit The driving energy is generated by changing the phase of the motor 1 from an arbitrary phase to an appropriate phase after the change of setting from the first energy consumption (energy consumption D in FIG. Control of the motor 1 that generates the driving force without changing the phase by the sum of the second energy consumption (consumption energy (C + E) in FIG. 24B described later) consumed by the control of the motor 1 Is smaller than the third consumed energy (consumed energy (A + B) in FIG. 24A to be described later).
Note that the second consumed energy is consumed energy by maintaining the phase unchanged while controlling the motor 1 for a predetermined time set in advance from the completion of the transfer, and the transition time and the predetermined time. The third energy consumption is calculated from the sum of the energy consumed by the control of the motor 1 and the third energy consumption is the same as the energy consumed by the motor 1 without changing the phase over the transition time and the predetermined time. It is calculated from the sum of the energy consumption consumed by holding.

Further, the efficiency state calculation unit 62 determines the transition time based on the temperature of the working fluid (for example, the oil temperature of the transmission T / M by the oil temperature sensor s4) and the operating resistance (for example, the sliding resistance or the working fluid) of the phase changing unit 12. To compensate for the flow path resistance.
Note that the operating resistance of the phase changing unit 12 corresponds to the operating characteristic (resistance value) of the rotating mechanism 11 including variations occurring in the relative rotating operation speed of each of the plurality of motors 1 due to, for example, variations in mass production. The learning value is calculated as the learning value, and the learning value is, for example, the induced voltage constant Ke and the induced voltage constant command value obtained based on the detection result of the phase sensor 74 when the phase θ is moved from the most retarded angle to the most advanced angle. The value obtained by learning the difference from Kec.

  Therefore, for example, the efficiency state calculation unit 62 includes a signal of the torque command value Tq calculated based on the detection result of the AP opening sensor s1, and a detection signal (for example, brake pedal force Br) output from the BrkSW sensor s2. ), A detection signal output from the oil temperature sensor s4, a detection signal output from the phase sensor 74, a detection signal output from the wheel speed sensor 75, and the like.

  The motor control device 100a according to the present embodiment has the above-described configuration. Next, the two rotors 5 and 6 of the motor 1 are operated in accordance with the operation of the control device 100a, in particular, the calculation result of the efficiency state of the vehicle 100. The processing in the efficiency state calculation unit 62 that controls the relative phase of the motor and the operation state of the motor 1 will be described.

The variable motor efficiency calculation process will be described below.
First, for example, in step S01 shown in FIG. 9, the rotational speed NM of the motor 1 by the rotation sensor 73 and each detected value (current value) of the torque of the motor 1 by the torque sensor (not shown) are acquired.
In step S02, the detected value (current phase) of the relative phase θ of the rotors 5 and 6 of the motor 1 by the phase sensor 74 is acquired.
In step S03, an efficiency map corresponding to the current phase is searched from a plurality of preset efficiency maps.
Each efficiency map is a map showing a predetermined relationship among the rotational speed, torque, and operating efficiency (J) of the motor 1, as shown in FIG. 10, for example, in an appropriate combination of rotational speed and torque. The operating efficiency is maximized, and as the rotational speed or torque increases / decreases from the maximum efficiency region, the operating efficiency changes to a decreasing tendency. Different efficiency maps are set to correspond to each phase.

In step S04, a map search corresponding to the current values of the rotation speed and torque of the motor 1 is performed on the efficiency map obtained by the search, and the operation efficiency (variable motor efficiency) W of the motor 1 is obtained. To do.
In step S05, a map search corresponding to the current phase and rotation speed of the motor 1 is performed on a preset phase maintenance energy map to obtain the phase maintenance energy ζ of the motor 1, and a series of processes is performed. finish.
The phase maintenance energy map, as shown in FIG. 11 For example, a map showing a predetermined relationship between relative positions of the motor 1 and the rotation speed and phase maintaining energy (J), the phase maintenance energy is the motor 1 The energy required to maintain the relative phase of the two rotors 5 and 6 at an appropriate phase position. In this phase maintenance energy map, for example, the phase maintenance energy becomes a value near zero at the phase near the strong field and the weak field, and the phase maintenance energy becomes maximum at the phase between the strong field and the weak field. Further, as the rotational speed of the rotor unit 3 increases, the centrifugal hydraulic pressure changes in an increasing tendency, so that the hydraulic pressure that needs to be newly added decreases, and the phase maintenance energy changes in a decreasing tendency. .

The phase variable efficiency calculation process will be described below.
First, for example, in step S11 shown in FIG. 12, the detected value (current phase) of the relative phase θ of the rotors 5 and 6 of the motor 1 by the phase sensor 74 is acquired.
In step S12, a required value (required phase) for the relative phase θ, a required value for the rotational speed NM of the motor 1 (required rotational speed), and a required value for the torque of the motor 1 (required torque) are calculated.

In step S13, it is determined whether or not the current phase is larger than the required phase.
If this determination is “NO”, the flow proceeds to step S 14, where a map search corresponding to the current phase and the required phase of the motor 1 is performed with respect to the preset variable energy map Mα. The variable energy γ of the motor 1 is acquired, and the process proceeds to step S16.
On the other hand, if this determination is “YES”, the flow proceeds to step S 15, where a map search corresponding to the current phase and the requested phase of the motor 1 is performed with respect to the preset variable energy map Mβ. To obtain the variable energy γ of the motor 1, and the process proceeds to step S16.

  The variable energy maps Mα and Mβ are maps showing a predetermined relationship among the current phase, the required phase, and the variable energy (J) of the motor 1 as shown in FIGS. 13 and 14, for example. This is energy required for changing the relative phase θ of the rotors 5 and 6 of the motor 1 from an arbitrary phase to an appropriate phase after the setting is changed by the phase changing means 12. In each of the variable energy maps M1 and M2, for example, when the current phase and the required phase are equal, the variable energy becomes zero. For example, as shown in FIG. For example, as shown in FIG. 14, when the current phase> the required phase, as shown in FIG. 14, the energy from the weak field to the strong field becomes permanent and the rotors 5 and 6 become permanent. Since the magnets 9 and 9 attract each other by magnetic force, the variable energy becomes a predetermined minimum value.

In step S16, an efficiency map corresponding to the required phase is searched from a plurality of preset efficiency maps.
Each efficiency map is a map showing a predetermined relationship among the rotational speed, torque and operating efficiency (J) of the motor 1 as shown in FIG. 15, for example, in an appropriate combination of rotational speed and torque. The operating efficiency is maximized, and as the rotational speed or torque increases / decreases from the maximum efficiency region, the operating efficiency changes to a decreasing tendency. Different efficiency maps are set to correspond to each phase.

In step S17, the efficiency map obtained by the search is subjected to a map search according to the required values of the rotation speed and torque of the motor 1 (required rotation speed and required torque), and the operating efficiency of the motor 1 is determined. (Variable motor efficiency) U is acquired.
In step S18, a map search according to the required phase and required rotation speed of the motor 1 is performed on a preset phase maintenance energy map to obtain the phase maintenance energy ψ of the motor 1, and a series of processing Exit.
The phase maintenance energy map, as shown in FIG. 16 For example, a map showing a predetermined relationship between relative positions of the motor 1 and the rotation speed and phase maintaining energy (J), the phase maintenance energy is the motor 1 The energy required to maintain the relative phase of the two rotors 5 and 6 at an appropriate phase position. In this phase maintenance energy map, for example, the phase maintenance energy becomes a value near zero at the phase near the strong field and the weak field, and the phase maintenance energy becomes maximum at the phase between the strong field and the weak field. Further, since the centrifugal hydraulic pressure changes in an increasing tendency as the rotational speed increases, the hydraulic pressure that needs to be newly added decreases, and the phase maintenance energy changes in a decreasing tendency.

Hereinafter, the transition time calculation process will be described.
First, for example, in step S21 shown in FIG. 17, the detected value (current phase) of the relative phase θ of the rotors 5 and 6 of the motor 1 by the phase sensor 74 is acquired.
In step S22, the required value (required phase) for the relative phase θ and the required response speed, that is, the relative phase θ of the rotors 5 and 6 of the motor 1 are changed from an arbitrary phase after the setting is changed by the phase changing means 12. A required value for the speed when changing to an appropriate phase is calculated.

In step S23, it is determined whether the current phase is larger than the required phase.
If this determination is “YES”, the flow proceeds to step S 24, where a map search corresponding to the current phase and the requested phase of the motor 1 is performed on the preset transition time map Ma. The transition time T with respect to the relative phase θ is acquired, and the process proceeds to step S26.
On the other hand, if this determination is “NO”, the flow proceeds to step S 25, where a map search corresponding to the current phase and the requested phase of the motor 1 is performed with respect to the preset transition time map Mb. The transition time T with respect to the relative phase θ is acquired, and the process proceeds to step S26.

  The transition time maps Ma and Mb are maps showing a predetermined relationship among the current phase, the required phase, and the transition time of the motor 1, as shown in FIGS. 18 and 19, for example. In Mb, for example, when the current phase is equal to the required phase, the transition time is zero. For example, as shown in FIG. 18, when the current phase is greater than the required phase, the weak field is changed to the strong field, Since the permanent magnets 9 and 9 of the rotors 5 and 6 attract each other by magnetic force, for example, as shown in FIG. 19, the transition time is shorter than in the case where the current phase <the required phase.

In step S26, a value obtained by subtracting the predetermined response speed from the request response speed is set as the speed difference α.
In step S27, it is determined whether or not the speed difference α is larger than a predetermined threshold value.
If this determination is “NO”, the flow proceeds to step S 30 described later.
On the other hand, if the determination is “YES”, the flow proceeds to step S28.
In step S28, a value obtained by multiplying the transition time T by the correction term α0 corresponding to the speed difference α is newly set as the transition time T.

Then, in step S29, a map search corresponding to the speed difference α is performed on a preset variable consumption energy correction term map to obtain a variable consumption energy correction term β. Note that this variable consumption energy correction term map is set so that the variable consumption energy correction term β changes in an increasing trend as the speed difference α increases, for example, as shown in FIG.
In step S30, a value obtained by multiplying the variable energy γ by the variable consumption energy correction term β is newly set as the variable energy γ.

  In step S31, a map search according to the detected value of the oil temperature of the transmission T / M by the oil temperature sensor s4 is performed on a preset oil temperature correction term map to obtain the oil temperature correction term To. To do. The oil temperature correction term map is set such that, for example, as shown in FIG. 21, the oil temperature correction term To changes in an increasing trend as the oil temperature increases.

  In step S32, a map search corresponding to the learned value of the operating resistance (for example, sliding resistance, working fluid flow path resistance, etc.) of the phase changing means 12 is performed on the preset resistance correction term map. To obtain the resistance correction term ST. The oil temperature correction term map is set such that, for example, as shown in FIG. 22, the resistance correction term ST changes in an increasing trend as the operating resistance increases.

  In step S33, a value obtained by multiplying the transition time T by the oil temperature correction term To and the resistance correction term ST is newly set as the transition time T, and the series of processing ends.

Below, the process of energy consumption calculation is demonstrated.
First, for example, in step S41 shown in FIG. 23, it is determined whether or not the current phase is greater than zero and less than 180 °, and is in a predetermined economic operation. The predetermined economic driving is an operating state in which, for example, the variation in travel behavior related to the acceleration and deceleration of the vehicle 100 calculated based on the detection result by the wheel speed sensor 75 is less than a predetermined value.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S42.
In step S42, as shown in the following formula (1), the variable energy γ of the motor 1 is integrated over the transition time T to calculate the consumed energy ΔE required for changing the relative phase θ.
Note that the consumed energy ΔE in the following formula (1) corresponds to the consumed energy D in FIG.

In step S43, as shown in the following formula (2), the variable motor efficiency U is obtained by subtracting the variable motor efficiency W from the energy obtained by integrating the phase maintaining energy ψ over a predetermined time Ta. The energy obtained by integrating the obtained values over the transition time T is added to calculate the consumed energy Δe consumed after the change of the relative phase θ.
The first term of the consumed energy Δe in the following formula (2) corresponds to the consumed energy C in FIG. 25B described later, and the second term corresponds to the consumed energy E.

In step S44, the variable motor efficiency W is subtracted from the energy obtained by integrating the phase maintaining energy ζ over a predetermined time Ta and the variable motor efficiency U as shown in the following formula (3). The energy obtained by adding the maintenance energy ζ to the energy obtained by integrating over the transition time T is added to calculate the consumed energy Δη that is consumed without changing the relative phase θ.
The first term of the consumed energy Δη in the following mathematical formula (3) corresponds to the consumed energy A in FIG. 25A described later, and the second term corresponds to the consumed energy B.

In step S45, it is determined whether the value obtained by subtracting the consumed energy ΔE and the consumed energy Δe from the consumed energy Δη is greater than zero.
If this determination is “NO”, the flow proceeds to step S 46, where “0” is set to the flag value of the variable permission flag indicating that the change of the relative phase θ is permitted. Terminate the process.
On the other hand, if this determination is “YES”, the flow proceeds to step S 47, where “1” is set to the flag value of the variable permission flag, and the series of processing is terminated.

As described above, according to the motor control device 100a of the present embodiment, the first consumption energy (consumption energy ΔE) consumed by the transition by the phase changing unit 12 based on the transition time and the phase are set from an arbitrary phase. The sum of the second consumed energy (consumed energy Δe) consumed by the control of the motor 1 when the driving force is generated by changing to an appropriate phase after the change is consumed by the control of the motor 1 without changing the phase. to If third less than the energy consumption (energy consumption .DELTA..eta), since you allowed to modify the phase by the phase changing means 12, while preventing the energy efficiency of the motor 1 is deteriorated, the induced voltage of the motor 1 Constants can be set appropriately.

1 is a schematic configuration diagram of a vehicle according to an embodiment of the present invention. It is principal part sectional drawing of the motor which concerns on embodiment of this invention. It is the side view which abbreviate | omitted some components of the rotor unit currently controlled to the most retarded angle position of the motor which concerns on embodiment of this invention. It is a disassembled perspective view of the rotor unit of the motor which concerns on embodiment of this invention. It is the side view which abbreviate | omitted some components of the rotor unit currently controlled to the most advanced angle position of the motor which concerns on embodiment of this invention. The figure (a) which shows typically the strong field state in which the permanent magnet of the inner peripheral side rotor and the permanent magnet of the outer peripheral side rotor of the motor which concern on embodiment of this invention are arrange | positioned with the same polarity, It is the figure which described collectively the figure (b) which shows typically the field-weakening state by which the permanent magnet of the side rotor and the permanent magnet of the outer peripheral side rotor were arrange | positioned differently. It is a block diagram of the control apparatus of the motor which concerns on embodiment of this invention. It is a block diagram of the hydraulic control apparatus which concerns on embodiment of this invention. It is a flowchart which shows the process of the variable motor efficiency calculation which concerns on embodiment of this invention. It is a graph which shows an example of the map which shows the predetermined relationship between the rotation speed of the motor which concerns on embodiment of this invention, torque, and driving | operation efficiency. It is a graph which shows an example of the map which shows the predetermined relationship between the relative position of the motor which concerns on embodiment of this invention, rotation speed, and phase maintenance energy. It is a flowchart which shows the process of the phase variable efficiency calculation which concerns on embodiment of this invention. It is a graph which shows an example of the map which shows the predetermined relationship between the present phase of the motor which concerns on embodiment of this invention, a request | requirement phase, and variable energy. It is a graph which shows an example of the map which shows the predetermined relationship between the present phase of the motor which concerns on embodiment of this invention, a request | requirement phase, and variable energy. It is a graph which shows an example of the map which shows the predetermined relationship between the rotation speed of the motor which concerns on embodiment of this invention, torque, and driving | operation efficiency. It is a graph which shows an example of the map which shows the predetermined relationship between the relative position of the motor which concerns on embodiment of this invention, rotation speed, and phase maintenance energy. It is a flowchart which shows the process of the transfer time calculation which concerns on embodiment of this invention. It is a graph which shows an example of the map which shows the predetermined relationship between the present phase of the motor which concerns on embodiment of this invention, a request | requirement phase, and transition time. It is a graph which shows an example of the map which shows the predetermined relationship between the present phase of the motor which concerns on embodiment of this invention, a request | requirement phase, and transition time. It is a graph which shows an example of the variable consumption energy correction | amendment term map which concerns on embodiment of this invention. It is a graph which shows an example of the oil temperature correction term map which concerns on embodiment of this invention. It is a graph which shows an example of the resistance correction term map which concerns on embodiment of this invention. It is a flowchart which shows the process of the consumption energy calculation which concerns on embodiment of this invention. It is a graph which shows an example of the total consumption energy at the time of variable non-execution (a) and variable execution (b) based on the 1st Embodiment of this invention.

Explanation of symbols

1 Motor (Rotating electric machine)
5 Outer rotor (rotor)
6 Inner rotor (rotor)
9 Permanent magnet (magnet piece)
12 Phase changing means 62 Efficiency state calculating section (transition time calculating means, temperature correcting means, resistance correcting means)
Step S42 First calculation means Step S43 Second calculation means Step S44 Third calculation means

Claims (3)

A plurality of rotors each having a magnet piece and capable of changing the relative phase of each other, and phase changing means for changing the setting of the relative phase of the plurality of rotors to set a predetermined induced voltage constant A motor control device comprising:
A transition time calculating means for calculating a transition time when the phase shifts from an arbitrary phase to an appropriate phase after the setting change by the phase changing means;
First computing means for computing first consumed energy consumed by the transition by the phase changing means based on the transition time;
A second calculating means for calculating a second energy consumption consumed by controlling the motor when generating a driving force by changing the phase from an arbitrary phase to an appropriate phase after setting change;
Third computing means for computing third consumed energy consumed by controlling the motor without changing the phase;
Permission means for permitting the phase change means to change the phase when the sum of the first and second consumption energy is smaller than the third consumption energy ;
The second energy consumption includes energy consumed by holding the phase unchanged while controlling the motor for a preset time from the completion of the transition, and motor operation before the phase change. Calculated from the sum of the transition time calculated using the efficiency and the motor operation efficiency after the phase change and the energy consumed by the control of the motor over the predetermined time,
The third energy consumption is calculated by the motor without changing the phase over the transition time and the predetermined time calculated using the motor operation efficiency before the phase change and the motor operation efficiency after the phase change. a consumption energy consumed, the motor control device characterized by Rukoto is calculated from the sum of the consumption energy consumed by holding the phase unchanged. The motor control device according to claim 1 , further comprising temperature correction means for correcting the transition time based on a temperature of the working fluid. The motor control apparatus according to claim 1 or claim 2, characterized in that it comprises a resistance correction means correcting for on the basis of the operating resistance of the phase change means the transition time.

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