JP6988247B2 - Rotating electric machine control device - Google Patents

Description

The present invention relates to a rotary electric machine control device that estimates rotation position information of a rotary electric machine rotor based on a fundamental wave component of an induced voltage generated in an armature winding.

As a control device of this type, a device that performs position sensorless control without using a detection value of an angle detector that directly detects the rotation position of the rotor is known. As the position sensorless control, for example, as seen in Patent Document 1 below, the phase voltage generated in the armature winding of the rotary electric machine when the upper arm switch and the lower arm switch constituting the power converter are alternately turned on. Some use values. Specifically, this control device extracts the fundamental wave component of the induced voltage by filtering the acquired phase voltage value. The control device estimates the rotation position information of the rotor by detecting the zero cross of the extracted fundamental wave component.

Japanese Patent No. 4367555

During the on period of the upper arm switch, the voltage value generated in the armature winding is clamped to the value corresponding to the voltage value on the positive side of the DC power supply, and in the on period of the lower arm switch, it is generated in the armature winding. The voltage value to be applied is clamped to the value corresponding to the voltage value on the negative side of the DC power supply. Even if the phase voltage values including the clamped voltage values are filtered, the voltage values extracted by the filtering can deviate significantly from the fundamental component of the induced voltage. In this case, the estimation accuracy of the rotational position information based on the fundamental wave component of the induced voltage may decrease.

An object of the present invention is to provide a control device for a rotary electric machine capable of improving the estimation accuracy of rotor rotation position information in position sensorless control.

The present invention includes a power converter having a series connection of an upper arm switch and a lower arm switch connected in parallel to a DC power supply, and a rotary electric machine having an armature winding electrically connected to the power converter. In the control device of the rotary electric machine applied to the control system including the above, the influence of the voltage value of the DC power supply is reduced from the voltage value generated in the armature winding during the on period of each of the upper arm switch and the lower arm switch. In this state, the processing unit that performs processing to output the voltage value generated in the armature winding and the basic of the induced voltage generated in the armature winding by filtering the output value of the processing unit. A filter unit for extracting a wave component and an estimation unit for estimating the rotation position information of the rotor of the rotary armature based on the fundamental wave component extracted by the filter unit are provided.

The processing unit of the present invention determines the voltage value generated in the armature winding in a state where the influence of the voltage value of the DC power supply is reduced from the voltage value generated in the armature winding during the on period of each of the upper and lower arm switches. Performs output processing. Therefore, it is possible to improve the extraction accuracy of the fundamental wave component of the induced voltage in the filter unit. As a result, the estimation unit can improve the estimation accuracy of the rotation position information based on the fundamental wave component extracted by the filter unit.

The overall block diagram of the control system of the rotary electric machine which concerns on 1st Embodiment. The figure which shows the spatial phase difference of a winding group. A time chart showing the transition of the phase voltage value to be filtered. A flowchart showing a procedure of control processing including position estimation processing. A time chart showing the transition of the induced voltage fundamental wave component obtained by the filtering process. The figure which shows the effect of 1st Embodiment. The flowchart which shows the procedure of the control process which concerns on 2nd Embodiment. The time chart which shows the transition of the phase voltage value which performs the filter processing which concerns on 3rd Embodiment. A flowchart showing the procedure of control processing. The time chart which shows the transition of the line voltage value which performs the filter processing which concerns on 4th Embodiment. A flowchart showing the procedure of control processing. Overall configuration diagram of the control system of the rotary electric machine according to other embodiments. Overall configuration diagram of the control system of the rotary electric machine according to other embodiments.

<First Embodiment>
Hereinafter, the first embodiment in which the control device according to the present invention is embodied will be described with reference to the drawings.

As shown in FIG. 1, the control system includes a rotary electric machine 10. The rotary electric machine 10 has a multi-phase multiple winding, and specifically, is a synchronous machine having a three-phase double winding. In the present embodiment, the rotary electric machine 10 is a winding field type. The rotor 11 of the rotary electric machine 10 is provided with a field winding 12 for forming a magnetic pole. A field current flows through the field winding 12.

A first winding group 14 and a second winding group 15, which are two armature winding groups, are wound around the stator 13 of the rotary electric machine 10. The rotor 11 is shared with respect to the first and second winding groups 14 and 15. Each of the first winding group 14 and the second winding group 15 consists of three-phase windings having different neutral points. The first winding group 14 has U, V, W phase windings 14U, 14V, 14W displaced by 120 ° from each other in the electrical angle, and the second winding group 15 has X displaced by 120 ° from each other in the electrical angle. , Y, Z phase windings 15X, 15Y, 15Z. In the present embodiment, as shown in FIG. 2, the spatial phase difference Δθ, which is the angle formed by the first winding group 14 and the second winding group 15, is set to 30 ° in terms of electrical angle. That is, the angle formed by the U-phase winding 14U and the X-phase winding 15X is 30 ° in terms of electrical angle. In this embodiment, the first winding group 14 and the second winding group 15 have the same configuration. Specifically, the number of turns of each of the phase windings 14U to 14W constituting the first winding group 14 and the number of turns of each of the phase windings 15X to 15Z constituting the second winding group 15 are set to be equal. ing.

The control system includes a positive electrode side conductive member 20, a DC power supply 21, and first, second, and third modules M1, M2, and M3. The positive electrode side conductive member 20 is, for example, a bus bar. The DC power supply 21 is, for example, a storage battery, and more specifically, a secondary battery. The first module M1 includes a series connection body of X-phase upper and lower arm switches SXH and SXL, a series connection body of Y-phase upper and lower arm switches SYH and SYL, and a first drive unit DU1. In this embodiment, each switch SXH, SXL, SYH, SYL is an N-channel MOSFET. The first drive unit DU1 is an ASIC (Application Specific Integrated Circuit). The positive electrode side conductive member 20 is connected to the drain which is the high potential side terminal of each of the X phase upper arm switch SXH and the Y phase upper arm switch SYH, and the positive electrode terminal of the DC power supply 21 is connected to the positive electrode side conductive member 20. Has been done. A ground is connected to the negative electrode terminal of the DC power supply 21. A ground is connected to the source which is the low potential side terminal of each of the X-phase lower arm switch SXL and the Y-phase lower arm switch SXL. The first end of the X-phase winding 15X is connected to the connection points of the X-phase upper and lower arm switches SXH and SXL via an X-phase conductive member 22X such as a bus bar. The first end of the Y-phase winding 15Y is connected to the connection points of the Y-phase upper and lower arm switches SYH and SYL via a Y-phase conductive member 22Y such as a bus bar.

The first module M1 includes a first voltage dividing portion 23A composed of a pair of resistors. The first voltage dividing section 23A connects the positive electrode side conductive member 20 and the ground, and divides the output voltage value VDC of the DC power supply 21 at a predetermined voltage dividing ratio. In the present embodiment, the resistance values of the pair of resistors constituting the first voltage dividing unit 23A are the same. Therefore, the first voltage dividing unit 23A divides the output voltage value VDC of the DC power supply 21 by 1/2. The voltage value divided by the first voltage dividing unit 23A is input to the first driving unit DU1.

The second module M2 includes a series connection body of the Z-phase upper and lower arm switches SZH and SZL, a series connection body of the U-phase upper and lower arm switches SUH and SUL, and a second drive unit DU2. In this embodiment, each switch SZH, SZL, SUH, SUL is an N-channel MOSFET. The second drive unit DU2 is an ASIC. A positive electrode side conductive member 20 is connected to the drain of each of the Z-phase upper arm switch SZH and the U-phase upper arm switch SUH, and a ground is connected to the source. The first end of the Z-phase winding 15Z is connected to the connection points of the Z-phase upper and lower arm switches SZH and SZL via a Z-phase conductive member 22Z such as a bus bar. The first end of the U-phase winding 14U is connected to the connection points of the U-phase upper and lower arm switches SUH and SUL via a U-phase conductive member 22U such as a bus bar.

The second module M2 includes a second voltage dividing portion 23B composed of a pair of resistors. The second voltage dividing section 23B connects the positive electrode side conductive member 20 and the ground, and divides the output voltage of the DC power supply 21 at a predetermined voltage dividing ratio. In the present embodiment, the resistance values of the pair of resistors constituting the second voltage dividing unit 23B are the same. Therefore, the second voltage dividing unit 23A divides the output voltage value VDC of the DC power supply 21 into 1/2. The voltage value divided by the second voltage dividing unit 23B is input to the second driving unit DU2.

The third module M3 includes a series connection body of V-phase upper and lower arm switches SVH and SVL, a series connection body of W-phase upper and lower arm switches SWH and SWL, and a third drive unit DU3. In this embodiment, each switch SVH, SVL, SWH, SWL is an N-channel MOSFET. Further, the third drive unit DU3 is an ASIC. A positive electrode side conductive member 20 is connected to the drain of each of the V-phase upper arm switch SVH and the W-phase upper arm switch SWH, and a ground is connected to the source. The first end of the V-phase winding 14V is connected to the connection points of the V-phase upper and lower arm switches SVH and SVL via a V-phase conductive member 22V such as a bus bar. The first end of the W-phase winding 14W is connected to the connection points of the W-phase upper and lower arm switches SWH and SWL via a W-phase conductive member 22W such as a bus bar.

The third module M3 includes a third voltage dividing portion 23C composed of a pair of resistors. The third voltage dividing section 23C connects the positive electrode side conductive member 20 and the ground, and divides the output voltage of the DC power supply 21 at a predetermined voltage dividing ratio. In the present embodiment, the resistance values of the pair of resistors constituting the third voltage dividing unit 23C are the same. Therefore, the third voltage dividing unit 23C divides the output voltage value VDC of the DC power supply 21 into 1/2. The voltage value divided by the third voltage dividing unit 23C is input to the third driving unit DU3.

The control system includes a control unit 30. The control unit 30 includes a CPU and a memory, and executes a program stored in the memory by the CPU. The control unit 30 exchanges information with each drive unit DU1 to DU3 in order to control the control amount (for example, torque) of the rotary electric machine 10 to the command value by the position sensorless control. In this embodiment, 120-degree energization control is used to control the control amount of the rotary electric machine 10 to a command value. According to the 120-degree energization control, the non-energized periods of the phase windings 14U to 14W do not overlap each other in the first winding group 14, and the non-energized periods of the phase windings 15X to 15Z in the second winding group 15 do not overlap with each other. Do not overlap with each other. The non-energized period of each phase extends over 60 degrees at the electric angle, and the energized period of each phase extends over 120 degrees at the electric angle.

The functions provided by the drive units DU1 to DU3 and the control unit 30 can be provided by, for example, software recorded in a physical memory device, a computer for executing the software, hardware, or a combination thereof. ..

In order to perform position sensorless control, it is required to acquire the fundamental wave component of the induced voltage generated in each phase winding constituting the first winding group 14 and the second winding group 15. In this embodiment, the fundamental wave component of the induced voltage is acquired based on the phase voltage value in each phase. The first drive unit DU1 has X, Y based on the voltage value on the first end side of the X, Y phase windings 15X, 15Y with reference to the voltage dividing value "VDC / 2" by the first voltage dividing unit 23A. Acquire the phase voltage values Vxr and Vyr. The second drive unit DU2 has Z, U based on the voltage value on the first end side of the Z, U phase windings 15Z, 14U with reference to the voltage dividing value "VDC / 2" by the second voltage dividing unit 23B. Acquire the phase voltage values Vzr and Vur. The third drive unit DU3 is V, W based on the voltage value on the first end side of the V, W phase windings 14V, 14W with reference to the voltage dividing value "VDC / 2" by the third voltage dividing unit 23C. Acquire the phase voltage values Vvr and Vwr. Hereinafter, a method of acquiring the fundamental wave component of the induced voltage will be described with reference to FIG. 3 by taking the U phase as an example. FIG. 3A shows the transition between the fundamental wave component Eu of the U-phase induced voltage, the U-phase voltage value Vur acquired by the second drive unit DU2, and the filtered U-phase input value Vus. show. FIG. 3B shows the transition of the driving states of the U-phase upper and lower arm switches SUH and SUL. In the example shown in FIG. 3, the rotation speed of the rotor 11 is constant.

At times t1 to t2 in FIG. 3, the U-phase upper arm switch SUH is turned off and the U-phase lower arm switch SUL is turned on. Therefore, the U-phase voltage value Vur acquired by the second drive unit DU2 is a value “−VDC / 2” corresponding to the voltage value on the negative electrode side of the DC power supply 21 as shown by the broken line in FIG. 3 (a). Clamped to. The period of time t1 to t2 is an energization period of 120 degrees in electric angle.

At times t2 to t3, the dead time is set when both the U phase upper and lower arm switches SUH and SUL are turned off. The dead time is the non-energized period of the U-phase winding 14U. In the dead time, the induced voltage appears in the U-phase voltage value Vur. However, in the dead time, two noises are superimposed on the U-phase voltage value Vur. These noises are switching noise corresponding to a phase other than the U phase among the U, V, and W phases, and switching noise corresponding to any of the X, Y, and Z phases. Since the spatial phase difference Δθ is 30 °, for example, the generation interval of these noises is 30 ° in terms of electrical angle. The period of time t2 to t3 is a non-energized period of 60 degrees in electric angle.

At times t3 to t4, the U-phase upper arm switch SUH is turned on and the U-phase lower arm switch SUL is turned off. Therefore, the U-phase voltage value Vur acquired by the second drive unit DU2 has a value “+ VDC / 2” corresponding to the voltage value on the positive electrode side of the DC power supply 21 as shown by the broken line in FIG. 3 (a). Be clamped. The period from time t3 to t4 is an energization period of 120 degrees in electric angle.

In the present embodiment, the U-phase voltage value Vur acquired at the timing immediately before the on-timing t1 of the U-phase lower arm switch SUL in the dead time over the time t1 to t2 is the U-phase to be filtered. The input value is Vus. Specifically, the U-phase voltage value Vur acquired at the timing one processing cycle before the on-timing t1 of the U-phase lower arm switch SUL in the dead time is defined as the U-phase input value Vus to be filtered. To. The U-phase voltage value Vur acquired at the timing one processing cycle before the time t1 in the dead time is a voltage value close to the amplitude of the fundamental wave component of the induced voltage without superimposing noise.

In the present embodiment, the acquired U-phase voltage value Vur is used as the U-phase input value Vus as it is over the dead time t2 to t3.

In the present embodiment, the U-phase voltage value Vur acquired at the timing one processing cycle before the on-timing t3 of the U-phase upper arm switch SUH in the dead time from time t3 to t4 is the U-phase input value Vus. Will be done.

FIG. 4 shows a procedure of the rotation position estimation process executed by the second drive unit DU2. In FIG. 4, the U phase will be described as an example. The processing shown in FIG. 4 is repeatedly executed at predetermined processing cycles.

In step S10, the U-phase voltage value Vur is acquired based on the voltage value on the first end side of the U-phase winding 14U with reference to the voltage dividing value “VDC / 2” by the second voltage dividing unit 23B. In the present embodiment, the process of step S10 corresponds to the acquisition unit. The acquired U-phase voltage value Vur is stored in a storage unit (for example, a memory) provided in the second drive unit DU2 in relation to time.

In step S11, it is determined whether or not either the U-phase upper arm switch SUH or the U-phase lower arm switch SUL is turned on.

If a negative determination is made in step S11, it is determined that the current processing timing is in the dead time, the process proceeds to step S12, and the acquired U-phase voltage value Vur is used as the U-phase input value Vus as it is.

On the other hand, if an affirmative determination is made in step S11, the process proceeds to step S13, and the U-phase voltage value Vur acquired in step S10 one processing cycle before the processing cycle immediately affirmatively determined in step S11 is used as the U-phase input value Vus. And. That is, the U-phase input value Vus is maintained at the U-phase voltage value Vur acquired before the one processing cycle for the period during which the affirmative determination is continued in step S11. In this embodiment, the processing of steps S11 to S13 corresponds to the processing unit.

After the processing of step S12 or S13 is completed, the process proceeds to step S14, and the U-phase input value Vus is filtered to remove the harmonic component and extract the fundamental wave component Eu of the U-phase induced voltage. In the present embodiment, the filter processing is a low-pass filter processing. The low-pass filter is, for example, 1st to 3rd order. The cutoff frequency of the low-pass filter is increased as the electric angular velocity ωe of the rotary electric machine 10 is increased so that the frequency higher than the frequency of the fundamental wave component of the induced voltage is set as the cutoff frequency. The higher the cutoff frequency, the smaller the time constant τ of the low-pass filter. Therefore, the higher the electric angular velocity ωe, the smaller the time constant τ. This makes it possible to appropriately extract the fundamental wave component of the induced voltage whose fluctuation frequency changes according to the electric angular velocity ωe. The electric angular velocity ωe used in step S14 may be a value estimated in step S17 one processing cycle before. Further, in the present embodiment, the process of step S14 corresponds to the filter unit.

In step S15, the U-phase filter value Vuf, which is the U-phase input value Vus filtered in step S14, is compared with the threshold value Vα, and the timing at which the U-phase filter value Vuf crosses the threshold value Vα is calculated. In this embodiment, as shown in FIG. 5, the threshold value Vα is set to 0. Therefore, the timing at which the U-phase filter value Vuf crosses the threshold value Vα is the zero cross timing.

In step S16, the phase of the zero cross timing calculated in step S15 is corrected. In the present embodiment, the correction for advancing the phase of the zero cross timing is performed based on the electric angular velocity ωe. The reason for correcting the phase is that the phase of the U-phase filter value Vuf is delayed with respect to the U-phase input value Vus by performing the filter processing in step S14.

In step S17, the electric angle θe, which is the rotation position information of the rotary electric machine 10, is estimated based on the phase-corrected zero cross timing. In addition, the electric angular velocity ωe is estimated based on the time interval of the zero cross timing. In this embodiment, the process of step S17 corresponds to the estimation unit.

In step S18, a drive signal for on / off driving the U-phase upper / lower arm switches SUH and SUL is generated based on the calculated electric angle θe and the electric angular velocity ωe, and the U-phase upper / lower arm switches SUH and SUL are generated. Output to the gate of. In this embodiment, the process of step S18 corresponds to the switch drive unit.

The second drive unit DU2 also performs the same processing as that shown in FIG. 4 for the Z phase. Further, the first drive unit DU1 performs the same processing as shown in FIG. 4 for the X and Y phases, and the third drive unit DU3 performs the same processing as the processing shown in FIG. 4 for the V and W phases. conduct. As a result, the upper and lower arm switches of each phase are driven on and off in order to control the control amount of the rotary electric machine 10 to the command value based on the estimated electric angle θe and the like.

FIG. 6 shows the effect of this embodiment. The phase voltage shown in FIG. 6 is an FFT analysis of the acquired phase voltage value, and the induced voltage shown in FIG. 6 is an FFT analysis of the actual induced voltage. Further, in FIG. 6, the comparative example is a configuration in which the U-phase voltage value Vur is always used as the U-phase input value Vus.

According to the present embodiment, the ratio of the fundamental wave component of the induced voltage to the fundamental wave component of the phase voltage value can be increased as compared with the comparative example. This is because the filter processing is performed in a state where the influence of the voltage value of the DC power supply 21 is reduced from the voltage value generated in the winding during the on period of each of the upper and lower arm switches. As a result, it is possible to prevent the estimated value of the zero cross timing of the fundamental wave component of the induced voltage from deviating significantly from the zero cross timing of the fundamental wave component of the actual induced voltage. As a result, the estimation accuracy of the electric angle θe can be improved, and the controllability of the controlled amount of the rotary electric machine 10 can be improved.

Further, in the present embodiment, to explain by taking the U phase as an example, the U phase voltage value Vur acquired at the timing immediately before the on timing of the U phase upper arm switch SUH in the dead time is turned on of the U phase upper arm switch SUH. The U-phase input value Vus was set over the period. Further, the acquired U-phase voltage value Vur was used as it is as the U-phase input value Vus over the dead time. Further, the U-phase voltage value Vur acquired at the timing immediately before the on-timing of the U-phase lower arm switch SUL in the dead time was set as the U-phase input value Vus over the ON period of the U-phase lower arm switch SUL. As a result, the U-phase voltage value Vur during the ON period of the U-phase upper and lower arm switches can be brought closer to the fundamental wave component Eu of the induced voltage by a simple method.

In each module M1 to M3, each drive unit DU1 to DU3 has a phase based on the voltage value on the first end side of the winding with reference to the voltage dividing value "VDC / 2" by the voltage dividing units 23A to 23C. Obtained the voltage value. According to this configuration, it is possible to eliminate the need for wiring connecting each module in order to grasp the reference voltage. As a result, the configuration of the control system can be simplified.

<Second Embodiment>
Hereinafter, the second embodiment will be described with reference to the drawings, focusing on the differences from the first embodiment. In this embodiment, the method of determining the U-phase input value Vus during the on period of either the upper or lower arm switch is changed.

FIG. 7 shows a procedure of the rotation position estimation process executed by the second drive unit DU2. In FIG. 7, the U phase will be described as an example. The processing shown in FIG. 7 is repeatedly executed at predetermined processing cycles. In FIG. 7, the same processing as that shown in FIG. 4 is designated by the same reference numerals for convenience.

If an affirmative determination is made in step S11, the process proceeds to step S20, and the amplitude Vp of the fundamental wave component Eu of the induced voltage is calculated based on the electric angular velocity ωe. Specifically, the higher the electric angular velocity ωe, the larger the amplitude Vp is calculated. This is because, assuming that the armature interlinkage magnetic flux of the magnetic pole of the rotor 11 is φ, there is a relationship of “Vp = ωe × φ”. In step S20, the amplitude Vp may be calculated using the map information associated with the electric angular velocity ωe and the amplitude Vp, or the amplitude Vp may be calculated using the formula “Vp = ωe × φ”. May be good. Further, in the present embodiment, the process of step S20 corresponds to the induced voltage calculation unit. In the present embodiment, the processing of steps S11, S12, S20, and S21 corresponds to the processing unit.

Incidentally, in step S20, the amplitude Vp of the fundamental wave component Eu of the induced voltage may be calculated based on the electric angular velocity ωe and the field current. This is because the armature interlinkage magnetic flux φ of the magnetic pole of the rotor 11 depends on the field current. Specifically, the larger the field current, the larger the amplitude Vp may be calculated.

After the processing of step S20 or S12 is completed, the process proceeds to step S14. According to the process described above, the amplitude Vp calculated in step S20 is set as the U-phase input value Vus over the ON periods of the U-phase upper and lower arm switches SUH and SUL. According to this embodiment, the fundamental wave component of the induced voltage can be extracted with higher accuracy, and the estimation accuracy of the electric angle θe can be further improved.

<Third Embodiment>
Hereinafter, the third embodiment will be described with reference to the drawings, focusing on the differences from the first embodiment. In this embodiment, the method of determining the U-phase input value Vus during the on period of either the upper or lower arm switch is changed. More specifically, to explain the U phase as an example, as shown in FIG. 8A, the U phase lower arm switch SUL is turned on and off according to the duty ratio DUTY over time t1 to t2. The duty ratio DUTY is the ratio "Ton / Tsw" of the on-time Ton of the switch to the specified time Tsw. At times t1 to t2, the U-phase voltage value Vur and the U-phase input value Vus are alternately switched between the U-phase voltage value Vur acquired immediately before time t1 in the dead time and a value close to the induced voltage. .. Further, from time t3 to t4, the U-phase lower arm switch SUL is turned on and off according to the duty ratio DUTY. At times t3 to t4, the U-phase voltage value Vur and the U-phase input value Vus are alternately switched between the U-phase voltage value Vur acquired immediately before time t3 in the dead time and a value close to the induced voltage. ..

FIG. 9 shows a procedure of the rotation position estimation process executed by the second drive unit DU2. In FIG. 9, the U phase will be described as an example. The processing shown in FIG. 9 is repeatedly executed at predetermined processing cycles. In FIG. 9, the same processing as that shown in FIG. 4 is designated by the same reference numerals for convenience.

After the process of step S10 is completed, the process proceeds to step S30, and it is determined whether or not the U-phase winding 14U is energized.

If a negative determination is made in step S30, it is determined that the period is non-energized, and the process proceeds to step S12. As a result, the U-phase voltage value Vur becomes the U-phase input value Vus as it is during the off period of the U-phase upper and lower arm switches SUH and SUL.

On the other hand, if an affirmative determination is made in step S30, the process proceeds to step S31, and the corresponding switch among the U-phase upper arm switch SUH and the U-phase lower arm switch SUL is turned on and off according to the duty ratio DUTY. After that, the process proceeds to step S14 via step S12. In this embodiment, the processing of steps S12, S30, and S31 corresponds to the processing unit.

Incidentally, in step S31, the U-phase voltage value Vur becomes a value close to the induced voltage during the period in which the switch is turned off during the energization period. Therefore, the duty ratio duty to be used in the next specified time Tsw may be set based on the U-phase voltage value Vur acquired in the period in which the switch is turned off in the energization period.

According to the present embodiment described above, the same effect as that of the first embodiment can be obtained.

<Fourth Embodiment>
Hereinafter, the fourth embodiment will be described with reference to the drawings, focusing on the differences from the first embodiment. In this embodiment, as shown in FIG. 10, a line voltage value is used instead of the phase voltage value. The line voltage value is a voltage value from which the influence of the voltage value of the DC power supply 21 is removed. The size of the vertical axis 1 memory in FIG. 10B is larger than the size of the vertical axis 1 memory in FIG. 10A. Therefore, the peak value of the line voltage value becomes larger than the peak value of the phase voltage value, which leads to prevention of false detection of zero cross.

FIG. 11 shows a procedure of the rotation position estimation process executed by the second drive unit DU2. In FIG. 11, a case where the line voltage value Vuvr of the U and V phases is used will be described as an example. The process shown in FIG. 11 is repeatedly executed every predetermined process cycle. In FIG. 11, the same reference numerals are given to the processes corresponding to the processes shown in FIG. 4 above for convenience.

In step S40, the line voltage value Vvr is acquired by subtracting the V-phase voltage value Vvr from the U-phase voltage value Vur. The V-phase voltage value Vvr may be obtained from, for example, the third drive unit DU3. Further, in the present embodiment, the processing of step S40 corresponds to the acquisition unit and the processing unit.

In the following step S41, the acquired line voltage value Vvr is subjected to a low-pass filter process to remove the harmonic component and extract the fundamental wave component Evr of the induced voltage. Here, the higher the electric angular velocity ωe of the rotary electric machine 10, the higher the cutoff frequency.

In the following step S42, the filter value Vuvf, which is the line voltage value Vvr filtered in step S41, is compared with the threshold value Vα, and the timing at which the filter value Vuvf crosses the threshold value Vα is calculated. In this embodiment, the threshold value Vα is set to 0. Then, the process proceeds to step S16.

According to the present embodiment described above, the same effect as that of the first embodiment can be obtained. Further, according to the present embodiment, it is possible to reduce the tertiary component of the line voltage value after the filter. Thereby, the estimation accuracy of the electric angle θe can be further improved.

<Other embodiments>
In addition, each of the above-mentioned embodiments may be changed and carried out as follows.

As shown in FIG. 12, even if each drive unit DU1 to DU3 acquires a phase voltage value based on the voltage value on the first end side of the winding with reference to the voltage value of the positive electrode side conductive member 20. good. Further, as shown in FIG. 13, each drive unit DU1 to DU3 may acquire a phase voltage value based on the voltage value on the first end side of the winding with reference to the ground voltage value. In FIGS. 12 and 13, the same configurations as those shown in FIG. 1 above are designated by the same reference numerals for convenience.

In each of the above embodiments, the main body of the process for estimating the electric angle is the drive units DU1 to DU3, but the present invention is not limited to this, and may be, for example, the control unit 30.

The threshold value Vα in step S15 of the first embodiment is not limited to 0 and may be a value other than 0.

-A filter in which the order of the low-pass filter can be switched may be used.

-The power converter is not limited to the one divided into three modules. Further, the upper and lower arm switches constituting the power converter are not limited to N-channel MOSFETs, and may be, for example, IGBTs.

-The rotary electric machine is not limited to the one provided with two winding groups, and may be, for example, one provided with one winding group. Further, the rotary electric machine is not limited to the winding field type, and may be, for example, a permanent magnet field type in which a permanent magnet is provided in the rotor. Further, the winding of the rotary electric machine is not limited to the one that is Y-connected, and may be, for example, the one that is Δ-Y-connected.

10 ... rotary electric machine, 14U-14W ... U-W phase winding, 15X-15Z ... X-Z phase winding, 21 ... DC power supply, M1 to M3 ... 1st to 3rd modules.

Claims (5)

A power converter (M1 to M2) having a series connection of an upper arm switch (SUH to SZH) and a lower arm switch (SUL to SZL) connected in parallel to the DC power supply (21).
A rotary electric machine control device (DU1 to DU3) applied to a control system including a rotary electric machine (10) having an armature winding (14U to 14W, 15X to 15Z) electrically connected to the power converter. ),
A switch drive unit that alternately drives the upper arm switch and the lower arm switch on while sandwiching a dead time.
An acquisition unit that acquires the phase voltage value generated in the armature winding, and
The phase voltage value acquired at the timing immediately before the on timing of the upper arm switch in the dead time is output over the on period of the upper arm switch, and the acquired phase voltage value is used as it is over the dead time. A processing unit that outputs and outputs the phase voltage value acquired at the timing immediately before the on timing of the lower arm switch in the dead time over the on period of the lower arm switch.
A filter unit that extracts the fundamental wave component of the induced voltage generated in the armature winding by filtering the output value of the processing unit.
A control device for a rotary electric machine including an estimation unit for estimating rotation position information of the rotor (11) of the rotary electric machine based on a fundamental wave component extracted by the filter unit. A power converter (M1 to M2) having a series connection of an upper arm switch (SUH to SZH) and a lower arm switch (SUL to SZL) connected in parallel to the DC power supply (21).
A rotary electric machine control device (DU1 to DU3) applied to a control system including a rotary electric machine (10) having an armature winding (14U to 14W, 15X to 15Z) electrically connected to the power converter. ),
A switch drive unit that alternately drives the upper arm switch and the lower arm switch on while sandwiching a dead time.
An acquisition unit that acquires the phase voltage value generated in the armature winding, and
An induced voltage calculation unit that calculates the amplitude of the fundamental wave component of the induced voltage generated in the armature winding, at least based on the electric angular velocity of the rotating electric machine.
The amplitude calculated by the induced voltage calculation unit is output over the on period of each of the upper arm switch and the lower arm switch, and the acquired phase voltage value is output as it is over the dead time. Processing unit and
By applying a filtering process on the output value of the processing unit, a filter unit for extracting a fundamental wave component before Ki誘electromotive voltage,
A control device for a rotary electric machine including an estimation unit for estimating rotation position information of the rotor (11) of the rotary electric machine based on a fundamental wave component extracted by the filter unit. A power converter (M1 to M2) having a series connection of an upper arm switch (SUH to SZH) and a lower arm switch (SUL to SZL) connected in parallel to the DC power supply (21).
A rotary electric machine control device (DU1 to DU3) applied to a control system including a rotary electric machine (10) having an armature winding (14U to 14W, 15X to 15Z) electrically connected to the power converter. ),
A switch drive unit that alternately drives the upper arm switch and the lower arm switch on while sandwiching a dead time.
An acquisition unit that acquires the phase voltage value generated in the armature winding, and
The phase voltage value acquired when the upper arm switch is turned on and the phase voltage value thereof are closer to the fundamental wave component of the induced voltage generated in the armature winding during the on period of the upper arm switch. The value and the value are output alternately, the acquired phase voltage value is output as it is over the dead time, and the phase acquired when the lower arm switch is turned on for the on period of the lower arm switch. A processing unit that alternately outputs a voltage value and a value closer to the fundamental wave component of the induced voltage than the phase voltage value, and a processing unit.
A filter unit that extracts the fundamental wave component of the induced voltage generated in the armature winding by filtering the output value of the processing unit.
A control device for a rotary electric machine including an estimation unit for estimating rotation position information of the rotor (11) of the rotary electric machine based on a fundamental wave component extracted by the filter unit. A power converter (M1 to M2) having a series connection of an upper arm switch (SUH to SZH) and a lower arm switch (SUL to SZL) connected in parallel to the DC power supply (21).
A rotary electric machine control device (DU1 to DU3) applied to a control system including a rotary electric machine (10) having an armature winding (14U to 14W, 15X to 15Z) electrically connected to the power converter. ),
The phase voltage value generated in the armature winding is acquired, and among the acquired phase voltage values, the phase voltage value in the on period of each of the upper arm switch and the lower arm switch is generated in the armature winding. A processing unit that performs processing that outputs the voltage closer to the fundamental wave component of the induced voltage,
A filter unit that extracts the fundamental wave component of the induced voltage generated in the armature winding by filtering the output value of the processing unit.
It is provided with an estimation unit that estimates the rotation position information of the rotor (11) of the rotary electric machine based on the fundamental wave component extracted by the filter unit .
The rotary electric machine has X, Y, Z phase windings (15X to 15Z) and U, V, W phase windings (14U to 14W) as the armature windings.
The power converter
The upper arm switch includes an X-phase upper arm switch (SXH) connected to the X-phase winding and a Y-phase upper arm switch (SYH) connected to the Y-phase winding, and serves as the lower arm switch. A first module (M1) having an X-phase lower arm switch (SXL) connected in series with the X-phase upper arm switch and a Y-phase lower arm switch (SYL) connected in series with the Y-phase upper arm switch.
The upper arm switch includes a Z-phase upper arm switch (SZH) connected to the Z-phase winding and a U-phase upper arm switch (SUH) connected to the U-phase winding, and the lower arm switch. A second module (M2) having a Z-phase lower arm switch (SZL) connected in series with the Z-phase upper arm switch and a U-phase lower arm switch (SUL) connected in series with the U-phase upper arm switch.
The upper arm switch includes a V-phase upper arm switch (SVH) connected to the V-phase winding and a W-phase upper arm switch (SWH) connected to the W-phase winding, and serves as the lower arm switch. A third module (M3) having a V-phase lower arm switch (SVL) connected in series with the V-phase upper arm switch and a W-phase lower arm switch (SWL) connected in series with the W-phase upper arm switch. Including
The acquisition unit, which is configured to acquire the phase voltage value generated in the armature winding of the processing unit, is provided in each of the modules.
In each of the modules, the acquisition unit is a phase generated in the armature winding with reference to the voltage dividing value of the DC power supply, the voltage value on the positive electrode side of the DC power supply, or the voltage value on the negative electrode side of the DC power supply. A controller for a rotating electric machine that acquires a voltage value. The control device for a rotary electric machine according to any one of claims 1 to 4 , wherein the filter unit reduces the time constant in the filter processing when the electric angular velocity of the rotary electric machine is higher than when the electric angular velocity is low.

Images