JP2015223033A - Switched reluctance motor controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller of the SR (Switched Reluctance) motor which can estimate a position detection error of a rotor.SOLUTION: A controller of SR (Switched Reluctance) motor comprises: a rotational position sensor 60 which detects rotational position of a rotor 26; voltage impression means which switches voltage applied to the coil when a rotational position detected by the rotational position sensor 60 becomes a control position according to a request torque; current integration means 32 which starts detection of current and integration of current in synchronization with a state transition timing changing current state of the coil, and integrates the detected current for a prescribed period to acquire the detected integration value; and estimation means 34 which estimates an error amount of the rotational position detected by the rotational position sensor 60 on the basis of a difference between the reference integrated value that integrates reference current estimated in advance according to the request torque for a prescribed period and the detected integration value.

Description

  The present invention relates to a control device for a switched reluctance motor.

  In recent years, SR (switched reluctance) motors are known as motors that do not use permanent magnets. In the control of the SR motor, a desired torque is generated by adjusting the on / off timing of the voltage applied to the winding. In such control of the SR motor, if the current waveform that actually flows through the windings is different from the assumed current waveform, a desired torque cannot be generated.

  In the SR motor control device described in Patent Document 1, when the power supply voltage fluctuates and the current waveform is different from the assumed current waveform, the on-timing of the applied voltage is corrected. Specifically, the on-timing of the applied voltage is corrected so that the integral value of the current detected by the current sensor for a predetermined period and the integral value of the reference current assumed in advance match each other. The area of the current waveform flowing through the winding is the same as the area of the reference current waveform to ensure a desired torque.

JP 2003-319691 A

  The deviation between the actual current waveform and the reference current waveform as described above indicates that when there is a rotor position detection error, energization starts and starts at a rotor position different from the rotor position where the current energization start and demagnetization start should be started. It also occurs when degaussing starts.

  In view of the above circumstances, it is a primary object of the present invention to provide an SR motor control device capable of estimating a rotor position detection error.

  In order to solve the above problems, the present invention is wound around a rotor having a salient pole in the radial direction, a stator having a salient pole opposed to the salient pole of the rotor, and a salient pole of the stator. And a rotation position sensor for detecting a rotation position of the rotor, and the rotation position detected by the rotation position sensor according to a required torque. When the control position is reached, the voltage application means for turning on or off the voltage applied to the winding, and the detection of the current and the current in synchronization with the state transition timing at which the current state of the winding makes a transition Current integration means for starting integration, integrating the detected current for a predetermined period to obtain a detection integral value, and a reference integration value for integrating a reference current assumed in advance according to the required torque for the predetermined period; The current Based on a difference between the detected integral value calculated by the partial unit, and a estimation means for estimating the error amount of the detected the rotational position by the rotational position sensor.

  According to the present invention, when the rotational position detected by the rotational position sensor becomes the control position corresponding to the required torque, the applied voltage of the winding is turned on or off. Then, detection and integration of current are started in synchronization with the state transition timing of the winding current, and a detection integration value obtained by integrating the current for a predetermined period is acquired.

  If the rotational position sensor mounting accuracy or rotational position sensor detection accuracy is low and there is an error between the detected rotational position and the actual rotational position, the applied voltage of the winding is actually at the control position according to the required torque. Not turned on and off. Therefore, the current flowing through the winding is different from the assumed reference current according to the required torque, and the reference integrated value obtained by integrating the reference current for a predetermined period and the detected integrated value include the detected rotational position. A difference corresponding to the amount of error occurs. Therefore, the error amount of the detected rotational position can be estimated based on the difference between the reference integral value and the detected integral value.

Sectional drawing which shows the structure of SR motor. The figure which shows the structure of the control system of SR motor which concerns on 1st Embodiment. The figure which shows the structure of the drive circuit of SR motor. The figure which shows the electricity supply mode to the coil | winding of SR motor. The table | surface which shows a switching pattern. The figure which shows the drive current at the time of normal drive, a current integration area, and a drive voltage. The figure which shows the drive current at the time of medium speed drive, an electric current integration area, and a drive voltage. The figure which shows the drive current at the time of high-speed drive, a current integration area, and a drive voltage. The figure which shows the drive current at the time of high-speed drive, a current integration area, and a drive voltage. The figure which shows the drive current and drive voltage before and after correcting a voltage application timing. The flowchart which shows the process sequence which correct | amends a conduction angle command value. The figure which shows the drive current at the time of normal drive, an integration area, and a drive voltage. The figure which shows the drive current at the time of normal drive, an integration area, and a drive voltage. The figure which shows the drive current at the time of medium speed drive, an integration area, and a drive voltage. The figure which shows the drive current at the time of high speed drive, an integration area, and a drive voltage. The figure which shows the drive current at the time of high speed drive, an integration area, and a drive voltage. The figure which shows the structure of the control system of SR motor which concerns on 2nd Embodiment. The figure which shows the structure of the control system of SR motor which concerns on 3rd Embodiment. The figure which shows the structure of the control system of SR motor which concerns on 4th Embodiment.

  Hereinafter, each embodiment which implement | achieved the control apparatus of the switched reluctance motor (henceforth, SR motor) is described, referring drawings. The SR motor according to each embodiment is assumed to be a motor as an in-vehicle main unit mounted on a vehicle. In the following embodiments, parts that are the same or equivalent to each other are denoted by the same reference numerals in the drawings, and the description of the same reference numerals is used.

(First embodiment)
First, the configuration of the SR motor 20 will be described with reference to FIG. The SR motor 20 is wound around a rotor 26 having four salient poles 26a projecting in the radial direction, a cylindrical stator 25 having six salient poles 25a facing the salient poles 26a, and salient poles 25a. It is configured as a three-phase motor having the wound windings 10a to 12a and 10b to 12b. The rotor 26 and the stator 25 are arranged coaxially. The windings 10a and 10b, the windings 11a and 11b, and the windings 12a and 12b are arranged in series at positions separated from each other by an electrical angle of 360 °. The U-phase, V-phase, and W-phase are composed of windings 10a and 10b, windings 11a and 11b, and windings 12a and 12b, respectively.

  Since the salient poles 26a of the rotor 26 and the salient poles 25a of the stator 25 are set to an even number that is not in a multiple relationship with each other, the salient poles 25a around which the windings 12a and 12b are wound and a pair of salient poles. When the pole 26a opposes, the position of the other salient pole 25a and the other salient pole 26a is displaced. Therefore, if the sequentially shifted salient poles 25a are selected and the current is supplied to the phases, the rotor salient poles 26a can be continuously attracted to generate torque and rotate the rotor 26. The magnitude of the generated torque is determined according to the relative position between the stator 25 and the rotor 26, the number of turns of the windings 10a to 12a and 10b to 12b, and the current flowing through the windings 10a to 12a and 10b to 12b. The rotational position of the rotor 26 is detected by a rotational position sensor 60 (see FIG. 2).

  The rotational position sensor 60 is a sensor such as an encoder using a resolver or a hall sensor. A simple and low-resolution sensor such as a hall sensor has low detection accuracy, and thus an error may be included in the detected rotational position. Even in a sensor with high detection accuracy such as a resolver, an error may be included in the detected rotational position due to poor mounting accuracy. In this embodiment, since the rotational position sensor 60 is mounted on the vehicle, the mounting accuracy may be deteriorated due to vibration or the like.

  Next, an SR motor control system according to the first embodiment will be described with reference to FIG. A drive circuit 40 that drives the SR motor 20 is connected to the SR motor 20. A controller 30 and a DC power supply 50 are connected to the drive circuit 40. The DC power supply 50 is a secondary battery whose terminal voltage is, for example, 100 V or more. Specifically, a lithium ion secondary battery or a nickel hydride secondary battery is employed as the DC power source 50. The controller 30, the drive circuit 40, the power source 50, the current sensor 37, and the rotational position sensor 60 constitute the SR motor control device according to the present embodiment.

  The drive circuit 40 converts the electric power output from the DC power supply 50 into three phases and supplies it to the SR motor 20. Specifically, the drive circuit 40 operates the switching elements SW1a to c and SW2a to c of the drive circuit 40 based on the operation signals g1a to c and g2a to c received from the controller 30, and the windings 10a and b, windings The voltage applied to the wires 11a, b and the windings 12a, b is turned on or off (see FIG. 3). The operation signals g1a to c and g2a to c are signals generated based on the voltage command values Var, Vbr, and Vcr and the energization angle command values θon and θoff. The voltage command values Var, Vbr, and Vcr are command values for voltages applied to the windings 10a, b, 11a, b, 12a, and b, respectively, in order to generate the required torque Tr. The energization angle command values θon and θoff (control positions) are used to turn on and off the voltages applied to the windings 10a, b, 11a, b, 12a, and b in order to generate the required torque Tr. It is.

  FIG. 3 shows the configuration of the drive circuit 40. The U-phase driving circuit includes an upper arm switching element SW1a and a diode D2a, and a lower arm switching element SW2a and a diode D1a. Similarly, the V-phase drive circuit includes an upper arm switching element SW1b and a diode D2b, and a lower arm switching element SW2b and a diode D1b. The W-phase drive circuit includes an upper arm switching element SW1c and a diode D2c, and a lower arm switching element SW2c and a diode D1c. In the present embodiment, IGBTs (Insulated Gate Bipolar Transistors) are used as the switching elements SW1a to c and SW2a to c. The switching elements SW1a-c and SW2a-c may be MOSFETs, bipolar transistors, or the like.

  Since the drive circuit of each phase has the same configuration, only the U-phase drive circuit will be described below, and description of the V-phase and W-phase drive circuits will be omitted. The emitter terminal of the switching element SW1a and the cathode of the diode D1a are connected in series, and the anode of the diode D2a and the collector terminal of the switching element SW2a are connected. A winding 10 is connected between a connection point T1 between the switching element SW1a and the diode D1a and a connection point T2 between the diode D2a and the switching element SW2a. The winding 10 is a winding in which the windings 10a and 10b are connected in series.

  The collector terminal of the switching element SW1a and the cathode of the diode D2a are connected to the first end of the smoothing capacitor 51 and the positive side of the DC power supply 50. The anode of the diode D1a and the emitter terminal of the switching element SW2a are connected to the second end of the smoothing capacitor 51 and the negative side of the DC power supply 50. That is, the U-phase drive circuit is a so-called asymmetric H-bridge circuit.

  Next, the operation of the switching elements SW1a and SW2a of the U-phase drive circuit will be described with reference to FIGS. The operation on the switching element of the drive circuit of each phase is executed by an operation signal transmitted from the controller 30. In this embodiment, since each phase of the SR motor is independent, the operation on the switching element of the drive circuit of each phase is the same operation. Therefore, in the following description, the U phase is described as an example, and descriptions of the V phase and the W phase are omitted. During normal driving of the SR motor 20, there are four modes according to the state of the current flowing through the winding 10: a power supply mode, a constant current mode, a demagnetization mode, and a pause mode.

  In the power supply mode, the switching elements SW1a and SW2a are turned on. In this mode, as shown in FIG. 4A, a closed circuit including the DC power supply 50, the switching element SW1a, the winding 10, and the switching element SW2a is formed, and a current flows through the closed circuit. A voltage VE of the DC power supply 50 is applied to the winding 10, the winding 10 is excited, and magnetic energy is stored in the winding 10. In the power supply mode, a square wave voltage is continuously applied, the drive current is raised, and the drive current is increased to a current value corresponding to the required torque Tr. When the rotational position (phase) of the rotor detected by the rotational position sensor 60 reaches the energization angle command value θon, the switching elements SW1a and SW2a are turned on and the current supply mode is started. That is, the energization angle command value θon is the start timing (energization start timing) of the power supply mode. A period A of the drive current waveform and the drive voltage waveform shown in FIGS. 6A and 6B corresponds to the current supply mode.

  In the constant current mode, the switching elements SW1a and SW2a are repeatedly turned on and off, and the drive current flowing through the winding 10 is kept constant. Specifically, the switching elements SW1a and SW2a are turned on as in the power supply mode. Subsequently, the switching element SW1a is turned on and the switching element SW2a is turned off. In this case, as shown in FIG. 4B, a closed circuit including the switching element SW1a, the winding 10, and the diode D2a is formed, and the current circulates. The diode D2a functions as a freewheel diode.

  Subsequently, the switching element SW1a is turned off and the switching element SW2a is turned on. In this case, as shown in FIG. 4C, a closed circuit including the diode D1a, the winding 10, and the switching element SW2a is formed, and the current circulates. The diode D1a functions as a free wheel diode. Subsequently, the switching elements SW1a and SW2a are turned off. In this case, as shown in FIG. 4D, a closed circuit including the diode D1a, the winding 10, the diode D2a, and the DC power supply 50 is formed. In this closed circuit, a regenerative current flows in the direction of charging the DC power supply 50 using the magnetic energy accumulated in the winding 10 as a power supply source. And before back electromotive force generate | occur | produces in the coil | winding 10, it switches to the first switching pattern of a constant current mode.

  In the constant current mode, the above four switching patterns are repeated, and a square-wave voltage is repeatedly applied so that the drive current flowing through the winding 10 falls within the range between a predetermined upper limit value and a predetermined lower limit value. In FIGS. 6A and 6B, the period B corresponds to the constant current mode.

  In the degaussing mode, the switching elements SW1a and SW2a are turned off as in the fourth pattern in the constant current mode. A regenerative current flows through a closed circuit including the diode D1a, the winding 10, the diode D2a, and the DC power supply 50. As a result, a negative electromotive force of -VE, which is a negative DC power supply, is generated in the winding 10. The regenerative current continues to flow until the magnetic energy accumulated in the winding 10 is exhausted. When the rotational position (phase) of the rotor detected by the rotational position sensor 60 becomes the conduction angle command value θoff, the switching elements SW1a and SW2a are turned off and the demagnetization mode is started. That is, the energization angle command value θoff is the demagnetization mode start timing. In FIGS. 6A and 6B, the period C corresponds to the degaussing mode.

  The sleep mode is a period from the end of the degaussing mode to the restart of the power supply mode. In the sleep mode, the switching elements SW1a and SW2a are kept off. The magnetic energy accumulated in the winding 10 is not in the demagnetization mode, and no regenerative current flows in the rest mode. Therefore, the voltage applied to the winding 10 becomes zero. In FIGS. 6A and 6B, the period D corresponds to the pause mode.

  Next, returning to FIG. 2, the controller 30 will be described. The controller 30 is a microcomputer including a CPU, a ROM, a RAM, an I / O, and the like, and controls the switching elements SW1a to SW and SW2a to c of the drive circuit 40, and thus controls the operation of the SR motor 20. . The controller 30 executes the various programs stored in the ROM, thereby realizing the functions of the operation signal generation unit 31, the current integration unit 32, and the rotational position error amount estimation unit 34, and the current integration stored in the memory. Value information 33 is provided.

  The operation signal generation unit 31 acquires an optimum voltage command value Var and energization angle command values θon and θoff from the optimum map corresponding to the required torque Tr. Further, the operation signal generation unit 31 generates operation signals g1a and g2a for the switching elements SW1a and SW2a so that a voltage satisfying the voltage command value Var and the conduction angle command values θon and θoff is applied to the winding 10. . Then, the operation signal generation unit 31 transmits the generated operation signals g1a and g2a to the drive circuit 40. In addition, the operation signal generation unit 31 transmits the voltage command value Var to the current integration unit 32. The required torque Tr is calculated by another control device according to the load state of the vehicle and is input to the controller 30. The operation signal generator 31 and the drive circuit 40 constitute voltage application means.

  The current integration unit 32 (current integration means) starts acquiring the current detected by the current sensor 35 in synchronization with the state transition timing at which the state of the drive current flowing through the winding 10 changes, that is, when the operation mode is switched. At the same time, the detected current value is acquired by integrating the acquired current for a predetermined period.

  Specifically, the current integration unit 32 starts acquisition and integration of the current in synchronization with the start timing of the power supply mode, that is, the timing at which the current starts to flow through the winding 10, and the timing next to the timing at which the power supply starts. The current integration is finished in synchronization with the state transition timing. As shown in FIG. 6, in the case of normal driving, the current integration unit 32 starts acquiring and integrating current in synchronization with the start of the current supply mode (period A), and from the current supply mode to the constant current mode ( Integration ends at the timing of transition to period B). Further, as shown in FIG. 7, in the case of medium speed driving, the current responsiveness may be reduced due to the influence of the inductance L of the winding 10, and the constant current mode may be omitted. In this case, the current integration unit 32 starts acquiring and integrating current in synchronization with the start of the current supply mode, and ends the integration at the timing of transition from the current supply mode to the demagnetization mode (period C).

  In addition, as shown in FIG. 8, in the case of high-speed driving, the current responsiveness is further lowered, voltage is applied before the regenerative current stops flowing, and the constant current mode and the rest mode (period D) are omitted. Sometimes. In this case, the current integration unit 32 starts acquisition and integration of the current in synchronization with the start of the current supply mode, and ends the integration at the timing of transition from the current supply mode to the demagnetization mode. Further, as shown in FIG. 9, in the case of high-speed driving, the current integration unit 32 integrates the current increased when the demagnetization mode is changed to the power supply mode, and calculates the detection integrated value. Good. That is, the current remaining at the end of the degaussing mode may not be included in the integrated value. In the present embodiment, the current integration unit 32 integrates the period detection current in the power supply mode to obtain a detection integration value at any driving time.

  The current integral value information 33 is stored in the memory as a reference integral value obtained by integrating a presumed reference current during the current supply mode with respect to the energization angle command values θon and θoff corresponding to the required torque Tr and the reference voltage VE. It is what. The current integration value information 33 is a map of reference integration values using the conduction angle command value, reference voltage, and current initial value as parameters. The current initial value is the value of the reference current when starting to calculate the integral value. When integration is performed during the current supply mode, the current initial value is zero.

  Specifically, a reference integral value corresponding to the required torque Tr is calculated in advance using the voltage equation V = Ri + L (di / dt). R represents the resistance value of the winding 10 at the reference temperature, L represents the inductance value of the winding 10, and i represents the reference current. In the present embodiment, the voltage applied to the winding 10 is constant at the reference voltage VE. The inductance L is calculated from a magnetic flux information map prepared by a magnetic flux information map analyzed by FEM (Finite Element Method) or the like. Or the data of the inductance L measured experimentally using the actual machine are prepared and the data is used.

  Using the voltage equation and the inductance L information, the current change amount di / dt at the current initial value can be calculated. Further, the reference current i and di / dt after Δt time can be calculated using the calculated current change amount di / dt. In this way, the reference integration value can be calculated by sequentially calculating the reference current i and di / dt during the current supply mode.

  Alternatively, the current integral value information 33 may be information in which a magnetic flux information map or magnetic flux information data is stored in a memory. In this case, a reference integral value corresponding to the required torque Tr is calculated each time the rotational position error amount is estimated using the magnetic flux information map or magnetic flux information data and the voltage equation. In this way, the memory area for storing data can be made smaller than when preparing the data of the reference integration value.

  The rotational position error amount estimating unit 34 (estimating means) is operated by the rotational position sensor 60 based on the difference between the reference integrated value acquired from the current integrated value information 33 and the detected integrated value acquired by the current integrating unit 32. An error amount of the detected rotational position is estimated. FIG. 10A shows a reference current waveform assumed by a solid line when the voltage applied to the winding 10 is turned on and off at an optimum timing. A broken line indicates a detected current waveform that is detected when the voltage applied to the winding 10 is turned on and off at a timing shifted from the optimum timing due to a detection error of the rotational position sensor 60.

  When the timing for turning on and off the applied voltage is shifted, the waveform of the drive current flowing through the winding 10 becomes a waveform different from the reference current waveform. Therefore, even if the current is integrated for the same period, a difference occurs between the reference integrated value and the detected integrated value. As the timing at which the voltage is applied to the winding 10 is later than the optimum timing according to the required torque Tr, the period during which the drive current flowing through the winding 10 is held at a constant value becomes shorter, and the detected integral value is the reference integral. Smaller than the value. When the timing at which the voltage is applied to the winding 10 is earlier than the optimum timing, the detected integral value becomes larger than the reference integral value. Therefore, when the detected integral value is smaller than the reference integral value, the rotational position detected by the rotational position sensor 60 includes an error amount shifted to the retard side. When the detected integral value is larger than the reference integral value, the rotational position detected by the rotational position sensor 60 includes an error amount shifted to the advance side.

  In detail, a simulation or an experiment using an actual machine is performed in advance, and a map of the difference between the integral values and the error amount of the corresponding rotational position is prepared. The rotational position error amount estimation unit 34 calculates the rotational position error amount Δθ corresponding to the difference between the integral values using the prepared map.

  Alternatively, the rotational position error amount estimation unit 34 acquires, from the current integration value information 33, the conduction angle command values θon and θoff when the reference integration value is equal to the detected integration value calculated by the current integration unit 32. To do. The acquired energization angle command values θon and θoff are timings when the voltage actually applied to the winding 10 is turned on and off. Then, the rotational position error amount estimating unit 34 sets the advance angle side as positive, and from the conduction angle command values θon and θoff corresponding to the required torque Tr, the conduction angle command value when the detected integral value and the reference integral value are equal. Error amounts Δθon and θoff are calculated by subtracting θon and θoff.

  Δθ = Δθon = Δθoff, and the error amount is a positive value when it is shifted to the advance side, and is a negative value when it is shifted to the retard side. The rotational position error amount estimation unit 34 transmits the estimated error amounts Δθon and θoff to the operation signal generation unit 31. The operation signal generation unit 31 corresponds to a control position correction unit.

  Next, a processing procedure for correcting the energization angle command values θon and θoff will be described with reference to the flowchart of FIG. This processing procedure is executed by the controller 30 while the SR motor 20 is being driven.

  First, the rotational position of the rotor 26 detected by the rotational position sensor 60 is acquired (S10). Then, when the acquired rotational position of the rotor 26 becomes the energization angle command value θon, a voltage is started to be applied to the winding 10, and the detected integral value and the reference integral value during the current supply mode period are obtained.

  Subsequently, the rotational position error amounts Δθon, θoff are estimated based on the difference between the reference integral value and the detected integral value (S11).

  Subsequently, it is determined whether or not the error amounts Δθon and θoff estimated in S11 are 0 (S12). Specifically, it is determined whether or not the error amounts Δθon and θoff are sufficiently small to be regarded as zero. When it is determined that the error amounts Δθon and θoff are not 0 (S12: NO), the rotational position detected by the rotational position sensor 60 includes an error. Therefore, the energization angle command values θon and θoff are corrected by the error amounts Δθon and θoff (S13). Specifically, the conduction angle command value θon−Δθon is the corrected conduction angle command value θon, and the conduction angle command value θoff−Δθoff is the corrected conduction angle command value θoff. Thereby, as shown in FIG. 10B, the timing for applying the voltage to the winding 10 is relatively shifted, and the optimum timing corresponding to the required torque Tr is obtained. As a result, the corrected drive current waveform matches the reference current waveform.

  On the other hand, when the error amounts Δθon and θoff are determined to be 0 (S12: YES), the rotation position detected by the rotation position sensor 60 does not include an error, and thus the energization angle command values θon and θoff are corrected. There is no need. Therefore, this process is terminated as it is.

  Once the energization angle command values θon and θoff are corrected, the voltage is applied to the winding 10 at an optimal timing corresponding to the required torque Tr until a detection error due to deterioration of the rotational position sensor 60 or a displacement of the mounting position occurs. Become so. Therefore, the process shown in the flowchart of FIG. 11 does not need to be executed every time the SR motor 20 is driven, and may be executed every time the SR motor 20 is driven for a predetermined time, or every time the vehicle travels a predetermined distance.

(Modification of the first embodiment)
The detection and integration of the current may be started in synchronization with the timing when the current starts to flow through the winding 10, and the integration of the current may be ended in synchronization with the control cycle. The control period is a period for detecting the current flowing through the winding 10 and a period for operating the switching elements SW1a and SW2a. FIG. 12 shows a mode in which the integration is terminated at the Nth (N is an integer of 1 or more) control cycle from the timing of starting energization. In this case, the reference integral value is also calculated by integrating the reference current in the N control period from the energization start timing.

  The period for integrating the detection current and the reference current is not limited to the period (period A) in the power supply mode. For example, as shown in FIGS. 13 to 16, a demagnetization mode period (period C) may be used. In this case, current detection and integration are started in synchronization with the start of the degaussing mode, and the current integration is completed at the timing of transition from the degaussing mode to the next mode. Alternatively, current detection and integration are started in synchronization with the start of the demagnetization mode, and current integration is ended in synchronization with the control cycle.

  According to 1st Embodiment and the modification which were demonstrated above, there exist the following effects.

  The reference integrated value obtained by integrating the reference current for a predetermined period and the detected integrated value obtained by integrating the current flowing through the winding 10 for a predetermined time correspond to the rotational position errors Δθon and θoff detected by the rotational position sensor 60. A difference occurs. Therefore, the detected rotational position error amounts Δθon, θoff can be estimated based on the difference between the reference integral value and the detected integral value.

  By correcting the energization angle command values θon and θoff by the estimated rotational position error amounts Δθon and θoff, a voltage can be applied to the winding 10 at an optimal timing, and the required torque Tr can be generated. . In addition, since the SR motor 20 is driven by applying a voltage to the winding 10 at an optimal timing, the efficiency of the SR motor 20 can be improved.

  When the detection and integration of the current is started in synchronization with the timing when the current starts to flow through the winding 10, the reference integration value is a value calculated from the time when the reference current is zero. Since the current initial value is 0, it is easy to calculate the reference integral value from the voltage equation.

  -It is easy to calculate the reference integral value from the voltage equation by terminating the integration of the detected current in synchronization with the state transition timing.

  The detection integration value can be obtained with high accuracy by terminating the integration of the current in synchronization with the timing of detecting the current flowing through the winding 10.

(Second Embodiment)
Next, with reference to FIG. 17, an SR motor control system according to the second embodiment will be described while referring to differences from the first embodiment. The control system for the SR motor according to the second embodiment includes a voltage sensor 36 that detects a voltage between terminals of the DC power supply 50, and the controller 30 realizes the function of a voltage correction unit 38 (voltage correction means).

  In the first embodiment, the voltage of the DC power supply 50 is set to the constant reference voltage VE, but the power supply voltage of the secondary battery may vary. Therefore, the voltage correction unit 38 acquires the voltage detected by the voltage sensor 36, and corrects the reference integral value based on the acquired voltage.

  Specifically, the voltage correction unit 38 corrects the reference voltage to the acquired voltage, and acquires the reference integration value corresponding to the corrected reference voltage from the map of the reference integration value. Alternatively, the voltage correction unit 38 calculates a reference integral value by substituting the corrected reference voltage into V of the voltage equation.

  According to the second embodiment, since the reference integral value is corrected based on the detected power supply voltage, the rotational position error amounts Δθon and θoff can be estimated with higher accuracy than in the first embodiment.

(Third embodiment)
Next, with reference to FIG. 18, the SR motor control system according to the third embodiment will be described while referring to differences from the first embodiment. The control system for the SR motor according to the third embodiment includes temperature sensors 37 that detect the temperatures of the windings 10 to 12, respectively, and the controller 30 realizes the function of the temperature correction unit 39 (temperature correction means).

  In the first embodiment, the resistance value R is the resistance value of the winding 10 at the reference temperature, but the temperature of the winding 10 may vary. When the temperature of the winding 10 varies, the resistance value R also varies. Therefore, the temperature correction unit 39 acquires the temperature detected by the temperature sensor 37, and corrects the reference integral value based on the acquired temperature.

  Specifically, the temperature correction unit 39 corrects the resistance value R to a resistance value R corresponding to the acquired temperature. Then, the temperature correction unit 39 calculates the product of the difference ΔR between the resistance value R corresponding to the reference temperature and the corrected resistance value R and the assumed reference current as a voltage drop corresponding to the deviation from the reference temperature. Minutes. Further, the temperature correction unit 39 corrects the reference voltage by a voltage drop, and acquires a reference integration value corresponding to the corrected reference voltage from the map of the reference integration value. Alternatively, the temperature correction unit 39 substitutes the corrected resistance value R for R in the voltage equation, and calculates the reference integral value.

  According to the third embodiment, since the reference integral value is corrected based on the detected temperature of the winding 10, the rotational position error amounts Δθon and θoff can be estimated with higher accuracy than in the first embodiment.

(Fourth embodiment)
Next, with reference to FIG. 19, the SR motor control system according to the fourth embodiment will be described while referring to differences from the first embodiment. The control system for the SR motor according to the fourth embodiment includes a voltage sensor 36 that detects a voltage between terminals of the DC power supply 50, and a temperature sensor 37 that detects the temperatures of the windings 10 to 12, respectively. The functions of the unit 38 and the temperature correction unit 39 are realized. That is, the SR motor control system according to the fourth embodiment is a system that combines the SR motor control systems according to the second and third embodiments.

  According to the fourth embodiment, in order to correct the reference integral value based on the detected power supply voltage and the detected temperature of the winding 10, the rotational position error amounts Δθon and θoff are set according to the first to third embodiments. Can be estimated with higher accuracy.

(Other embodiments)
The controller 30 realizes the function of the rotational position correction means, and instead of correcting the energization angle command values θon and θoff, the controller 30 converts the rotational position detected by the rotational position sensor 60 by an estimated error amount Δθon (Δθoff). It may be corrected. Even in this case, the required torque Tr can be generated by applying a voltage to the winding 10 at an optimal timing. In addition, since the SR motor 20 is driven by applying a voltage to the winding 10 at an optimal timing, the efficiency of the SR motor 20 can be improved.

  -There is a possibility that one of the timing for turning on and off the voltage applied to the winding 10 may deviate from the proper timing because the control cycle is shifted. Therefore, during the driving of the SR motor 20, the reference integral value and the detected integral value are calculated at predetermined time intervals, and one of the energization angle command values θon and θoff is corrected so that the reference integral value and the detected integral value match. You may do it.

  The voltage equation is not limited to that described in the above embodiment. The reference integral value may be calculated using another voltage equation.

  DESCRIPTION OF SYMBOLS 10 ... Winding | winding, 25 ... Stator, 25a ... Salient pole, 26 ... Rotor, 26a ... Salient pole, 30 ... Controller, 35 ... Current sensor, 40 ... Drive circuit, 60 ... Rotation position sensor

Claims (8)

A rotor (26) having a salient pole (26a) in the radial direction, a stator (25) having a salient pole (25a) opposed to the salient pole of the rotor, and a salient pole of the stator. A control device that controls a switched reluctance motor comprising:
A rotational position sensor (60) for detecting the rotational position of the rotor;
Voltage application means (31, 40) for turning on or off a voltage applied to the winding when the rotational position detected by the rotational position sensor becomes a control position corresponding to a required torque;
Current integration means for starting detection of the current and integration of the current in synchronization with a state transition timing at which the state of the current of the winding transitions, and integrating the detected current for a predetermined period to obtain a detection integral value (32),
Detected by the rotational position sensor based on a difference between a reference integrated value obtained by integrating a reference current assumed in advance according to the required torque for the predetermined period and the detected integrated value calculated by the current integrating means. And an estimation means (34) for estimating an error amount of the rotational position.   The control apparatus for a switched reluctance motor according to claim 1, further comprising control position correction means for correcting the control position by the amount of error estimated by the estimation means.   2. The control device for a switched reluctance motor according to claim 1, further comprising: a rotational position correction unit that corrects the rotational position detected by the rotational position sensor by an amount of the error estimated by the estimation unit.   4. The switched reluctance motor control device according to claim 1, wherein the current integration unit starts detecting and integrating the current in synchronization with a timing at which a current starts to flow through the winding.   5. The switched reluctance motor control device according to claim 4, wherein the current integration unit finishes the integration of the current in synchronization with the state transition timing next to the timing of starting the energization.   5. The switched reluctance motor control device according to claim 4, wherein the current integration unit detects the current for each control cycle and ends the integration of the current in synchronization with the control cycle.   The switch according to any one of claims 1 to 6, further comprising voltage correction means (38) for detecting a power supply voltage supplied to the voltage application means and correcting the reference integral value based on the detected power supply voltage. Control device for trilactance motor.   The control device for a switched reluctance motor according to any one of claims 1 to 6, further comprising temperature correction means (39) for detecting the temperature of the winding and correcting the reference integral value based on the detected temperature.

Images