JP2018174668A - Control device for rotating electrical machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device for a rotating electric machine capable of suppressing a decrease in estimation accuracy of rotating position information. A control device acquires current values Iph1 and Iph2 of a fixed coordinate system flowing in a winding group of a rotating electric machine, and winds the windings based on the acquired current values Iph1 and Iph2 and rotation position information θγ1 and θγ2. The converted current values Iγ1r, Iδ1r, Iγ2r, and Iδ2r, which are the current values of the rotating coordinate system flowing in the group, are calculated. The control device operates the power conversion circuit to drive the rotary electric machine in a square wave based on the rotation position information θγ1 and θγ2. The control device estimates the rotation position information θγ1 and θγ2 based on the calculated conversion current values Iγ1r, Iδ1r, Iγ2r, and Iδ2r. The control device calculates the average value of the actual converted current values in one fluctuation cycle as the converted current values Iγ1r, Iδ1r, Iγ2r, and Iδ2r used for estimating the rotation position information θγ1 and θγ2. [Selection diagram] Fig. 7

Description

  The present invention relates to a control device for a rotating electrical machine.

  Conventionally, as can be seen, for example, in Patent Document 1 below, a control device that estimates rotational position information of a rotating electrical machine based on a current value of a rotating coordinate system flowing through a winding group wound around a stator of the rotating electrical machine is known. It has been. As a control device, one that performs rectangular wave driving of a rotating electrical machine is also known.

Japanese Patent No. 6022951

  When rectangular wave driving is performed, the current value of the rotating coordinate system flowing through the winding group includes a harmonic component in addition to the fundamental wave component. Specifically, for example, sixth-order and twelfth-order harmonic components are included. If the rotational position information is estimated based on the current value of the rotational coordinate system including the harmonic component, the estimation accuracy of the rotational position information may be reduced. As a result, the controllability of the rotating electrical machine can be reduced.

  It is a main object of the present invention to provide a control device for a rotating electrical machine that can suppress a decrease in estimation accuracy of rotational position information.

  1st invention is applied to the system provided with the rotary electric machine which has the winding group wound by the stator, and the power converter circuit which applies a voltage to the said winding group, The rotation position information of the said rotary electric machine is obtained. In a control apparatus for a rotating electrical machine including a position estimation unit for estimation, a current acquisition unit that acquires a current value of a fixed coordinate system flowing through the winding group, a current value acquired by the current acquisition unit, and the rotational position information A current calculation unit that calculates a converted current value that is a current value of a rotating coordinate system flowing through the winding group, and the power conversion to perform rectangular wave driving of the rotating electrical machine based on the rotational position information. An operation unit that operates a circuit, wherein the position estimation unit estimates the rotational position information based on the converted current value calculated by the current calculation unit, and the current calculation unit includes the position estimation unit. Before being used in As conversion current value, and calculates an average value in one variation period of the converted current value.

  In the first invention, the current value of the rotating coordinate system flowing through the winding group is defined as the converted current value. In the first invention, the current calculation unit calculates an average value of the converted current value in one fluctuation cycle based on the current value acquired by the current acquisition unit and the rotational position information. The average value is a value in which harmonic components included in the actual converted current value are reduced. For this reason, since the rotational position information is estimated based on the average value, it is possible to suppress a decrease in the estimation accuracy of the rotational position information due to the harmonic component.

  According to a second aspect of the present invention, a voltage acquisition unit that acquires an input voltage value of the power conversion circuit, a speed calculation unit that calculates an electrical angular frequency of the rotating electrical machine based on the rotation position information, and the voltage acquisition unit Based on the acquired input voltage value and the electrical angular frequency calculated by the speed calculation unit, a timing at which the actual converted current value is assumed to be an average value in one fluctuation period is calculated as a detection timing. A timing calculation unit that acquires the current value of the fixed coordinate system at the detection timing calculated by the timing calculation unit, and the current calculation unit is based on the rotational position information. Then, the current value acquired by the current acquisition unit is converted into the converted current value used in the position estimation unit.

  The amplitude and phase of the current value in the rotating coordinate system change according to the input voltage value of the power conversion circuit and the electrical angular frequency of the rotating electrical machine. For this reason, when the current value acquired by the current acquisition unit is a current value detected at a predetermined timing that does not depend on the magnitude of the input voltage value and the electrical angular frequency, the current value acquired by the current acquisition unit The difference between the conversion current value based on the above and the average value in one fluctuation period of the actual conversion current value becomes large. When this deviation increases, the harmonic component included in the converted current value increases, and the estimation accuracy of the rotational position information can be reduced.

  Therefore, in the second invention, the timing calculation unit calculates the average of the actual converted current value in one fluctuation cycle based on the input voltage value acquired by the voltage acquisition unit and the electrical angular frequency calculated by the speed calculation unit. The timing assumed to be a value is calculated as the detection timing. The current acquisition unit acquires a current value of the fixed coordinate system at the calculated detection timing. The current calculation unit converts the current value acquired by the current acquisition unit into a converted current value used by the position estimation unit based on the rotational position information. For this reason, the conversion current value used in the position estimation unit can be brought close to the average value, and harmonic components included in the conversion current value can be reduced. Thereby, the fall of the estimation precision of rotation position information can be suppressed.

  According to a third aspect of the present invention, there is provided a voltage acquisition unit that acquires an input voltage value of the power conversion circuit, a speed calculation unit that calculates an electrical angular frequency of the rotating electrical machine based on the rotational position information, and the voltage acquisition unit. Based on the acquired input voltage value and the electrical angular frequency calculated by the speed calculation unit, an average value calculation unit that calculates the average value, and the average value calculated by the average value calculation unit Based on the converted current value calculated by the current calculating unit, a correction amount for making the converted current value calculated by the current calculating unit the average value calculated by the average value calculating unit is calculated. And a correction unit that corrects the conversion current value calculated by the current calculation unit with the correction amount, and the position estimation unit corrects the conversion current value corrected by the correction unit. Based on There estimating the rotational position information.

  The amplitude and phase of the current value in the rotating coordinate system change according to the input voltage value of the power conversion circuit and the electrical angular frequency of the rotating electrical machine. For this reason, the shift | offset | difference of the conversion current value based on the electric current value acquired by the electric current acquisition part and the average value in 1 fluctuation period of an actual conversion electric current value may become large. When this deviation increases, the harmonic component included in the converted current value increases, and the estimation accuracy of the rotational position information can be reduced.

  Therefore, in the third invention, the average value calculation unit calculates the average value based on the input voltage value and the electrical angular frequency. The correction amount calculation unit calculates the correction amount based on the calculated average value and the converted current value calculated by the current calculation unit. The correction unit corrects the converted current value calculated by the current calculation unit with the calculated correction amount. For this reason, the conversion current value used in the position estimation unit can be brought close to the average value, and the influence of the harmonic component included in the conversion current value on the estimation accuracy of the rotational position information can be reduced. Thereby, the fall of the estimation precision of rotation position information can be suppressed.

  In a fourth aspect of the invention, the detection prohibition period is a period shorter than a period from the first timing at which the voltage vector of the power conversion circuit is switched to the second timing at which the voltage vector is switched immediately after the first timing. The current acquisition unit acquires the current value of the fixed coordinate system in a period other than the period from the first timing until the detection prohibition period elapses.

  In the detection prohibition period, which is a period immediately after the voltage vector is switched, noise due to the switching can be included in the current value of the fixed coordinate system. If the rotational position information is estimated based on a current value including noise, the estimation accuracy of the rotational position information may be reduced. Therefore, in the fourth invention, the current value in the fixed coordinate system used in the current calculation unit is the current value in a period other than the period from the first timing until the detection inhibition period elapses. For this reason, it can suppress that the noise resulting from switching of a voltage vector is contained in the electric current value acquired by an electric current acquisition part, and can suppress the fall of the estimation precision of rotational position information.

  In the fifth invention, a period shorter than a period from a first timing at which the voltage vector of the power conversion circuit is switched to a second timing at which the voltage vector is switched immediately after the first timing is set as a detection inhibition period. ing. According to a fifth aspect of the invention, a voltage acquisition unit that acquires an input voltage value of the power conversion circuit, a speed calculation unit that calculates an electrical angular frequency of the rotating electrical machine based on the rotation position information, and the voltage acquisition unit Based on the acquired input voltage value and the electrical angular frequency calculated by the speed calculation unit, a timing at which the actual converted current value is assumed to be an average value in one fluctuation period is calculated as a detection timing. A timing calculation unit, a determination unit that determines that the detection timing calculated by the timing calculation unit is included in a period from the first timing until the detection prohibition period elapses, and the determination unit If it is determined that the detection timing is included, the detection timing is set to a period other than the period from the first timing until the detection prohibition period elapses. The current acquisition unit acquires a current value of the fixed coordinate system at the detection timing shifted by the shift unit, and the current calculation unit is based on the rotational position information. The current value acquired by the current acquisition unit is converted into the converted current value. 5th invention is based on the said input voltage value acquired by the said voltage acquisition part, and the said electrical angular frequency calculated by the said speed calculation part, The average value calculation part which calculates the said average value, The said average The conversion current value calculated by the current calculation unit is calculated by the average value calculation unit based on the average value calculated by the value calculation unit and the conversion current value calculated by the current calculation unit. A correction amount calculation unit that calculates a correction amount for obtaining the average value, and a correction unit that corrects the conversion current value calculated by the current calculation unit with the correction amount, and the position estimation unit includes: The rotational position information is estimated based on the converted current value corrected by the correction unit.

  The amplitude and phase of the current value in the rotating coordinate system change according to the input voltage value of the power conversion circuit and the electrical angular frequency of the rotating electrical machine. For this reason, when the current value acquired by the current acquisition unit is a current value detected at a predetermined timing that does not depend on the magnitude of the input voltage value and the electrical angular frequency, the current value acquired by the current acquisition unit The difference between the converted current value obtained by converting the current value and the average value in one fluctuation period of the actual converted current value becomes large. When this deviation increases, the harmonic component included in the converted current value used for estimation of the rotational position information increases, and the estimation accuracy of the rotational position information may decrease.

  Therefore, in the fifth invention, the timing calculation unit calculates the average of the actual converted current value in the one fluctuation cycle based on the input voltage value acquired by the voltage acquisition unit and the electrical angular frequency calculated by the speed calculation unit. The timing assumed to be a value is calculated as the detection timing. Here, in the detection prohibition period, which is a period immediately after the voltage vector is switched, noise due to the switching may be included in the current value of the fixed coordinate system. If the rotational position information is estimated based on a current value including noise, the estimation accuracy of the rotational position information may be reduced.

  Therefore, in the fifth invention, the determination unit determines that the detection timing calculated by the timing calculation unit is included in a period from the first timing until the detection prohibition period elapses. When it is determined that the shift unit includes the shift unit, the shift unit shifts the detection timing to a period other than the period from the first timing until the detection prohibition period elapses.

  Here, the converted current value based on the current value of the fixed coordinate system at the shifted detection timing can be greatly deviated from the average value in one fluctuation period of the actual converted current value. In this case, the harmonic component contained in the conversion current value becomes large, and the estimation accuracy of the rotational position information can be reduced.

  Therefore, in the fifth invention, the average value calculation unit calculates the average value based on the input voltage value and the electrical angular frequency. The correction amount calculation unit calculates the correction amount based on the calculated average value and the converted current value calculated by the current calculation unit. The correction unit corrects the converted current value calculated by the current calculation unit with the calculated correction amount. For this reason, the conversion current value used in the position estimation unit can be brought close to the average value, and the influence of the harmonic component included in the conversion current value on the estimation accuracy of the rotational position information can be reduced. Thereby, the fall of the estimation precision of rotation position information can be suppressed.

1 is an overall configuration diagram of a motor control system according to a first embodiment. The figure which shows the spatial phase difference which a 1st winding group and a 2nd winding group make. The figure which shows transition of the voltage vector in rectangular wave control. The figure which shows the relationship between a voltage vector and switching mode. The block diagram of the motor control in a control apparatus. The time chart which shows an electric current detection timing. The flowchart which shows the procedure of a motor control process. The whole block diagram of the motor control system which concerns on 2nd Embodiment. The time chart which shows an electric current detection timing. The flowchart which shows the procedure of a motor control process. The figure which shows transition of the modeled voltage which concerns on 3rd Embodiment. The flowchart which shows the procedure of a motor control process. The flowchart which shows the procedure of the motor control process which concerns on 4th Embodiment. The flowchart which shows the procedure of a 1st correction process. The flowchart which shows the procedure of a 2nd correction process. The flowchart which shows the procedure of the motor control process which concerns on 5th Embodiment. The figure which shows a detection prohibition period. The time chart which shows the electric current detection timing which concerns on other embodiment.

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

  As shown in FIG. 1, the motor 10 is a rotating electric machine having a multi-phase multiple winding, and in this embodiment, is a salient pole type synchronous motor having a three-phase double winding. In this embodiment, the motor 10 is assumed to be an integrated starter generator (ISG) that integrates the functions of a starter and an alternator. In particular, in this embodiment, in addition to the initial start of the engine (not shown), the engine is automatically stopped when a predetermined automatic stop condition is satisfied, and then the engine is automatically operated when a predetermined restart condition is satisfied. The motor 10 also functions as a starter when executing the idling stop function for restarting.

  In the present embodiment, the motor 10 is of a permanent magnet field type. The rotor 12 constituting the motor 10 can transmit power to the crankshaft of the engine.

  A first winding group 10A and a second winding group 10B, which are two armature winding groups, are wound around the stator 13 constituting the motor 10. The rotor 12 is made common to the first and second winding groups 10A and 10B. In the present embodiment, the first winding group 10A corresponds to the first target winding group, and the second winding group 10B corresponds to the second target winding group.

  The winding groups 10A and 10B will be described with reference to FIG. Each of the first winding group 10A and the second winding group 10B includes three-phase windings having different neutral points. The first winding group 10A has windings UA, VA, WA that are shifted from each other by 120 ° in electrical angle, and the second winding group 10B has windings UB, VB, WB that are shifted from each other by 120 ° in electrical angle. have. In the present embodiment, the spatial phase difference Δα, which is an electrical angle formed by the first winding group 10A and the second winding group 10B, is 30 °. In the present embodiment, the first winding group 10A and the second winding group 10B have the same configuration. Specifically, the number of turns NA of each of the windings UA, VA, WA constituting the first winding group 10A, and the number of turns NB of each of the windings UB, VB, WB constituting the second winding group 10B, Are set equal. Thereby, the self-inductance of the first winding group 10A and the self-inductance of the second winding group 10B are made equal.

  Returning to FIG. 1, the motor 10 is electrically connected to the first inverter 20A corresponding to the first winding group 10A and the second inverter 20B corresponding to the second winding group 10B. A battery 21 that is a common DC power source is connected in parallel to each of the first inverter 20A and the second inverter 20B. Note that a capacitor 22 is connected to the battery 21 in parallel.

  The first inverter 20A includes three sets of serially connected bodies of first U, V, W phase upper arm switches SUp1, SVp1, SWp1 and first U, V, W phase lower arm switches SUn1, SVn1, SWn1. The connection points of the series connection bodies in the U, V, and W phases are connected to the U, V, and W phase windings UA, VA, and WA constituting the first winding group 10A. In the present embodiment, IGBTs are used as the switches SUp1 to SWn1. The diodes DUp1 to DWn1 are connected in antiparallel to the switches SUp1 to SWn1, respectively. Note that the switches SUp1 to SWn1 are not limited to IGBTs, and for example, N-channel MOSFETs may be used.

  Similarly to the first inverter 20A, the second inverter 20B is connected in series with the second U, V, W phase upper arm switches SUp2, SVp2, SWp2 and the second U, V, W phase lower arm switches SUn2, SVn2, SWn2. Three sets of bodies are provided. The connection point of the series connection body in the U, V, and W phases is connected to the U, V, and W phase windings UB, VB, and WB constituting the second winding group 10B. In the present embodiment, IGBTs are used as the switches SUp2 to SWn2. The diodes DUp2 to DWn2 are connected in antiparallel to the switches SUp2 to SWn2, respectively. The switches SUp2 to SWn2 are not limited to IGBTs, and for example, N-channel MOSFETs may be used.

  The positive terminal of the battery 21 is connected to the collector of each upper arm switch that is the high potential side terminal of the first and second inverters 20A, 20B. The negative terminal of the battery 21 is connected to the emitters of the lower arm switches which are the low potential side terminals of the first and second inverters 20A and 20B.

  The control system includes a voltage detection unit 30, a first phase current detection unit 31A, a second phase current detection unit 31B, and a temperature detection unit 32. The voltage detection unit 30 detects the input voltage value from the battery 21 to the first and second inverters 20A and 20B as the power supply voltage value VDC. The first phase current detector 31A detects a current value for at least two phases among the phase current values of the first winding group 10A in the three-phase fixed coordinate system as a first phase current value Iph1. The second phase current detector 31B detects a current value for at least two phases among the phase current values of the second winding group 10B in the three-phase fixed coordinate system as a second phase current value Iph2. The temperature detector 32 detects the temperature of the first winding group 10A as the first winding temperature TH1, and detects the temperature of the second winding group 10B as the second winding temperature TH2. In the present embodiment, the first phase current value Iph1 corresponds to the first current value, and the second phase current value Iph2 corresponds to the second current value.

  The detection value of each detection unit is input to the control device 40. The control device 40 generates an operation signal for the first and second inverters 20A and 20B based on the detection value of each detection unit in order to control the control amount of the motor 10 to the command value. In the present embodiment, the control amount is torque, and the command value is the command torque Trq *. FIG. 1 shows the signals for operating the switches SUp1 to SWn1 of the first inverter 20A as the first operation signals gUp1 to gWn1, and the signals for operating the switches SUp2 to SWn2 of the second inverter 20B to the second operation signal gUp2. It is shown as ~ gWn2.

  The function provided by the control device 40 can be provided by, for example, software recorded in a substantial memory device and a computer that executes the software, hardware, or a combination thereof.

  The control device 40 generates each operation signal based on the rectangular wave drive control. As shown in FIG. 3, the rectangular wave drive control is a control in which the effective voltage vectors V1 to V6 are sequentially switched every electrical angle 60 ° with 360 ° of the electrical angle θe as one cycle. In FIG. 3, Vct1 indicates the first voltage vector of the first inverter 20A, and Vct2 indicates the second voltage vector of the second inverter 20B. FIG. 4 shows the correspondence between each voltage vector and the operation state of each phase switch. In the figure, V0 and V7 indicate reactive voltage vectors.

  Next, torque control of the motor 10 will be described with reference to FIG. In this control, position sensorless control is used. In the position sensorless control, a detected value of an angle detector such as a resolver that directly detects an electrical angle that is a magnetic pole position of the motor 10 is not used, but an estimated electrical angle is used.

  The control device 40 includes a first processing unit 41 corresponding to the first inverter 20A. In the first processing unit 41, the first current conversion unit 41a includes the first estimated angle θγ1 that is an estimated value of the electrical angle corresponding to the first winding group 10A and the first phase current detection unit 31A detected by the first phase angle detection unit 31A. Based on the one-phase current value Iph1, the U, V, and W-phase current values of the first winding group 10A in the three-phase fixed coordinate system are converted into the first γ-axis current value Iγ1r and the first δ-axis current value Iδ1r in the γδ coordinate system. Convert to Here, the γδ coordinate system is an estimated coordinate system of a dq coordinate system that is a two-phase rotational coordinate system of the motor 10.

  The first command current setting unit 41b sets the first γ-axis command current value Iγ1 * and the first δ-axis command current value Iδ1 * based on the command torque Trq *. The first γ-axis deviation calculating unit 41c calculates the first γ-axis deviation ΔIγ1 as a value obtained by subtracting the first γ-axis current value Iγ1r from the first γ-axis command current value Iγ1 *. The first δ-axis deviation calculating unit 41d calculates the first δ-axis deviation ΔIδ1 as a value obtained by subtracting the first δ-axis current value Iδ1r from the first δ-axis command current value Iδ1 *.

  The first command voltage setting unit 41e uses the first γ-axis command voltage value Vγ1 as an operation amount for feedback-controlling the first γ-axis current value Iγ1r to the first γ-axis command current value Iγ1 * based on the first γ-axis deviation ΔIγ1. * Is calculated. Further, the first command voltage setting unit 41e uses the first δ-axis command voltage as an operation amount for feedback-controlling the first δ-axis current value Iδ1r to the first δ-axis command current value Iδ1 * based on the first δ-axis deviation ΔIδ1. The value Vδ1 * is calculated. For example, proportional-integral control can be used as the feedback control.

  Based on the first γ-axis command voltage value Vγ1 *, the first δ-axis command voltage value Vδ1 *, the power supply voltage value VDC detected by the voltage detection unit 30, and the first estimated angle θγ1, the first voltage conversion unit 41f The first γ and δ-axis command voltage values Vγ1 * and Vδ1 * in the coordinate system are converted to the first U, V, and W-phase command voltage values VU1, VV1, and VW1 in the three-phase fixed coordinate system. In the present embodiment, the first U, V, and W phase command voltage values VU1, VV1, and VW1 are sinusoidal signals having a median value of 0 and a phase difference of 120 ° in electrical angle.

  The first generation unit 41g generates the first operation signals gUp1 to gWn1 based on the first U, V, and W phase command voltage values VU1, VV1, and VW1 output from the first voltage conversion unit 41f. The first generation unit 41g outputs the generated first operation signals gUp1 to gWn1 to the switches SUp1 to SWn1. Here, the first operation signal may be generated by, for example, PWM control based on a magnitude comparison between a carrier signal such as a triangular wave signal and the phase command voltage values VU1, VV1, and VW1. The first operation signal on the upper arm side and the corresponding first operation signal on the lower arm side are complementary to each other. For this reason, the upper arm switch and the corresponding lower arm switch are alternately turned on.

  The control device 40 includes a second processing unit 42 corresponding to the second inverter 20B. Since the second processing unit 42 has the same configuration as the first processing unit 41, detailed description thereof is omitted as appropriate.

  In the second processing unit 42, the second current conversion unit 42a includes the second estimated angle θγ2, which is an estimated value of the electrical angle corresponding to the second winding group 10B, and the second phase current detecting unit 31B. Based on the two-phase current Iph2, the U, V, and W-phase current values corresponding to the second winding group 10B are converted into the second γ-axis current value Iγ2r and the second δ-axis current value Iδ2r in the γδ coordinate system. . Here, the second estimated angle θγ2 is calculated by the angle adder 51 as an added value of the first estimated angle θγ1 and the spatial phase difference Δα.

  The second command current setting unit 42b sets the second γ-axis command current value Iγ2 * and the second δ-axis command current value Iδ2 * based on the command torque Trq *. The command current values Iγ2 *, Iδ2 *, Iγ1 *, and Iδ1 * are set to values necessary for making the actual torque of the motor 10 the command torque Trq *.

  The second γ-axis deviation calculating unit 42c calculates the second γ-axis deviation ΔIγ2 as a value obtained by subtracting the second γ-axis current value Iγ2r from the second γ-axis command current value Iγ2 *. The second δ-axis deviation calculating unit 42d calculates the second δ-axis deviation ΔIδ2 as a value obtained by subtracting the second δ-axis current value Iδ2r from the second δ-axis command current value Iδ2 *.

  The second command voltage setting unit 42e calculates a second γ-axis command voltage value Vγ2 * based on the second γ-axis deviation ΔIγ2. Further, the second command voltage setting unit 42e calculates a second δ-axis command voltage value Vδ2 * based on the second δ-axis deviation ΔIδ2. For example, proportional-integral control can be used as feedback control used by the second command voltage setting unit 42e.

  Based on the second γ-axis command voltage value Vγ2 *, the second δ-axis command voltage value Vδ2 *, the power supply voltage value VDC, and the second estimated angle θγ2, the second voltage conversion unit 42f generates a second γ and δ-axis command in the γδ coordinate system. The voltage values Vγ2 * and Vδ2 * are converted into second U, V, and W phase command voltage values VU2, VV2, and VW2 in the three-phase fixed coordinate system. In the present embodiment, the second U, V, and W phase command voltage values VU2, VV2, and VW2 are sinusoidal signals having a median value of 0 and a phase shifted by 120 ° in electrical angle.

  The second generation unit 42g generates second operation signals gUp2 to gWn2 based on the second U, V, and W phase command voltage values VU2, VV2, and VW2 output from the second voltage conversion unit 42f. The second generation unit 42g outputs the generated second operation signals gUp2 to gWn2 to the switches SUp2 to SWn2.

  In the present embodiment, each of the configurations 41b to 41g and 42b to 42g described above corresponds to an operation unit.

  The control device 40 is configured to calculate the first estimated angle θγ1 as a speed calculation unit 43, a γ-axis voltage unit 44, a δ-axis voltage unit 45, a γ-axis current unit 46, a δ-axis current unit 47, and an induced voltage calculation. Unit 48, parameter setting unit 49, and position estimator 50. Hereinafter, after describing the electrical angle estimation principle according to the present embodiment, each of the components 43 to 50 will be described.

  The voltage equation of the motor 10 is expressed by the following equation (eq1).

In the above equation (eq1), Vd1 and Vq1 indicate the d and q axis voltages in the first winding group 10A, Vd2 and Vq2 indicate the d and q axis voltages in the second winding group 10B, and Id1 and Iq1 are the first The d and q axis current values flowing through the first winding group 10A are shown, and Id2 and Iq2 are the d and q axis current values flowing through the second winding group 10B. R represents winding resistance values of the first and second winding groups 10A and 10B, and s represents a differential operator in Laplace transform. Ld1 and Lq1 indicate d and q axis inductances of the first winding group 10A, Ld2 and Lq2 indicate d and q axis inductances of the second winding group 10B, and Md and Mq are between the winding groups 10A and 10B. D and q-axis mutual inductance, Ke represents an induced voltage constant, and ωe represents an electrical angular frequency of the motor 10.

  From the above equation (eq1), the voltage equation of the γδ coordinate system corresponding to the first winding group 10A is derived as the following equation (eq2), and the expanded induced voltage of the γδ coordinate system corresponding to the first winding group 10A. Is derived as shown in the following equation (eq3).

In the above equation (eq2), Vγ1 and Vδ1 indicate γ and δ-axis voltage values in the first winding group 10A, Iγ1 and Iδ1 indicate γ and δ-axis current values flowing in the first winding group 10A, and Iγ2, Iδ2 indicates the γ and δ axis current values flowing through the second winding group 10B. Further, p represents a differential operator, eγ1 represents a first γ-axis induced voltage value, eδ1 represents a first δ-axis induced voltage value, and Δθ represents a position estimation error of the γδ coordinate system with respect to the dq coordinate system.

  Also, from the above equation (eq1), the voltage equation of the γδ coordinate system corresponding to the second winding group 10B is derived as the following equation (eq4), and the γδ coordinate system corresponding to the second winding group 10B is expanded. The induced voltage is derived as shown in the following equation (eq5).

In the above equation (eq4), Vγ2 and Vδ2 indicate the γ and δ-axis voltage values in the second winding group 10B, eγ2 indicates the second γ-axis induced voltage value, and eδ2 indicates the first δ-axis induced voltage value.

  Here, the γ-axis voltage value Vγm is represented by the following equation (eq6), the δ-axis voltage value Vδm is represented by the following equation (eq7), the γ-axis current value Iγm is represented by the following equation (eq8), and the δ-axis current value Iδm. Is represented by the following formula (eq9). Further, the γ-axis induced voltage value eγm is represented by the following expression (eq10), and the δ-axis induced voltage value eδm is represented by the following expression (eq11).

Based on the above expressions (eq2), (eq4), (eq6) to (eq9), and the conditions “Ld1 = Ld2 = Ld” and “Lq1 = Lq2 = Lq”, the following expression (eq12) is derived.

Based on the above expressions (eq3), (eq5), (eq6) to (eq9) and the conditions of “Ld1 = Ld2 = Ld” and “Lq1 = Lq2 = Lq”, the following expression (eq13) is derived.

The γ and δ-axis induced voltage values eγm and eδm shown in the above equation (eq13) include information on the position estimation error Δθ. Therefore, the electrical angle of the motor 10 can be estimated based on the γ and δ axis induced voltage values eγm and eδm calculated based on the above equation (eq12).

  Then, each structure 43-50 is demonstrated.

  The speed calculation unit 43 calculates the electrical angular frequency ωe of the motor 10 based on the first estimated angle θγ1. The speed calculation unit 43 may calculate the electrical angular frequency ωe based on the second estimated angle θγ2.

  The γ-axis voltage unit 44 includes a first γ-axis command voltage value Vγ1 * calculated by the first command voltage setting unit 41e, a second γ-axis command voltage value Vγ2 * calculated by the second command voltage setting unit 42e, and the above formula. Based on (eq6), the γ-axis voltage value Vγm is calculated.

  The δ-axis voltage unit 45 includes a first δ-axis command voltage value Vδ1 * calculated by the first command voltage setting unit 41e, a second δ-axis command voltage value Vδ2 * calculated by the second command voltage setting unit 42e, and the above formula. Based on (eq7), the δ-axis voltage value Vδm is calculated.

  The γ-axis current unit 46 is based on the first γ-axis current value Iγ1r calculated by the first current converter 41a, the second γ-axis current value Iγ2r calculated by the second current converter 42a, and the above equation (eq8). Thus, the γ-axis current value Iγm is calculated.

  The δ-axis current unit 47 is based on the first δ-axis current value Iδ1r calculated by the first current converter 41a, the second δ-axis current value Iγ2r calculated by the second current converter 42a, and the above equation (eq9). Thus, the δ-axis current value Iδm is calculated.

  The induced voltage calculation unit 48 calculates the γ-axis induced voltage value eγm based on the γ-axis voltage value Vγm, the γ-axis current value Iγm, the δ-axis current value Iδm, the electrical angular frequency ωe, and the above equation (eq12). . The induced voltage calculation unit 48 calculates the δ-axis induced voltage value eδm based on the δ-axis voltage value Vδm, the γ-axis current value Iγm, the δ-axis current value Iδm, the electrical angular frequency ωe, and the above equation (eq12). To do.

  The parameter setting unit 49 calculates each motor parameter R, Ld, Lq, Md, Mq used in the induced voltage calculation unit 48 based on the first winding temperature TH1, the second winding temperature TH2, and the current amplitude Iamp. . The current amplitude Iamp is the magnitude of the current vector flowing through each winding group 10A, 10B. The current amplitude Iamp may be calculated based on the phase current values Iph1 and Iph2, for example.

  The position estimator 50 calculates the first estimated angle θγ1 based on the γ-axis induced voltage value eγm and the δ-axis induced voltage value eδm. The position estimator 50 may calculate the first estimated angle θγ1 based on, for example, a well-known extended induced voltage observer.

  Next, the detection timing of the first and second phase current values Iph1 and Iph2 used in the first and second current converters 41a and 42a will be described with reference to FIG. FIG. 6 shows changes in actual first and second δ-axis current values Iδ1 and Iδ2. In FIG. 6, it is assumed that the first and second δ-axis current values Iδ1 and Iδ2 include harmonic components such as the 6th order and the 12th order.

  In the present embodiment, as described above, the spatial phase difference Δα is 30 °. In this configuration, when the rectangular wave drive control is performed, as shown in FIG. 6, the transition of the first δ-axis current value Iδ1 and the transition of the second δ-axis current value Iδ2 are the first and second δ-axis current values Iδ1. , Iδ2 is symmetrical with respect to the average value Iδave of one fluctuation period. In the present embodiment, one fluctuation cycle of the first and second δ-axis current values Iδ1, Iδ2 is 60 ° or approximately 60 °. Here, first and second δ-axis current values Iδ1d (θe) and Iδ2d (θe), which are the first and second δ-axis current values Iδ1 and Iδ2 at the same timing, are expressed by the following equation (eq14).

In the above equation (eq14), Iδave1 represents the average value of the first δ-axis current Iδ1 in one variation cycle, Iδave2 represents the average value of the second δ-axis current value Iδ2 in one variation cycle, and β represents each δ-axis current value Iδ1. , Iδ2 are shown as deviations from average values Iδave1, Iδave2. In the present embodiment, the self-inductances of the winding groups 10A and 10B are the same, and a common command torque Trq * is set for the inverters 20A and 20B. Therefore, the average values Iδave1 and Iδave2 are The values are equal to each other, Iδave. When the first and second δ-axis current detection values Iδ1d (θe) and Iδ2d (θe) are summed, the following equation (eq15) is obtained.

According to the above equation (eq15), when the detection timing of the first δ-axis current value Iδ1 and the detection timing of the second δ-axis current value Iδ2 are the same timing, the first and second δ-axis current values Iδ1, Iδ2 It can be seen that ½ of the total value is equal to the δ-axis current average value Iδave. Therefore, in this embodiment, as shown in FIG. 6, the detection timing of the first δ-axis current value Iδ1 and the detection timing of the second δ-axis current value Iδ2 are set to the same timing Td. That is, the detection timing of the first phase current value Iph1 and the detection timing of the second phase current value Iph2 are set to the same timing. In particular, in the present embodiment, the detection timing is set every 60 ° electrical angle.

  In the present embodiment, the detection timing Td is set to a period Tag other than the detection inhibition period Tnd, as illustrated in FIG. The detection prohibition period Tnd is from the first timing at which the first and second voltage vectors Vct1 and Vct2 of the first and second inverters 20A and 20B are switched to the second timing at which the voltage vector is switched immediately after the first timing. A period shorter than the period is set. In the detection prohibition period Tnd, noise due to voltage vector switching can be included in the phase current value. When the first estimated angle θγ1 is calculated based on the phase current value including noise, the calculation accuracy can be reduced. Therefore, by setting the detection timing Td while avoiding the detection inhibition period Tnd, a decrease in the calculation accuracy of the first estimated angle θγ1 is avoided.

  Incidentally, the transition of the first γ-axis current value Iγ1 and the transition of the second γ-axis current value Iγ2 are also symmetric with respect to the average value Iγave of one fluctuation period of the first and second γ-axis current values Iγ1, Iγ2. In the present embodiment, this one fluctuation period is 60 ° or approximately 60 °. Therefore, the following equation (eq16) is established for the first and second γ-axis current detection values Iγ1d (θe) and Iγ2d (θe), which are the first and second γ-axis current values Iγ1 and Iγ2 at the same timing.

FIG. 7 shows a procedure of torque control processing according to the present embodiment. This process is repeatedly executed by the control device 40 every predetermined processing cycle.

  In this series of processing, first, in step S10, it is determined whether or not it is the detection timing Td of each of the first phase current value Iph1 and the second phase current value Iph2. In this embodiment, as described above, the detection timing Td is set at an electrical angle interval of 60 °.

  If it is determined in step S10 that the detection timing Td is reached, the process proceeds to step S11, and a process of acquiring the first phase current value Iph1 and the second phase current value Iph2 detected at the detection timing Td is performed. This process corresponds to a current acquisition unit.

  Based on the first estimated angle θγ1 calculated last time, the acquired first phase current value Iph1 is converted into first γ and δ-axis current detection values Iγ1d (θe) and Iδ1d (θe). This conversion is performed by the first current converter 41a. Also, based on the second estimated angle θγ2 calculated last time, the acquired second phase current value Iph2 is converted into second γ and δ-axis detected current values Iγ2d (θe) and Iδ2d (θe). This conversion is performed by the second current converter 42a.

  In subsequent step S12, the first and second γ-axis current values Iγ1r are calculated based on the first and second γ-axis current detection values Iγ1d (θe) and Iγ2d (θe) and the following equation (eq17) converted in the current processing cycle. , Iγ2r.

In step S12, the first and second δ-axis current values Iδ1r are calculated based on the first and second δ-axis current detection values Iδ1d (θe) and Iδ2d (θe) converted in the current processing cycle and the following equation (eq18). , Iδ2r.

The first γ and δ-axis current values Iγ1r and Iδ1r calculated in step S12 are output from the first current converter 41a, and the second γ and δ-axis current values Iγ2r and Iδ2r calculated in step S12 are the second current converter 42a. Is output from. In the present embodiment, the conversion process in step S11 and the process in step S12 correspond to a current calculation unit. The first γ and δ-axis current values Iγ1r and Iδ1r calculated in step S12 correspond to the first conversion current value, and the second γ and δ-axis current values Iγ2r and Iδ2r calculated in step S12 are the second conversion current values. It corresponds to.

  In the subsequent step S13, the γ-axis current value Iγm is calculated by the γ-axis current unit 46 based on the first and second γ-axis current values Iγ1r and Iγ2r calculated in step S12 and the above equation (eq8). Also, the δ-axis current value Iδm is calculated by the δ-axis current unit 47 based on the first and second δ-axis current values Iδ1r and Iδ2r calculated in step S12 and the above equation (eq9). Further, the γ-axis voltage value Vγm is calculated by the γ-axis voltage unit 44 based on the previously calculated first and second γ-axis command voltage values Vγ1 * and Vγ2 * and the above equation (eq6). Based on the calculated γ-axis voltage value Vγm, γ-axis current value Iγm, δ-axis current value Iδm, the electrical angular frequency ωe calculated by the speed calculation unit 43, and the above equation (eq12), the induced voltage calculation unit 48 The γ-axis induced voltage value eγm is calculated.

  In step S13, the δ-axis voltage value Vδm is calculated by the δ-axis voltage unit 45 based on the previously calculated first and second δ-axis command voltage values Vδ1 * and Vδ2 * and the above equation (eq7). Based on the calculated δ-axis voltage value Vδm, γ-axis current value Iγm, δ-axis current value Iδm, electrical angular frequency ωe, and the above equation (eq12), the induced voltage calculation unit 48 calculates the δ-axis induced voltage value eδm. calculate.

  In subsequent step S14, the position estimation unit 50 calculates the first estimated angle θγ1 based on the calculated γ-axis induced voltage value eγm and δ-axis induced voltage value eδm. Based on the first estimated angle θγ1, the angle adder 51 calculates the second estimated angle θγ2. The first estimated angle θγ1 and the second estimated angle θγ2 calculated in step S14 are used in the next conversion process in step S11. In the present embodiment, the processes in steps S13 and S14 correspond to a position estimation unit.

  In subsequent step S15, based on the first γ and δ-axis current values Iγ1r and Iδ1r calculated in step S12, the first γ-axis deviation calculating unit 41c, the first δ-axis deviation calculating unit 41d, and the first command voltage setting unit 41e 1γ and δ-axis command voltage values Vγ1 * and Vδ1 * are calculated. In step S15, based on the second γ and δ-axis current values Iγ2r and Iδ2r calculated in step S12, the second γ-axis deviation calculator 42c, the second δ-axis deviation calculator 42d, and the second command voltage setting unit 42e 2γ and δ-axis command voltage values Vγ2 * and Vδ2 * are calculated. The command voltage values Vγ1 *, Vδ1 *, Vγ2 *, Vδ2 * calculated in step S15 are used in the next process of step S13.

  As described above, in the present embodiment, the detection timings of the first phase current value Iph1 and the second phase current value Iph2 are set to the same timing every 60 °. Based on the detected first phase current value Iph1 and second phase current value Iph2, the first γ and δ axis current values Iγ1r and Iδ1r and the second γ and δ axis current values Iγ2r and Iδ2r are obtained by the processing of steps S11 and S12. Calculated. Each of the current values Iγ1r, Iδ1r, Iγ2r, and Iδ2r calculated in this way is reduced from the average value corresponding to each current value, and thus the harmonic components are reduced. Therefore, the first and second estimated angles are calculated by calculating the first and second estimated angles θγ1 and θγ2 based on the current values Iγ1r, Iδ1r, Iγ2r, and Iδ2r calculated by the processes of steps S11 and S12. A decrease in the calculation accuracy of θγ1 and θγ2 can be suppressed.

Second Embodiment
Hereinafter, the second embodiment will be described with reference to the drawings with a focus on differences from the first embodiment. In this embodiment, as shown in FIG. 8, instead of the first and second phase current detectors 31A and 31B, a shunt resistor for current detection is provided in each of the inverters 20A and 20B. In FIG. 8, the same members as those shown in FIG. 1 are given the same reference numerals for the sake of convenience.

  The first inverter 20A includes first U, V, and W phase shunt resistors 50U, 50V, and 50W. First U-phase shunt resistor 50U is connected between the emitter of first U-phase lower arm switch SUn1 and the negative terminal of battery 21, and detects the current value flowing through first U-phase lower arm switch SUn1 as first U-phase current value IU1. To do. The first V-phase shunt resistor 50V is connected between the emitter of the first V-phase lower arm switch SVn1 and the negative terminal of the battery 21, and detects the current value flowing through the first V-phase lower arm switch SVn1 as the first V-phase current value IV1. To do. The first W-phase shunt resistor 50W is connected between the emitter of the first W-phase lower arm switch SWn1 and the negative terminal of the battery 21, and detects the current value flowing through the first W-phase lower arm switch SWn1 as the first W-phase current value IW1. To do.

  The second inverter 20B includes second U, V, and W phase shunt resistors 60U, 60V, and 60W. Note that the shunt resistors 60U, 60V, 60W constituting the second inverter 20B are the same as the shunt resistors 50U, 50V, 50W constituting the first inverter 20A, and thus detailed description thereof is omitted.

  The current value detected by each shunt resistor 50U, 50V, 50W, 60U, 60V, 60W is input to the control device 40. Hereinafter, the current values IU1, IV1, and IW1 detected by the first U, V, and W phase shunt resistors 50U, 50V, and 50W will be referred to as first phase current values Iph1, and the second U, V, and W phase shunt resistors 60U and 60V. , 60 W, the respective current values IU2, IV2, IW2 are referred to as second phase current values Iph2.

  In the present embodiment, as shown in FIG. 9, the voltage vectors Vct1 and Vct2 of the inverters 20A and 20B have currents within a period in which they become effective voltage vectors V1, V3, and V5 for turning on the lower arm switches for two phases. Detection timing is set. This is because, in a configuration including a shunt resistor and performing rectangular wave control, current detection can be performed based on Kirchhoff's law only when the voltage vectors are effective voltage vectors V1, V3, and V5. In FIG. 9, the first detection timing that is the detection timing of the first phase current value Iph1 is indicated by Td1, and the second detection timing that is the detection timing of the second phase current value Iph2 is indicated by Td2. In the present embodiment, the first detection timing Td1 and the second detection timing Td2 are alternately set every 60 °.

  FIG. 10 shows a procedure of torque control processing according to the present embodiment. This process is repeatedly executed by the control device 40 every predetermined processing cycle. 10, for the sake of convenience, the same reference numerals are assigned to the same processes as those shown in FIG.

  In this series of processing, first, in step S20, it is determined whether or not it is the first detection timing Td1 of the first phase current value Iph1.

  When it determines with it being 1st detection timing Td1 in step S20, it progresses to step S21 and acquires 1st phase electric current value Iph1 detected in 1st detection timing Td1. Based on the first estimated angle θγ1 calculated last time, the acquired first phase current value Iph1 is converted into first γ and δ-axis current detection values Iγ1d (θe) and Iδ1d (θe).

  In the subsequent step S22, the first γ-axis current detection value Iγ1d (θe) converted in the current processing cycle and the second γ-axis current detection value Iγ2d (θe-60) converted in the process of step S24 at the previous second detection timing Td2. °) and the following equation (eq19), the first γ-axis current value Iγ1r is calculated.

In step S22, the first δ-axis current detection value Iδ1d (θe) converted in the current processing cycle and the second δ-axis current detection value Iδ2d (θe-60) converted in the processing in step S24 at the previous second detection timing Td2. °) and the following equation (eq20), the first δ-axis current value Iδ1r is calculated.

The first γ and δ-axis current values Iγ1r and Iδ1r calculated in step S22 are output from the first current converter 41a.

  In step S13 after the process of step S22 is completed, the first γ-axis current value Iγ1r calculated in the current processing cycle in step S22, the second γ-axis current value Iγ2r calculated in the previous step in step S24, and the above equation (eq8). Based on this, the γ-axis current value Iγm is calculated. Further, the δ-axis current value Iδm is calculated based on the first δ-axis current value Iδ1r calculated in the current processing cycle in step S22, the second δ-axis current value Iδ2r previously calculated in step S25, and the above equation (eq9). . Further, the γ-axis voltage value Vγm is calculated based on the first and second γ-axis command voltage values Vγ1 * and Vγ2 * previously calculated in step S15 and the above equation (eq6). Based on the calculated γ-axis voltage value Vγm, γ-axis current value Iγm, δ-axis current value Iδm, electrical angular frequency ωe, and the above equation (eq12), the γ-axis induced voltage value eγm is calculated.

  In step S13 after the process of step S22 is completed, the δ-axis voltage is calculated based on the first and second δ-axis command voltage values Vδ1 * and Vδ2 * calculated in step S15 and the above equation (eq7). The value Vδm is calculated. Then, based on the calculated δ-axis voltage value Vδm, γ-axis current value Iγm, δ-axis current value Iδm, electrical angular frequency ωe, and the above equation (eq12), the δ-axis induced voltage value eδm is calculated. Based on the calculated γ-axis induced voltage value eγm and δ-axis induced voltage value eδm, the first estimated angle θγ1 is calculated.

  If a negative determination is made in step S20, the process proceeds to step S23 to determine whether it is the second detection timing Td2 of the second phase current value Iph2.

  If it is determined in step S23 that the second detection timing Td2 is reached, the process proceeds to step S24, and the second phase current value Iph2 detected at the second detection timing Td2 is acquired. Then, based on the previously calculated second estimated angle θγ2, the acquired second phase current value Iph2 is converted into second γ and δ-axis current detection values Iγ2d (θe) and Iδ2d (θe).

  In the subsequent step S25, the second γ-axis current detection value Iγ2d (θe) converted in the current processing cycle and the first γ-axis current detection value Iγ1d (θe-60) converted in the process of step S21 at the previous first detection timing Td1. °) and the following equation (eq21), a second γ-axis current value Iγ2r is calculated.

In step S25, the second δ-axis current detection value Iδ2d (θe) converted in the current processing cycle and the first δ-axis current detection value Iδ1d (θe-60) converted in step S21 at the previous first detection timing Td1. °) and the following equation (eq22), the second δ-axis current value Iδ2r is calculated.

The second γ and δ-axis current values Iγ2r and Iδ2r calculated in step S25 are output from the second current converter 42a.

  In step S13 after the processing of step S25 is completed, the second γ-axis current value Iγ2r calculated in step S25 in the current processing cycle, the first γ-axis current value Iγ1r previously calculated in step S22, and the above equation (eq8) Based on this, the γ-axis current value Iγm is calculated. Further, the δ-axis current value Iδm is calculated based on the second δ-axis current value Iδ2r calculated in the current processing cycle in step S25, the first δ-axis current value Iδ1r previously calculated in step S22, and the above equation (eq9). . Further, the γ-axis voltage value Vγm is calculated based on the first and second γ-axis command voltage values Vγ1 * and Vγ2 * previously calculated in step S15 and the above equation (eq6). Based on the calculated γ-axis voltage value Vγm, γ-axis current value Iγm, δ-axis current value Iδm, electrical angular frequency ωe, and the above equation (eq12), the γ-axis induced voltage value eγm is calculated.

  In step S13 after the processing of step S25 is completed, the δ-axis voltage is calculated based on the first and second δ-axis command voltage values Vδ1 * and Vδ2 * calculated in step S15 and the above equation (eq7). The value Vδm is calculated. Then, based on the calculated δ-axis voltage value Vδm, γ-axis current value Iγm, δ-axis current value Iδm, electrical angular frequency ωe, and the above equation (eq12), the δ-axis induced voltage value eδm is calculated. Based on the calculated γ-axis induced voltage value eγm and δ-axis induced voltage value eδm, the first estimated angle θγ1 is calculated.

  According to the present embodiment described above, it is possible to suppress a decrease in calculation accuracy of the first and second estimated angles θγ1 and θγ2 even when the voltage vector capable of current detection is limited.

<Third Embodiment>
Hereinafter, the third embodiment will be described with reference to the drawings with a focus on differences from the second embodiment. In the second embodiment, the current detection timing is fixed every 60 °. In contrast, in this embodiment, the timing at which the first and second γ-axis current values Iγ1 and Iγ2 are assumed to be the γ-axis current average value Iγave and the first and second δ-axis current values Iδ1 and Iδ2 are the δ-axis current average values. The timing that is assumed to be Iδave is calculated, and the calculated timing is set as the current detection timing. This setting is for coping with the fact that the amplitudes and phases of the current values Iγ1, Iγ2, Iδ1, and Iδ2 change according to the power supply voltage value VDC, the electrical angular frequency ωe, and the like. That is, when the current detection timing is set to a predetermined timing that does not depend on the power supply voltage value VDC, the electrical angular frequency ωe, or the like, the γ-axis current values Iγ1r and Iγ2r and the γ-axis current average value Iγave And a deviation between each δ-axis current value Iδ1r, Iδ2r and the δ-axis current average value Iδave can be large. When the deviation increases, the harmonic components included in the current values Iγ1, Iγ2, Iδ1, and Iδ2 increase, and the calculation accuracy of the first and second estimated angles θγ1 and θγ2 may decrease.

  First, it will be described that the amplitude and phase of the current value depend on the power supply voltage value VDC and the electrical angular frequency ωe. In this embodiment, the d-axis corresponding to the γ-axis will be described as an example.

  In the present embodiment, for simplicity, the condition “ωe = 0” is imposed in the above equation (eq1). Then, when the above equation (eq1) is solved for each current value, the following equation (eq23) is derived. The matrix Q on the right side of the following equation (eq23) is represented by the following equation (eq24).

In the present embodiment, for convenience of explanation, only the first d-axis current value Id1 is considered among the current values Id1, Iq1, Id2, and Iq2 of the above equation (eq23). The following equation (eq25) is derived from the above equation (eq23).

The first d-axis voltage value Vd1 and the second d-axis voltage value Vd2 are expressed as in the following equation (eq26). In the following equation (eq26), Va indicates the magnitude of the combined vector of the two voltage vectors Vct1 and Vct2, and is a value determined based on the power supply voltage value VDC. Θ1 indicates a first phase that is the phase of the first d-axis voltage value Vd1, and θ2 indicates a second phase that is the phase of the second d-axis voltage value Vd2.

In the present embodiment, as shown in FIG. 11, the voltage vector is switched every 30 electrical angles. Therefore, the first phase θ1 is represented by the following equation (eq27), and the second phase θ2 is represented by the following equation (eq28).

Δ in the above equation (eq27) indicates the phase of the voltage vector Vct1 of the first inverter 20A in the γδ coordinate system, and is a value determined from the first γ and δ-axis command voltage values Vγ1 * and Vδ1 *. Based on the above equations (eq25) to (eq28) and Laplace inversion, the following equations (eq29) to (eq31) are derived as steady solutions from the above equation (eq25).

Subsequently, based on the following equation (eq32), a transient solution corresponding to the initial value response of the first d-axis current value Id1 is examined.

When the above equation (eq32) is Laplace transformed, the following equation (eq33) is derived.

The second and third terms on the right side of the above equation (eq33) correspond to the transient solution. When the second term on the right side of the above equation (eq33) is Laplace inverse transformed, the following equation (eq34) is derived, and when the third term on the right side of the above equation (eq33) is Laplace inverse transformed, the following equation (eq35) is derived. Note that Id1 (0) in the following equation (eq34) and Id2 (0) in the following equation (eq35) may be calculated by, for example, numerical calculation.

From the above equations (eq29) to (eq31), (eq34), and (eq35), the first d-axis current value Id1 is expressed as the following equation (eq36).

Since the Va included in the right side of the above equations (eq29) to (eq31) depends on the power supply voltage value VDC, and the electrical angular frequency ωe is included in the right side of the above equations (eq29) to (eq31), the first d The amplitude and phase of the shaft current value Id1 depend on the power supply voltage value VDC and the electrical angular frequency ωe. Similarly, a first q-axis current value Iq1 corresponding to the first δ-axis current value Iδ1, a second d-axis current value Id2 corresponding to the second γ-axis current value Iγ2, and a second q-axis current value corresponding to the second δ-axis current value Iδ2. Each of Iq2 also depends on the power supply voltage value VDC and the electrical angular frequency ωe in amplitude and phase.

  Since the motor parameters are included on the right side of the above equations (eq29) to (eq31), (eq34), (eq35), the amplitude and phase of each current value Id1, Iq1, Id2, Iq2 It also depends on the temperature.

  FIG. 12 shows a procedure of torque control processing according to the present embodiment. This process is repeatedly executed by the control device 40 every predetermined processing cycle. In FIG. 12, the same processes as those shown in FIG. 10 are given the same reference numerals for the sake of convenience.

  In this series of processing, first, in step S20, it is determined whether or not the current timing is the first detection timing Td1 calculated in step S41. If an affirmative determination is made in step S20, the process proceeds to step S30 via steps S21 and S22. In steps S30 and S31, the same processes as those in steps S13 and S14 after step S22 in FIG. 10 are performed.

  In subsequent step S32, based on the first γ and δ axis current values Iγ1r and Iδ1r calculated in step S22, the first γ axis deviation calculating unit 41c, the first δ axis deviation calculating unit 41d, and the first command voltage setting unit 41e 1γ and δ-axis command voltage values Vγ1 * and Vδ1 * are calculated.

  In subsequent step S <b> 33, the electrical angular frequency ωe is calculated by the speed calculation unit 43. In the present embodiment, the processing in step S33 and step S39 described later corresponds to the speed calculation unit.

  In the subsequent step S34, the power supply voltage value VDC, the first winding temperature TH1, and the second winding temperature TH2 are acquired. In the present embodiment, the process of step S34 corresponds to a voltage acquisition unit.

  In subsequent step S35, the second detection timing Td2 of the next second phase current value Iph2 is calculated. In the present embodiment, the timing at which the actual second γ-axis current value Iγ2 becomes the next γ-axis current average value Iγave is calculated as the second detection timing Td2. The next second detection timing Td2 can be calculated by using the following equation (eq37) based on the above equation (eq36) to calculate the second γ-axis current value Iγ2 corresponding to the second d-axis current value Id2 as the γ-axis current average value. This is based on the fact that the electrical angle θe that becomes Iγave can be calculated, and that the time interval between the calculated electrical angle θe and the current electrical angle can be grasped based on the electrical angular frequency ωe.

In the present embodiment, since the second d-axis current value Id2 depends on the electrical angular frequency ωe, the power supply voltage value VDC, the first winding temperature TH1, and the second winding temperature TH2, the calculated electrical angular frequency ωe and the obtained The next second detection timing Td2 is calculated based on the power supply voltage value VDC, the first winding temperature TH1, and the second winding temperature TH2. In step S35, specifically, for example, based on map information in which the electrical angular frequency ωe, the power supply voltage value VDC, the first winding temperature TH1, the second winding temperature TH2, and the second detection timing Td2 are related. Thus, the second detection timing Td2 may be calculated.

  Incidentally, in the present embodiment, the processing in step S35 and step S41 described later corresponds to the timing calculation unit.

  If a negative determination is made in step S20, the process proceeds to step S23 to determine whether or not the current timing is the first detection timing Td1 calculated in step S35. If an affirmative determination is made in step S23, the process proceeds to step S36 via steps S24 and S25. In steps S36 and S37, the same processes as those in steps S13 and S14 after step S25 in FIG. 10 are performed.

  In subsequent step S38, based on the second γ and δ-axis current values Iγ2r and Iδ2r calculated in step S25, the second γ-axis deviation calculating unit 42c, the second δ-axis deviation calculating unit 42d, and the second command voltage setting unit 42e 2γ and δ-axis command voltage values Vγ2 * and Vδ2 * are calculated. In step S39, the velocity calculation unit 43 calculates the electrical angular frequency ωe. In step S40, the power supply voltage value VDC, the first winding temperature TH1, and the second winding temperature TH2 are acquired.

  In the subsequent step S41, a first detection timing Td1 of the next first phase current value Iph1 is calculated. In the present embodiment, the timing at which the actual first γ-axis current value Iγ1 becomes the next γ-axis current average value Iγave is calculated as the first detection timing Td1. In the present embodiment, the next first detection timing Td1 is calculated based on the calculated electrical angular frequency ωe, the acquired power supply voltage value VDC, the first winding temperature TH1, and the second winding temperature TH2. In step S41, specifically, for example, based on map information in which the electrical angular frequency ωe, the power supply voltage value VDC, the first winding temperature TH1, the second winding temperature TH2, and the first detection timing Td1 are related. Thus, the first detection timing Td1 may be calculated.

  As described above, in the present embodiment, the next first and second detection timings Td1 and Td2 are calculated based on the power supply voltage value VDC, the electrical angular frequency ωe, and the like. Then, the first and second phase current values Iph1 and Iph2 detected at the calculated first and second detection timings Td1 and Td2 were obtained. For this reason, the harmonic component contained in each current value Iγ1r, Iδ1r, Iγ2r, Iδ2r calculated based on the first and second phase current values Iph1, Iph2 can be reduced, and the first and second estimated angles θγ1, θγ2 can be reduced. A decrease in the calculation accuracy of can be suppressed.

<Modification of Third Embodiment>
In step S35, a timing at which the actual second δ-axis current value Iδ2 becomes the next δ-axis current average value Iδave may be calculated as the second detection timing Td2. In step S41, the timing at which the actual first δ-axis current value Iδ1 becomes the next δ-axis current average value Iδave may be calculated as the first detection timing Td1.

  In steps S35 and S41, the first winding temperature TH1 and the second winding temperature TH2 may not be used for calculating the detection timings Td1 and Td2.

<Fourth embodiment>
Hereinafter, the fourth embodiment will be described with reference to the drawings with a focus on differences from the second embodiment. In the present embodiment, the deviation between the first γ-axis current value Iγ1 and the γ-axis current average value Iγave at the first detection timing Td1, and the deviation between the first δ-axis current value Iδ1 and the δ-axis current average value Iδave at the first detection timing Td1. The deviation between the second γ-axis current value Iγ2 and the γ-axis current average value Iγave at the second detection timing Td2 and the deviation between the second δ-axis current value Iδ2 and the δ-axis current average value Iδave at the second detection timing Td2 are corrected. .

  FIG. 13 shows a procedure of torque control processing according to the present embodiment. This process is repeatedly executed by the control device 40 every predetermined processing cycle. In FIG. 13, the same processes as those shown in FIG. 12 are given the same reference numerals for the sake of convenience.

  In this series of processes, after the process of step S22 is completed, the process proceeds to step S50 via steps S33 and S34. In step S50, the first correction process shown in FIG. 14 is performed.

  In step S51, the γ-axis current average value Iγave and the δ-axis are calculated based on the electrical angular frequency ωe calculated in step S33, the power supply voltage value VDC acquired in step S34, and the first and second winding temperatures TH1 and TH2. The current average value Iδave is calculated. The reason why the average values Iγave and Iδave can be calculated is that the transition of one fluctuation period of each current value can be calculated as shown in the above equation (eq37). In the present embodiment, the process in step S51 and the process in step S61 described later correspond to an average value calculation unit.

  In subsequent step S52, the γ-axis correction amount Δγ is calculated by subtracting the γ-axis current average value Iγave calculated in step S51 from the first γ-axis current value Iγ1r calculated in the current processing cycle in step S22. In step S52, the δ-axis correction amount Δδ is calculated by subtracting the δ-axis current average value Iδave calculated in step S51 from the first δ-axis current value Iδ1r calculated in the current processing cycle in step S22. In the present embodiment, the process in step S52 and the process in step S62 described later correspond to a correction amount calculation unit.

  In subsequent step S53, the first γ-axis current value Iγ1r calculated in the current processing cycle in step S22 is corrected to decrease by the γ-axis correction amount Δγ calculated in step S52. In step S53, the first δ-axis current value Iδ1r calculated in step S22 in the current processing cycle is decreased and corrected by the δ-axis correction amount Δδ calculated in step S52. The first γ and δ-axis current values Iγ1r and Iδ1r corrected in step S53 are output from the first current converter 41a. In the present embodiment, the process in step S53 and the process in step S63 described later correspond to a correction unit.

  Returning to the description of FIG. 13, the process proceeds to step S13 after the process of step S50 is completed.

  On the other hand, after the process of step S25 is completed, the process proceeds to step S60 via steps S39 and S40. In step S60, the second correction process shown in FIG. 15 is performed.

  In step S61, based on the electrical angular frequency ωe calculated in step S39, the power supply voltage value VDC acquired in step S40, and the first and second winding temperatures TH1 and TH2, the γ-axis current average value Iγave and the δ-axis The current average value Iδave is calculated.

  In subsequent step S62, the γ-axis correction amount Δγ is calculated by subtracting the γ-axis current average value Iγave calculated in step S61 from the second γ-axis current value Iγ2r calculated in the current processing cycle in step S25. In step S62, the δ-axis correction amount Δδ is calculated by subtracting the δ-axis current average value Iδave calculated in step S61 from the second δ-axis current value Iδ2r calculated in the current processing cycle in step S25.

  In the subsequent step S63, the second γ-axis current value Iγ2r calculated in the current processing cycle in step S25 is reduced and corrected by the γ-axis correction amount Δγ calculated in step S62. In step S63, the second δ-axis current value Iδ2r calculated in the current processing cycle in step S25 is corrected to decrease by the δ-axis correction amount Δδ calculated in step S62. The second γ and δ-axis current values Iγ2r and Iδ2r corrected in step S63 are output from the second current converter 42a.

  According to the present embodiment described above, the same effects as those of the third embodiment can be obtained.

<Fifth Embodiment>
Hereinafter, the fifth embodiment will be described with reference to the drawings with a focus on differences from the third and fourth embodiments. In this embodiment, after performing the detection timing calculation process described in the third embodiment, the correction process described in the fourth embodiment is performed as necessary.

  FIG. 16 shows a procedure of torque control processing according to the present embodiment. This process is repeatedly executed by the control device 40 every predetermined processing cycle. In FIG. 16, the same processes as those shown in FIG. 13 are denoted by the same reference numerals for the sake of convenience. In the process shown in FIG. 16, initial values of first and second flags F1 and F2, which will be described later, are set to zero.

  In this series of processes, after the process of step S34 is completed, the process proceeds to step S70 to determine whether or not the first flag F1 is 1. The first flag F1 is set to 1 by the process of step S83 described later, and is set to 0 by the process of step S82.

  When it is determined in step S70 that the first flag F1 is 1, the process proceeds to step S50 and the first correction process is performed.

  When the process of step S50 is completed, or when it is determined in step S70 that the first flag F1 is 0, the process proceeds to step S71 via steps S30 to S32 and S35. In step S71, it is determined whether or not the second detection timing Td2 calculated in step S35 is included in the detection prohibition period Tnd illustrated in FIG. In the present embodiment, the processing in step S71 and step S81 described later corresponds to the determination unit. That is, even if the timing at which the second γ-axis current value Iγ2 becomes the γ-axis current average value Iγave is set as the second detection timing Td2, the second detection timing Td2 may be included in the detection inhibition period Tnd. In this case, if the second phase current value Iph2 detected according to the second detection timing Td2 calculated in step S35 is used for calculating the first estimated angle θγ1, the calculation accuracy of the first estimated angle θγ1 may be reduced.

  Therefore, if an affirmative determination is made in step S71, the process proceeds to step S73, and the second detection timing Td2 calculated in step S35 is shifted to a period Tag other than the detection inhibition period Tnd. Specifically, the second detection timing Td2 calculated in step S35 is shifted to the earliest timing in the period Tag other than the detection inhibition period Tnd. The second flag F1 is set to 1. In the present embodiment, the process in step S73 and the process in step S83 described later correspond to a shift unit.

  If a negative determination is made in step S71, the process proceeds to step S72, and the second flag F2 is set to zero.

  On the other hand, after the process of step S40 is completed, the process proceeds to step S80, and it is determined whether or not the second flag F2 is 1. When it is determined in step S80 that the second flag F2 is 1, the process proceeds to step S60 and the second correction process is performed.

  When the process of step S60 is completed or when it is determined in step S80 that the second flag F2 is 0, the process proceeds to step S81 via steps S36 to S38, S41. In step S81, it is determined whether or not the first detection timing Td1 calculated in step S41 is included in the detection prohibition period Tnd.

  When an affirmative determination is made in step S81, the process proceeds to step S83, and the first detection timing Td1 calculated in step S41 is shifted to a period Tag other than the detection prohibition period Tnd. Specifically, the first detection timing Td1 calculated in step S41 is shifted to the earliest timing in the period Tag other than the detection inhibition period Tnd. The first flag F1 is set to 1. On the other hand, if a negative determination is made in step S81, the process proceeds to step S82, and the first flag F1 is set to zero.

  According to this embodiment described above, it is possible to accurately suppress a decrease in calculation accuracy of the first and second estimated angles θγ1 and θγ2.

<Other embodiments>
Each of the above embodiments may be modified as follows.

  -In the said 2nd Embodiment, although the electric current detection timing was set every 60 degrees, it is not restricted to this. For example, as illustrated in FIG. 18, a pair of timings separated by 30 ° may be set as the current detection timing in a period in which the voltage vector is the effective voltage vectors V1, V3, and V5. In FIG. 18, the first detection timing Td1 is indicated by times t2, t3, t6, t7, t10, and t11, and the second detection timing Td2 is indicated by times t1, t2, t5, t6, t9, and t10. In this case, the first phase current value Iph1 detected at the first detection timing Td1 is the first of the first γ and δ-axis current values Iγr1 and Iδr1 and the second γ and δ-axis current values Iγr2 and Iδr2. It may be used to calculate only the set of 1γ, δ-axis current values Iγr1, Iδr1. The second phase current value Iph2 detected at the second detection timing Td2 is the second γ, δ-axis current value Iγr1, Iδr1, and the second γ-, δ-axis current value Iγr2, Iδr2, among the second γ, It may be used to calculate only the set of δ-axis current values Iγr2 and Iδr2.

  In the current detection method shown in FIG. 18, the average values of the first phase current value Iph1 and the second phase current value Iph2 are obtained at times t2, t6, and t10 at which the first detection timing Td1 and the second detection timing Td2 overlap. The current values Iγr1, Iδr1, Iγr2, and Iδr2 may be used for calculation.

  Note that the timings indicated by the times t4, t8, and t12 are periods in which the voltage vectors do not become the effective voltage vectors V1, V3, and V5, and thus do not become current detection timings. In this case, at time t4, the first γ and δ-axis current values Iγr1 and Iδr1 calculated at time t3 are used, and at time t8, the first γ and δ-axis current values Iγr1 and Iδr1 calculated at time t7 are used. At t12, the first γ and δ-axis current values Iγr1 and Iδr1 calculated at time t11 may be used.

  In the current detection method shown in FIG. 18, the correction process described in the fourth embodiment may be used.

  The spatial phase difference Δα is not limited to 30 °, and may be any value satisfying “30 + 60 × N” ° (N is an integer), such as −30 °, 90 °, 150 °.

  The current detection timing is not limited to those exemplified in the above embodiments. For example, in the second embodiment, the current detection timing may be set for each electrical angle “60 × M” ° (M is an integer of 2 to 5). Further, the current detection timing is not limited to being set every “60 × M” °, but may be set every other interval. Furthermore, the current detection timing may be set for each unequal interval.

  For example, in the first and second embodiments, the current detection timing may be included in the detection prohibition period Tnd.

  In each of the above embodiments, the average value of the first γ-axis current value Iγ1 in one change cycle may be different from the average value of the second γ-axis current value Iγ2 in one change cycle. The average value of the first δ-axis current value Iδ1 in one fluctuation cycle may be different from the average value of the second δ-axis current value Iδ2 in one fluctuation cycle.

  The motor is not limited to one having double windings, and may be one having only one winding group, for example. Even in this case, for example, as shown at times t2, t3, t6, t7, t10, and t11 in FIG. 18, the timing at which the first γ-axis current value Iγ1 is assumed to be the γ-axis current average value Iγave is detected. By setting the timing, the electrical angle can be estimated. Even in this case, the configurations described in the third to fifth embodiments can be used.

  Moreover, as a motor, you may have a L double winding (L is an integer greater than or equal to 3). Here, when the first to third winding groups are provided, for example, among these winding groups, the current detection timings of the first winding group and the second winding group are set to be the same, and the second winding group is set. The current detection timing of each of the group and the third winding group may be set to be the same.

  The motor is not limited to a permanent magnet field type but may be a wound field type, for example.

  The control amount of the motor is not limited to torque, and may be, for example, a rotational speed.

  The rotational position information to be estimated is not limited to an electrical angle, but may be a mechanical angle of a motor, for example.

  DESCRIPTION OF SYMBOLS 10 ... Motor, 10A, 10B ... 1st, 2nd winding group, 20A, 20B ... 1st, 2nd inverter, 40 ... Control apparatus.

Claims (8)

A rotating electrical machine (10) having a winding group (10A, 10B) wound around a stator (13);
In a control device (40) for a rotating electrical machine that is applied to a system including a power conversion circuit (20A, 20B) that applies a voltage to the winding group and includes a position estimation unit that estimates rotational position information of the rotating electrical machine. ,
A current acquisition unit for acquiring a current value (Iph1, Iph2) of a fixed coordinate system flowing through the winding group;
A current for calculating converted current values (Iγ1r, Iδ1r, Iγ2r, Iδ2r), which are current values of a rotating coordinate system flowing through the winding group, based on the current value acquired by the current acquisition unit and the rotational position information. A calculation unit;
An operation unit for operating the power conversion circuit to perform rectangular wave driving of the rotating electrical machine based on the rotational position information,
The position estimation unit estimates the rotational position information based on the converted current value calculated by the current calculation unit,
The said electric current calculation part is a control apparatus of the rotary electric machine which calculates the average value in 1 fluctuation period of the said conversion electric current value as said conversion electric current value used by the said position estimation part. A voltage acquisition unit for acquiring an input voltage value (VDC) of the power conversion circuit;
A speed calculator that calculates an electrical angular frequency (ωe) of the rotating electrical machine based on the rotational position information;
Based on the input voltage value acquired by the voltage acquisition unit and the electrical angular frequency calculated by the speed calculation unit, the timing at which the actual converted current value is assumed to be an average value in one fluctuation cycle A timing calculation unit for calculating the detection timing as a detection timing,
The current acquisition unit acquires a current value of the fixed coordinate system at the detection timing calculated by the timing calculation unit,
2. The control device for a rotating electrical machine according to claim 1, wherein the current calculation unit converts the current value acquired by the current acquisition unit into the converted current value used in the position estimation unit based on the rotational position information. . A voltage acquisition unit for acquiring an input voltage value (VDC) of the power conversion circuit;
A speed calculator that calculates an electrical angular frequency (ωe) of the rotating electrical machine based on the rotational position information;
An average value calculation unit for calculating the average value (Iγave, Iδave) based on the input voltage value acquired by the voltage acquisition unit and the electrical angular frequency calculated by the speed calculation unit;
Based on the average value calculated by the average value calculation unit and the conversion current value calculated by the current calculation unit, the average value calculation unit calculates the conversion current value calculated by the current calculation unit. A correction amount calculation unit for calculating a correction amount (Δγ, Δδ) for obtaining the average value,
A correction unit that corrects the conversion current value calculated by the current calculation unit with the correction amount;
The control apparatus for a rotating electrical machine according to claim 1, wherein the position estimation unit estimates the rotational position information based on the converted current value corrected by the correction unit. The detection prohibition period (Tnd) is a period shorter than the period from the first timing at which the voltage vector of the power conversion circuit is switched to the second timing at which the voltage vector is switched immediately after the first timing.
4. The rotating electrical machine according to claim 1, wherein the current acquisition unit acquires a current value of the fixed coordinate system in a period other than a period from the first timing until the detection prohibition period elapses. Control device. The detection prohibition period (Tnd) is a period shorter than the period from the first timing at which the voltage vector of the power conversion circuit is switched to the second timing at which the voltage vector is switched immediately after the first timing.
A voltage acquisition unit for acquiring an input voltage value (VDC) of the power conversion circuit;
A speed calculator that calculates an electrical angular frequency (ωe) of the rotating electrical machine based on the rotational position information;
Based on the input voltage value acquired by the voltage acquisition unit and the electrical angular frequency calculated by the speed calculation unit, the timing at which the actual converted current value is assumed to be an average value in one fluctuation cycle A timing calculation unit for calculating as a detection timing;
A determination unit that determines that the detection timing calculated by the timing calculation unit is included in a period from the first timing until the detection prohibition period elapses;
A shift unit that shifts the detection timing to a period other than the period from the first timing until the detection prohibited period elapses when it is determined by the determination unit to be included;
The current acquisition unit acquires a current value of the fixed coordinate system at the detection timing shifted by the shift unit,
The current calculation unit converts the current value acquired by the current acquisition unit into the converted current value based on the rotational position information,
An average value calculation unit for calculating the average value (Iγave, Iδave) based on the input voltage value acquired by the voltage acquisition unit and the electrical angular frequency calculated by the speed calculation unit;
Based on the average value calculated by the average value calculation unit and the conversion current value calculated by the current calculation unit, the average value calculation unit calculates the conversion current value calculated by the current calculation unit. A correction amount calculation unit for calculating a correction amount (Δγ, Δδ) for obtaining the average value,
A correction unit that corrects the conversion current value calculated by the current calculation unit with the correction amount;
The control apparatus for a rotating electrical machine according to claim 1, wherein the position estimation unit estimates the rotational position information based on the converted current value corrected by the correction unit. The winding group is plural,
Of the plurality of winding groups, any one is a first target winding group (10A) and the remaining one is a second target winding group (10B),
The current acquisition unit includes a first current value (Iph1) that is a current value of a rotating coordinate system flowing through the first target winding group and a current value of a rotating coordinate system that flows through the second target winding group. 2 current value (Iph2)
The current calculation unit, based on the first current value and the rotation position information, as a conversion current value, a first conversion current value (current value of a rotating coordinate system flowing through the first target winding group ( Iγ1r, Iδ1r), and based on the second current value and the rotational position information, a second converted current which is a current value of a rotating coordinate system flowing through the second target winding group as the converted current value. Calculate values (Iγ2r, Iδ2r)
The position estimation unit estimates the rotational position information based on the first conversion current value and the second conversion current value,
The current acquisition unit is configured so that a total value of the first conversion current value and the second conversion current value calculated by the current calculation unit is 1 for each of the actual first conversion current value and the second conversion current value. The control device for a rotating electrical machine according to any one of claims 1 to 5, wherein the acquisition timing of each of the first current value and the second current value is set so as to be a total value of average values in a fluctuation cycle. There are two winding groups,
7. The rotation according to claim 6, wherein when N is an integer, an angle formed by the first target winding group and the second target winding group is “30 + 60 × N” ° in electrical angle. Electric control device.   8. The control device for a rotating electrical machine according to claim 7, wherein the current acquisition unit sets the acquisition timing of the first current value and the acquisition timing of the second current value with an electrical angle shifted by 60 °.