JP2019033589A - Control device for rotating electrical machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device for a rotary electric machine capable of improving the estimation accuracy of the rotation position information of the rotor of the rotary electric machine in position sensorless control. A control device includes a processing unit, a filter unit, and an estimation unit. The processing unit outputs the voltage value generated in the armature winding in a state where the influence of the voltage value of the DC power supply is reduced from the voltage value generated in the armature winding during the on period of each of the upper arm switch and the lower arm switch. Perform the processing. The filter unit extracts the fundamental wave component of the induced voltage generated in the armature winding by filtering the output value of the processing unit. The estimation unit estimates the rotation position information of the rotor based on the fundamental wave component extracted by the filter unit. [Selection diagram] Fig. 4

Description

  The present invention relates to a control device for a rotating electrical machine that estimates rotational position information of a rotor of the rotating electrical machine based on a fundamental wave component of an induced voltage generated in an armature winding.

  As this type of control device, one that performs position sensorless control that does not use the detection value of an angle detector that directly detects the rotational position of the rotor is known. As position sensorless control, for example, as seen in Patent Document 1 below, the phase voltage generated in the armature winding of the rotating electrical machine when the upper arm switch and the lower arm switch constituting the power converter are alternately turned on. Some use values. Specifically, this control device extracts the fundamental wave component of the induced voltage by performing a filtering process on the acquired phase voltage value. The control device estimates the rotational position information of the rotor by detecting the zero cross of the extracted fundamental wave component.

Japanese Patent No. 4367555

  During the upper arm switch ON period, the voltage value generated in the armature winding is clamped to a value corresponding to the voltage value on the positive side of the DC power supply, and during the lower arm switch ON period, it is generated in the armature winding. The voltage value to be clamped is a value corresponding to the voltage value on the negative electrode side of the DC power supply. Even if the filtering process is performed on the phase voltage value including the clamped voltage value, the voltage value extracted by the filtering process can be greatly deviated from the fundamental wave component of the induced voltage. In this case, the estimation accuracy of the rotational position information based on the fundamental wave component of the induced voltage can be reduced.

  The main object of the present invention is to provide a control device for a rotating electrical machine capable of improving the estimation accuracy of rotor rotational position information in position sensorless control.

  The present invention includes a power converter having a series connection of an upper arm switch and a lower arm switch connected in parallel to a DC power source, a rotating electric machine having an armature winding electrically connected to the power converter, In a control device for a rotating electrical machine applied to a control system comprising: an influence of a voltage value of the DC power supply is reduced from a voltage value generated in the armature winding in an on period of each of the upper arm switch and the lower arm switch In this state, a processing unit that performs a process of outputting a voltage value generated in the armature winding, and a filter process is performed on the output value of the processing unit, thereby generating a basic of the induced voltage generated in the armature winding. A filter unit that extracts a wave component; and an estimation unit that estimates rotational position information of the rotor of the rotating electrical machine based on the fundamental wave component extracted by the filter unit. .

  The processing unit of the present invention reduces the voltage value generated in the armature winding in a state where the influence of the voltage value of the DC power supply is reduced from the voltage value generated in the armature winding during the ON period of each of the upper and lower arm switches. Perform output processing. For this reason, the extraction accuracy of the fundamental wave component of the induced voltage can be increased in the filter unit. As a result, the estimation unit can improve the estimation accuracy of the rotational position information based on the fundamental wave component extracted by the filter unit.

The whole block diagram of the control system of the rotary electric machine which concerns on 1st Embodiment. The figure which shows the spatial phase difference of a coil group. The time chart which shows transition of the phase voltage value which performs a filter process. The flowchart which shows the procedure of the control process containing a position estimation process. The time chart which shows transition of the induced voltage fundamental wave component obtained by the filter process. The figure which shows the effect of 1st Embodiment. The flowchart which shows the procedure of the control processing which concerns on 2nd Embodiment. The time chart which shows transition of the phase voltage value which performs the filter process which concerns on 3rd Embodiment. The flowchart which shows the procedure of a control process. The time chart which shows transition of the line voltage value which performs the filter process which concerns on 4th Embodiment. The flowchart which shows the procedure of a control process. The whole block diagram of the control system of the rotary electric machine which concerns on other embodiment. The whole block diagram of the control system of the rotary electric machine which concerns on other embodiment.

<First Embodiment>
Hereinafter, a first embodiment of a control device according to the present invention will be described with reference to the drawings.

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

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

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

  The first module M1 includes a first voltage dividing unit 23A composed of a pair of resistors. The first voltage dividing unit 23A connects the positive electrode side conductive member 20 and the ground, and divides the output voltage value VDC of the DC power supply 21 at a predetermined voltage dividing ratio. In the present embodiment, the resistance values of the pair of resistors constituting the first voltage divider 23A are the same value. For this reason, the first voltage dividing unit 23A divides the output voltage value VDC of the DC power supply 21 by ½. The voltage value divided by the first voltage divider 23A is input to the first driver DU1.

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

  The second module M2 includes a second voltage dividing unit 23B composed of a pair of resistors. The second voltage divider 23B connects the positive electrode-side conductive member 20 and the ground, and divides the output voltage of the DC power supply 21 at a predetermined voltage dividing ratio. In the present embodiment, the resistance values of the pair of resistors constituting the second voltage divider 23B are the same value. For this reason, the second voltage divider 23A divides the output voltage value VDC of the DC power supply 21 by half. The voltage value divided by the second voltage divider 23B is input to the second driver DU2.

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

  The third module M3 includes a third voltage dividing unit 23C composed of a pair of resistors. The third voltage dividing unit 23C connects the positive electrode side conductive member 20 and the ground, and divides the output voltage of the DC power supply 21 at a predetermined voltage dividing ratio. In the present embodiment, the resistance values of the pair of resistors constituting the third voltage divider 23C are the same value. For this reason, the third voltage divider 23C divides the output voltage value VDC of the DC power supply 21 by half. The voltage value divided by the third voltage divider 23C is input to the third driver DU3.

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

  The functions provided by each of the drive units DU1 to DU3 and the control unit 30 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. .

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

  At time t1 to t2 in FIG. 3, the U-phase upper arm switch SUH is turned off and the U-phase lower arm switch SUL is turned on. For this reason, the U-phase voltage value Vur acquired by the second drive unit DU2 is a value “−VDC / 2” corresponding to the voltage value on the negative electrode side of the DC power supply 21, as indicated by a broken line in FIG. To be clamped. The period from time t1 to t2 is an energization period of 120 degrees in electrical angle.

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

  From time t3 to t4, the U-phase upper arm switch SUH is turned on and the U-phase lower arm switch SUL is turned off. For this reason, the U-phase voltage value Vur acquired by the second drive unit DU2 becomes a value “+ VDC / 2” corresponding to the voltage value on the positive side of the DC power supply 21, as indicated by a broken line in FIG. Clamped. The period from time t3 to t4 is an energization period of 120 degrees in electrical angle.

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

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

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

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

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

  In step S11, it is determined whether either the U-phase upper arm switch SUH or the U-phase lower arm switch SUL is turned on.

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

  On the other hand, if an affirmative determination is made in step S11, the process proceeds to step S13, and the U-phase voltage value Vur acquired in step S10 one processing cycle before the processing cycle most recently determined in step S11 is determined as the U-phase input value Vus. And That is, the U-phase input value Vus is maintained at the U-phase voltage value Vur acquired before the one processing cycle over the period in which the positive determination is made in step S11. In the present embodiment, the processes in steps S11 to S13 correspond to a processing unit.

  After completion of the process of step S12 or S13, the process proceeds to step S14, where the U-phase input value Vus is filtered to remove the harmonic component and extract the fundamental wave component Eu of the U-phase induced voltage. In the present embodiment, the filter process is a low-pass filter process. The low-pass filter is, for example, one to three. In the low-pass filter, the cutoff frequency is increased as the electrical angular velocity ωe of the rotating electrical machine 10 is higher so that the frequency higher than the frequency of the fundamental wave component of the induced voltage is set as the cutoff frequency. Since the time constant τ of the low-pass filter decreases as the cutoff frequency increases, the time constant τ decreases as the electrical angular velocity ωe increases. Thereby, the fundamental wave component of the induced voltage whose fluctuation frequency changes according to the electrical angular velocity ωe can be appropriately extracted. The electrical angular velocity ωe used in step S14 may be the value estimated in step S17 before one processing cycle. In the present embodiment, the process of step S14 corresponds to a filter unit.

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

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

  In step S17, the electrical angle θe, which is the rotational position information of the rotating electrical machine 10, is estimated based on the phase-corrected zero cross timing. Further, the electrical angular velocity ωe is estimated based on the time interval of the zero cross timing. In the present embodiment, the process of step S17 corresponds to an estimation unit.

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

  Note that the second drive unit DU2 performs the same process as the process illustrated in FIG. 4 for the Z phase. Further, the first drive unit DU1 performs the same process as the process shown in FIG. 4 for the X and Y phases, and the third drive unit DU3 performs the same process as the process shown in FIG. 4 for the V and W phases. Do. Thereby, based on the estimated electrical angle θe and the like, the upper and lower arm switches of each phase are driven on and off to control the control amount of the rotating electrical machine 10 to the command value.

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

  According to this embodiment, the ratio of the fundamental wave component of the induced voltage to the fundamental wave component of the phase voltage value can be increased as compared with the comparative example. This is because the filtering process is performed in a state where the influence of the voltage value of the DC power supply 21 is reduced from the voltage value generated in the winding during the ON period of each of the upper and lower arm switches. Thereby, it can suppress that the estimated value of the zero crossing timing of the fundamental wave component of an induced voltage shift | deviates largely from the zero crossing timing of the fundamental wave component of an induced voltage. As a result, the estimation accuracy of the electrical angle θe can be improved, and as a result, the controllability of the control amount of the rotating electrical machine 10 can be improved.

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

  In each of the modules M1 to M3, each of the driving units DU1 to DU3 is based on the voltage value on the first end side of the winding on the basis of the divided value “VDC / 2” by the voltage dividing units 23A to 23C. The voltage value was acquired. According to this configuration, wiring for connecting the modules can be eliminated in order to grasp the reference voltage. As a result, the configuration of the control system can be simplified.

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

  FIG. 7 shows the procedure of the rotational position estimation process executed by the second drive unit DU2. In FIG. 7, the U phase will be described as an example. The process shown in FIG. 7 is repeatedly executed every predetermined processing cycle. In FIG. 7, the same processes as those shown in FIG. 4 are given the same reference numerals for the sake of convenience.

  When an affirmative determination is made in step S11, the process proceeds to step S20, and the amplitude Vp of the fundamental wave component Eu of the induced voltage is calculated based on the electrical angular velocity ωe. Specifically, the higher the electrical angular velocity ωe, the larger the amplitude Vp is calculated. This is because there is a relationship of “Vp = ωe × φ” where φ is the armature linkage magnetic flux of the magnetic poles of the rotor 11. In step S20, the amplitude Vp may be calculated using the map information in which the electrical angular velocity ωe and the amplitude Vp are related, or the amplitude Vp is calculated using the expression “Vp = ωe × φ”. Also good. In the present embodiment, the process of step S20 corresponds to an induced voltage calculation unit. In the present embodiment, the processes of steps S11, S12, S20, and S21 correspond to a processing unit.

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

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

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

  FIG. 9 shows the procedure of the rotational position estimation process executed by the second drive unit DU2. In FIG. 9, the U phase is described as an example. The process shown in FIG. 9 is repeatedly executed every predetermined processing cycle. In FIG. 9, the same processes as those shown in FIG. 4 are denoted by the same reference numerals for the sake of convenience.

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

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

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

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

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

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

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

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

  In subsequent step S41, the acquired line voltage value Vuvr is subjected to low-pass filter processing to remove harmonic components and extract the fundamental wave component Euvr of the induced voltage. Here, the higher the electrical angular velocity ωe of the rotating electrical machine 10, the higher the cutoff frequency.

  In the subsequent step S42, the filter value Vuvf, which is the line voltage value Vuvr subjected to the filtering process in step S41, is compared with the threshold value Vα, and the timing at which the filter value Vuvf crosses the threshold value Vα is calculated. In the present embodiment, the threshold value Vα is set to 0. Thereafter, the process proceeds to step S16.

  According to the present embodiment described above, the same effect as that of the first embodiment can be obtained. Further, according to the present embodiment, the third-order component of the line voltage value after filtering can be reduced. Thereby, the estimation accuracy of the electrical angle θe can be further increased.

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

  As shown in FIG. 12, each of the drive units DU1 to DU3 acquires the phase voltage value based on the voltage value on the first end side of the winding with the voltage value of the positive electrode side conductive member 20 as a reference. Good. Further, as illustrated in FIG. 13, each of the drive units DU <b> 1 to DU <b> 3 may acquire the phase voltage value based on the voltage value on the first end side of the winding with the ground voltage value as a reference. 12 and 13, the same reference numerals are given to the same components as those shown in FIG. 1 for the sake of convenience.

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

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

  A filter that can switch the order of the low-pass filter may be used.

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

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

  DESCRIPTION OF SYMBOLS 10 ... Rotary electric machine, 14U-14W ... U-W phase winding, 15X-15Z ... X-Z phase winding, 21 ... DC power supply, M1-M3 ... 1st-3rd module.

Claims (8)

A power converter (M1 to M2) having a series connection of an upper arm switch (SUH to SZH) and a lower arm switch (SUL to SZL) connected in parallel to the DC power source (21);
A rotating electrical machine control device (DU1 to DU3) applied to a control system comprising: a rotating electrical machine (10) having an armature winding (14U to 14W, 15X to 15Z) electrically connected to the power converter. )
In a state where the influence of the voltage value of the DC power supply is reduced from the voltage value generated in the armature winding in the ON period of each of the upper arm switch and the lower arm switch, the voltage value generated in the armature winding is A processing unit for performing output processing;
A filter unit that extracts a fundamental wave component of an induced voltage generated in the armature winding by performing a filtering process on an output value of the processing unit;
A control device for a rotating electrical machine, comprising: an estimation unit that estimates rotational position information of a rotor (11) of the rotating electrical machine based on a fundamental wave component extracted by the filter unit.   The processing unit acquires a phase voltage value generated in the armature winding, and among the acquired phase voltage values, the phase voltage value in the ON period of each of the upper arm switch and the lower arm switch is calculated as the induced voltage. The control device for a rotating electrical machine according to claim 1, wherein a process of outputting the signal close to the fundamental wave component is performed. A switch drive unit that alternately turns on the upper arm switch and the lower arm switch while sandwiching a dead time,
The processing unit outputs a phase voltage value acquired at a timing immediately before an upper timing of the upper arm switch in the dead time over an on period of the upper arm switch to the filter unit, and passes over the dead time. The acquired phase voltage value is output to the filter unit as it is, and the phase voltage value acquired at the timing immediately before the lower arm switch on timing of the dead time over the on period of the lower arm switch is The rotating electrical machine control device according to claim 2, wherein the control device outputs to the filter unit. An induced voltage calculation unit that calculates the amplitude of the fundamental wave component of the induced voltage based on at least the electrical angular velocity of the rotating electrical machine;
A switch drive unit that alternately turns on the upper arm switch and the lower arm switch while sandwiching a dead time, and
The processing unit outputs the amplitude calculated by the induced voltage calculation unit to the filter unit over an ON period of each of the upper arm switch and the lower arm switch, and acquires the acquired phase over the dead time. The control device for a rotating electrical machine according to claim 2, wherein the voltage value is directly output to the filter unit. A switch drive unit that alternately turns on the upper arm switch and the lower arm switch while sandwiching a dead time,
The processing unit has a phase voltage value acquired when the upper arm switch is turned on over the on-period of the upper arm switch, and a value closer to the fundamental wave component of the induced voltage than the phase voltage value. Are alternately output to the filter unit, the acquired phase voltage value is output to the filter unit as it is over the dead time, and the lower arm switch is turned on over the ON period of the lower arm switch. The control device for a rotating electrical machine according to claim 2, wherein a phase voltage value acquired when the voltage is present and a value closer to the fundamental wave component of the induced voltage than the phase voltage value are alternately output to the filter unit.   2. The control apparatus for a rotating electrical machine according to claim 1, wherein the processing unit acquires a line voltage value generated in the armature winding and outputs the acquired line voltage value to the filter unit. The rotating electrical machine has, as the armature winding, an X, Y, Z phase winding (15X to 15Z) and a U, V, W phase winding (14U to 14W),
The power converter is
The upper arm switch includes an X-phase upper arm switch (SXH) connected to the X-phase winding and a Y-phase upper arm switch (SYH) connected to the Y-phase winding, and the lower arm switch A first module (M1) having an X-phase lower arm switch (SXL) connected in series to the X-phase upper arm switch and a Y-phase lower arm switch (SYL) connected in series to the Y-phase upper arm switch;
The upper arm switch includes a Z-phase upper arm switch (SZH) connected to the Z-phase winding and a U-phase upper arm switch (SUH) connected to the U-phase winding, and the lower arm switch A second module (M2) having a Z-phase lower arm switch (SZL) connected in series to the Z-phase upper arm switch and a U-phase lower arm switch (SUL) connected in series to the U-phase upper arm switch;
The upper arm switch includes a V-phase upper arm switch (SVH) connected to the V-phase winding and a W-phase upper arm switch (SWH) connected to the W-phase winding, and the lower arm switch A third module (M3) having a V-phase lower arm switch (SVL) connected in series to the V-phase upper arm switch and a W-phase lower arm switch (SWL) connected in series to the W-phase upper arm switch; Including
An acquisition unit that is configured to acquire a voltage value generated in the armature winding among the processing units is provided in each module,
In each of the modules, the acquisition unit generates a voltage generated in the armature winding based on a divided voltage value of the DC power supply, a voltage value on the positive electrode side of the DC power supply, or a voltage value on the negative electrode side of the DC power supply. The control apparatus of the rotary electric machine of any one of Claims 2-6 which acquires a value.   The control device for a rotating electrical machine according to any one of claims 1 to 7, wherein the filter unit reduces a time constant in the filtering process when the electrical angular velocity of the rotating electrical machine is higher than when it is low.