JP6991282B1 - Rotating machine control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device for a rotating machine capable of improving the control responsiveness of a field current under the condition that the control responsiveness of the field current is deteriorated without being limited to the start of an internal combustion engine.
SOLUTION: An armature current command value which is a current command value of an armor winding is calculated, a field current command value which is a current command value of a magnetic winding is calculated, and a field voltage command value is a field winding. Armature current when the maximum voltage saturation state is reached, which is greater than or equal to the maximum voltage that can be applied to the wire, or when the minimum voltage saturation state is reached, where the field voltage command value is less than or equal to the minimum voltage that can be applied to the field winding. A control device for an AC rotating machine that increases the d-axis component of the command value to a positive value.
[Selection diagram] Fig. 1

Description

The present application relates to a control device for a rotating machine.

In the technique of Patent Document 1, when a field current is passed at the start of an internal combustion engine, an armature current that forms a magnetic flux in the same direction as the field magnetic flux is passed to assist the formation of the field magnetic flux and magnetism. The response of the field current is increased by utilizing the decrease in inductance due to saturation.

In the technique of Patent Document 2, when the internal combustion engine is started, the d-axis current is passed in the positive direction in advance and then changed in the negative direction to obtain mutual inductance between the armature winding and the field winding. Causes a positive induced electromotive force in the field winding to increase the response of the field current.

JP-A-2002-191158. Japanese Unexamined Patent Publication No. 2018-423787

However, since the technique of Patent Document 1 is a control performed at the start of the internal combustion engine, it cannot be applied except at the start of the internal combustion engine.

In the technique of Patent Document 2, it is necessary to change the d-axis current to a positive value in advance before the output torque is generated, and under special conditions such as when the internal combustion engine is started, the output torque is not generated. Can only be executed.

Therefore, the present application provides a rotary machine control device capable of improving the control responsiveness of the field current under the condition that the control responsiveness of the field current deteriorates without being limited to the start of the internal combustion engine. The purpose is.

The rotary machine control device according to the present application is a rotary machine control device for controlling a rotary machine having a rotor provided with field windings and a stator provided with armature windings.
The armature current command value, which is the current command value of the armature winding, is calculated, the armature voltage command value is calculated based on the armature current command value, and the inverter is based on the armature voltage command value. An armature current control unit that applies a voltage to the armature winding by controlling the switching element to be turned on and off.
The field current command value, which is the current command value of the field winding, is calculated, the field voltage command value is calculated based on the field current command value, and the converter is based on the field voltage command value. A field current control unit that applies a voltage to the field winding by controlling the switching element to be turned on and off is provided.
The direction of the magnetic poles of the rotor is defined as the d-axis, and the direction 90 ° ahead of the d-axis in terms of electrical angle is defined as the q-axis.
The armature current control unit is in a state of maximum voltage saturation where the field voltage command value is equal to or higher than the maximum voltage that can be applied to the field winding, or the field voltage command value is the field winding. The d-axis component of the armature current command value is increased to a positive value when the minimum voltage is saturated, which is equal to or less than the minimum voltage that can be applied to.

When the maximum voltage saturation state or the minimum voltage saturation state is reached, the field voltage command value is limited, the responsiveness of the field current control system deteriorates, and the responsiveness of the field current deteriorates. According to the controller of the rotary machine according to the present application, when the maximum voltage is saturated or the minimum voltage is saturated, the rotor magnetic flux is strengthened by increasing the d-axis current, and the magnetic saturation state is reached. It can be brought close to, and the responsiveness of the field winding can be improved. Therefore, even when the maximum voltage saturation state or the minimum voltage saturation state is reached and the responsiveness of the field current control system deteriorates, the responsiveness of the field winding to be controlled is improved and the field current control system is controlled. It is possible to suppress the deterioration of the responsiveness of the field current and make the field current follow the field current command value with good responsiveness. Therefore, it is possible to improve the control responsiveness of the field current when the maximum voltage saturation state or the minimum voltage saturation state in which the control responsiveness of the field current deteriorates is reached, without being limited to the start time of the internal combustion engine. can.

It is a schematic block diagram of the rotary machine and the control device of the rotary machine which concerns on Embodiment 1. FIG. It is a schematic block diagram of the control device which concerns on Embodiment 1. FIG. It is a hardware block diagram of the control device which concerns on Embodiment 1. FIG. It is a time chart explaining the on / off control behavior of the switching element of the inverter which concerns on Embodiment 1. FIG. It is a time chart explaining the on / off control behavior of the switching element of the converter which concerns on Embodiment 1. FIG. It is a time chart explaining the control behavior which concerns on the comparative example of Embodiment 1. It is a time chart explaining the control behavior which concerns on the comparative example of Embodiment 1. It is a relationship characteristic diagram of the field current, the rotor magnetic flux, and the current differential inductance which concerns on Embodiment 1. FIG. It is a figure which shows the magnetic saturation characteristic of the rotor magnetic flux which concerns on Embodiment 1. It is a time chart explaining the control behavior which concerns on Embodiment 1. FIG. It is a schematic diagram of the rotary machine which was made into the generator motor for the vehicle which concerns on Embodiment 1. FIG. It is a time chart explaining the control behavior which concerns on Embodiment 2. It is a time chart explaining the control behavior which concerns on Embodiment 2. It is a schematic block diagram of the rotary machine and the control device of the rotary machine which concerns on Embodiment 3. FIG. It is a time chart explaining the control behavior which concerns on the comparative example of Embodiment 4. It is a time chart explaining the control behavior which concerns on Embodiment 4. It is a time chart explaining the control behavior which concerns on Embodiment 4.

1. 1. Embodiment 1
The control device 11 (hereinafter, simply referred to as the control device 11) of the rotary machine according to the first embodiment will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of a rotary machine 1 and a control device 11 according to the present embodiment.

1-1. Rotating machine 1
The rotary machine 1 includes a stator 18 and a rotor 14 arranged radially inside the stator 18. The rotating machine 1 is a field winding type synchronous rotating machine. The armature winding 12 is wound around the iron core of the stator 18. A field winding 4 is wound around the iron core of the rotor 14, and an electromagnet is provided.

In the present embodiment, the armature winding 12 is a U-phase, V-phase, and W-phase three-phase armature winding Cu, Cv, and Cw. The three-phase armature windings Cu, Cv, and Cw may be star-connected or delta-connected.

The rotor 14 is provided with a rotation sensor 15 that detects the rotation angle (rotation angle) of the rotor 14. The output signal of the rotation sensor 15 is input to the control device 11. As the rotation sensor 15, various sensors such as a Hall element, a resolver, or an encoder are used. The rotation sensor 15 may not be provided, and may be configured to estimate the rotation angle (pole position) based on the current information obtained by superimposing the harmonic component on the current command value described later (so-called). Sensorless method).

1-2. DC power supply 2
The DC power supply 2 outputs a DC voltage Vdc to the inverter 5 and the converter 9. As the DC power supply 2, any device that outputs a DC voltage, such as a battery, a DC-DC converter, a diode rectifier, and a PWM rectifier, is used. A smoothing capacitor 3 is connected in parallel to the DC power supply 2.

1-3. Inverter 5
The inverter 5 has a plurality of switching elements and performs power conversion between the DC power supply 2 and the armature winding 12. The inverter 5 is a series circuit in which a switching element SP on the positive electrode side connected to the positive electrode side of the DC power supply 2 and a switching element SN on the negative electrode side connected to the negative electrode side of the DC power supply 2 are connected in series. Three sets are provided corresponding to the armature winding of each phase. The connection points of the two switching elements in each series circuit are connected to the armature windings of the corresponding phase.

Specifically, in the U-phase series circuit, the switching element SPu on the positive electrode side of the U phase and the switching element SNu on the negative electrode side of the U phase are connected in series, and the connection point of the two switching elements is an armature of the U phase. It is connected to the winding Cu. In the V-phase series circuit, the switching element SPv on the positive electrode side of the V phase and the switching element SNv on the negative electrode side of the V phase are connected in series, and the connection point of the two switching elements is connected to the armature winding Cv of the V phase. Has been done. In the W-phase series circuit, the switching element SPw on the positive electrode side of W and the switching element SNw on the negative electrode side of W phase are connected in series, and the connection points of the two switching elements are connected to the armature winding Cw of W phase. ing.

As the switching element of the inverter 5, an IGBT (Insulated Gate Bipolar Transistor) in which diodes are connected in antiparallel, a bipolar transistor in which diodes are connected in antiparallel, a MOSFET (Metal Oxide Semiconductor Field Effect Transistor), and the like are used. The gate terminal of each switching element is connected to the control device 11 via a gate drive circuit or the like. Therefore, each switching element is turned on or off by the switching signal output from the control device 11.

The armature current sensor 8 is a current detection circuit that detects the current flowing through the armature windings Cu, Cv, and Cw of each phase. In the present embodiment, the armature current sensor 8 is provided on the electric wire connecting the series circuit of the switching element of each phase and the armature winding. The output signal of the armature current sensor 8 of each phase is input to the control device 11. The armature current sensor 8 is a current sensor such as a Hall element and a shunt resistor. The armature current sensor 8 may be connected in series to the series circuit of the switching element of each phase.

1-4. Converter 9
The converter 9 has a switching element and performs power conversion between the DC power supply 2 and the field winding 4. In the present embodiment, the converter 9 is a series in which the power semiconductor SP on the positive electrode side connected to the positive electrode side of the DC power supply 2 and the power semiconductor SN on the negative electrode side connected to the negative electrode side of the DC power supply 2 are connected in series. It is an H-bridge circuit with two sets of circuits. The connection point between the power semiconductor SP1 on the positive electrode side and the power semiconductor SN1 on the negative electrode side in the series circuit 28 of the first set is connected to one end of the field winding 4, and the power on the positive electrode side in the series circuit 29 of the second set. The connection point between the semiconductor SP2 and the power semiconductor SN2 on the negative electrode side is connected to the other end of the field winding 4.

In the present embodiment, the power semiconductor SP on the positive electrode side and the power semiconductor SN on the negative electrode side of the first set and the second set are switching elements. As the switching element of the converter 9, an IGBT in which diodes are connected in antiparallel, a bipolar transistor in which diodes are connected in antiparallel, a MOSFET, and the like are used. The gate terminal of each switching element is connected to the control device 11 via a gate drive circuit or the like. Therefore, each switching element is turned on or off by the switching signal output from the control device 11.

The converter 9 has other configurations such as replacing the switching element SN1 on the negative side of the series circuit 28 of the first set with a diode and replacing the switching element SN2 on the negative side of the negative side of the series circuit 29 of the second set with a diode. May be.

The field current sensor 6 is a current detection circuit that detects the field current If, which is the current flowing through the field winding 4. In the present embodiment, the field current sensor 6 is provided on the electric wire connecting the connection point of the series circuit 28 of the first set and one end of the field winding 4. The field current sensor 6 may be provided at another location where the field current If can be detected. The output signal of the field current sensor 6 is input to the control device 11. The field current sensor 6 is a current sensor such as a Hall element and a shunt resistor.

1-5. Control device 11
The control device 11 controls the rotary machine 1 via the inverter 5 and the converter 9. As shown in FIG. 2, the control device 11 includes functional units such as a rotation detection unit 31, an armature current detection unit 32, an armature current control unit 33, a field current detection unit 34, and a field current control unit 35. I have. Each function of the control device 11 is realized by the processing circuit provided in the control device 11. Specifically, as shown in FIG. 3, the control device 11 includes an arithmetic processing unit 90 (computer) such as a CPU (Central Processing Unit), a storage device 91 for exchanging data with the arithmetic processing unit 90, as a processing circuit. The arithmetic processing unit 90 includes an input circuit 92 for inputting an external signal, an output circuit 93 for outputting a signal from the arithmetic processing unit 90 to the outside, a communication circuit 94 for data communication with the external device, and the like.

The arithmetic processing device 90 is provided with an ASIC (Application Specific Integrated Circuit), an IC (Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), various logic circuits, various signal processing circuits, and the like. You may. Further, as the arithmetic processing unit 90, a plurality of the same type or different types may be provided, and each processing may be shared and executed. As the storage device 91, a RAM (Random Access Memory) configured to be able to read and write data from the arithmetic processing unit 90, a ROM (Read Only Memory) configured to be able to read data from the arithmetic processing unit 90, and the like are used. It is prepared. The input circuit 92 is connected to various sensors and switches such as a rotation sensor 15, an armature current sensor 8, and a field current sensor 6, and A / D conversion in which the output signals of these sensors and switches are input to the arithmetic processing device 90. Equipped with vessels, etc. The output circuit 93 includes a drive circuit or the like to which an electric load such as a gate drive circuit for driving the switching elements of the inverter 5 and the converter 9 on and off is connected, and a control signal is output from the arithmetic processing device 90 to these electric loads. The communication circuit 94 communicates with an external device.

Then, in each function of the control units 31 to 35 included in the control device 11, the arithmetic processing unit 90 executes software (program) stored in the storage device 91 such as a ROM, and the storage device 91 and the input circuit 92. , And by cooperating with other hardware of the control device 11 such as the output circuit 93. The setting data such as table data used by each of the control units 31 to 35 and the like is stored in a storage device 91 such as a ROM as a part of software (program). Hereinafter, each function of the control device 11 will be described in detail.

1-5-1. Basic control of armature current The rotation detection unit 31 detects the magnetic pole position θ (rotation angle θ of the rotor) and the rotation angular velocity ω of the rotor at the electric angle. In the present embodiment, the rotation detection unit 31 detects the magnetic pole position θ (rotation angle θ) and the rotation angular velocity ω of the rotor based on the output signal of the rotation sensor 15. The magnetic pole position is set in the direction of the north pole of the electromagnet provided in the rotor. The rotation detection unit 31 is configured to estimate the rotation angle (pole position) based on the current information obtained by superimposing the harmonic component on the current command value without using the rotation sensor. It is also good (so-called sensorless method).

The armature current detection unit 32 detects the armature currents Iur, Ivr, and Iwr flowing in the three-phase windings based on the output signal of the armature current sensor 8. Here, Iur is the detected value of the U-phase armature current Iu, Ivr is the detected value of the V-phase armature current Iv, and Iwr is the detected value of the W-phase armature current Iw. .. The armature current sensor 8 may be configured to detect the two-phase armature current, and the remaining one-phase armature current may be calculated based on the detected value of the two-phase armature current. For example, the armature current sensor 8 may detect the V-phase and W-phase armature currents Ivr and Iwr, and the U-phase armature current Iur may be calculated by Iur = -Ivr-Iwr.

The armature current control unit 33 calculates the armature current command value, which is the current command value of the armature winding, calculates the armature voltage command value based on the armature current command value, and converts it into the armature voltage command value. Based on this, a voltage is applied to the armature winding by controlling the switching element of the inverter 5 on and off.

In the present embodiment, as shown in FIG. 2, the armature current control unit 33 includes a current command value calculation unit 331, a voltage command value calculation unit 332, and a switching control unit 333.

The current command value calculation unit 331 calculates the armature current command value. In the present embodiment, the current command value calculation unit 331 calculates the current command value Ido on the d-axis and the current command value Iqo on the q-axis. The d-axis is set in the direction of the magnetic poles (N pole, magnetic pole position θ) of the rotor, and the q-axis is set in the direction advanced by 90 ° in electrical angle from the d-axis. The rotating coordinate system of the dq axis rotates in synchronization with the rotation of the magnetic pole position θ of the rotor.

The current command value calculation unit 331 calculates the basic current command values Idob and Iqob of the d-axis and the q-axis according to known vector control methods such as maximum torque current control, field weakening control, and Id = 0 control. In the present embodiment, a case where the basic current command values Idob and Iqob of the d-axis and the q-axis are calculated by the maximum torque current control will be described.

In the maximum torque current control, the basic current command values Idob and Iqob of the d-axis and the q-axis that minimize the current for outputting the torque of the torque command value To are calculated.

In the field weakening control, the basic current command value Idob of the d-axis is increased in the negative direction from the basic current command values Idob and Iqob of the d-axis and the q-axis calculated by the maximum torque current control. In the weak magnetic flux control, the basic current command values Idob and Iqob of the dq axis are calculated at the intersection of the voltage limiting ellipse (constant induced voltage ellipse) and the constant torque curve of the torque command value To on the rotating coordinate system of the dq axis. Will be done.

In the Id = 0 control, the basic current command value Idob on the d-axis is set to 0, and the basic current command value Iqob on the q-axis is increased or decreased according to the torque command value To.

The torque command value To may be calculated inside the control device 11 or may be transmitted from the outside of the control device 11.

In the present embodiment, as shown in the following equation, the current command value calculation unit 331 sets the d-axis basic current command according to the vector control method when the condition for increasing the d-axis current, which will be described later, is not satisfied. The value Ido is set to the final d-axis current command value Ido. When the condition for increasing the d-axis current is satisfied, the current command value calculation unit 331 sets the d-axis current command value Idoinc, which will be described later, to the final d-axis current command value Ido.
1) If the condition for increasing the d-axis current is not satisfied,
Ido = Idob ... (1)
2) When the condition for increasing the d-axis current is satisfied,
Ido = Idoinc

As shown in the following equation, the current command value calculation unit 331 sets the q-axis basic current command value Iqob set according to the vector control method to the final q regardless of whether or not the d-axis current increase condition is satisfied. Set to the current command value Iqo of the shaft.
Iqo = Iqob ... (2)

The voltage command value calculation unit 332 calculates the armature voltage command value based on the armature current command value. In the present embodiment, the voltage command value calculation unit 332 calculates the voltage command values Vdo and Vqo of the d-axis and the q-axis based on the current command values Ido and Iqo of the d-axis and the q-axis.

The voltage command value calculation unit 332 performs three-phase two-phase conversion and rotational coordinate conversion on the three-phase armature current detection values Iur, Ivr, and Iwr based on the magnetic pole position θ, and the d-axis current detection value Idr. And converted to the current detection value Iqr on the q-axis. Then, the voltage command value calculation unit 332 sets the deviation ΔId between the d-axis current command value Ido and the d-axis current detection value Idr so that the d-axis current detection value Idr approaches the d-axis current command value Ido. On the other hand, proportional integration control is performed to calculate the voltage command value Vdo on the d-axis, and the current command values Iqo on the q-axis and the current command value Iqo on the q-axis so that the current detection value Iqr on the q-axis approaches the current command value Iqo on the q-axis. The voltage command value Vqo on the q-axis is calculated by performing proportional integration control with respect to the deviation ΔIq from the current detection value Iqr. Further, a known feedforward control for non-interference between the d-axis current and the q-axis current may be performed.

Alternatively, the voltage command value calculation unit 332 does not use the current detection value, but uses the specifications of the rotating machine based on the d-axis and q-axis current command values Ido and Iqo, and uses the d-axis and q-axis voltage command values. Feed forward control for calculating Vdo and Vqo may be executed. For example, as shown in the following equation, the voltage command value calculation unit 332 has the specifications of the rotating machine (winding resistance value R, d-axis inductance Ld) based on the d-axis and q-axis current command values Ido and Iqo. , Q-axis inductance Lq, rotor magnetic flux ψf), and rotation angle velocity ω, the voltage command value Vdo on the d-axis and the voltage command value Vqo on the q-axis may be calculated. In this case, the armature current sensor 8 and the armature current detection unit 32 may not be provided.
Vdo = R x Ido-ω x Lq x Iqo
Vqo = R × Iqo + ω × (Ld × Ido + ψf) ・ ・ ・ (3)

Then, the voltage command value calculation unit 332 performs fixed coordinate conversion and two-phase three-phase conversion on the d-axis and q-axis voltage command values Vdo and Vqo based on the magnetic pole position θ, and performs three-phase voltage command values. Convert to Vuo, Vvo, Vwo. The voltage command value calculation unit 332 may apply modulation such as two-phase modulation and space vector modulation so that the line voltage does not change with respect to the three-phase voltage command value.

The switching control unit 333 applies a voltage to the armature winding by controlling the switching element of the inverter 5 on and off by PWM control (Pulse Width Modulation) based on the armature voltage command value. In the present embodiment, as shown in FIG. 4, the switching control unit 333 compares each of the three-phase voltage command values Vuo, Vvo, and Vwo with the armature carrier Cs vibrating at the period Tss of the armature carrier. This controls on / off of a plurality of switching elements. The armature carrier wave Cs is a triangular wave that oscillates with an amplitude of Vdc / 2, which is half the DC voltage, centered on 0 in the period Tss of the armature carrier wave. The DC voltage Vdc may be detected by a voltage sensor.

When the armature carrier Cs falls below the voltage command value for each phase, the switching control unit 333 turns on the switching signal QP of the switching element on the positive side (1 in this example), and the switching element on the positive side. When the armature carrier Cs exceeds the voltage command value, the switching signal QP of the switching element on the positive side is turned off (0 in this example), and the switching element on the positive side is turned off. On the other hand, when the armature carrier Cs falls below the voltage command value for each phase, the switching control unit 333 turns off the switching signal QN of the switching element on the negative electrode side (0 in this example) on the negative electrode side. When the switching element is turned off, the switching element on the negative electrode side is turned off, and the armature carrier Cs exceeds the voltage command value, the switching signal QN of the switching element on the negative electrode side is turned on (1 in this example). , Turn on the switching element on the negative electrode side. For each phase, between the on-period of the switching element on the positive electrode side and the on-period of the switching element on the negative electrode side, a short-circuit prevention period (dead time) in which both the switching element on the positive electrode side and the switching element on the negative electrode side are turned off. May be provided.

1-5-2. Basic control of field current The field current detection unit 34 detects the field current Ifr, which is the current flowing through the field winding 4, based on the output signal of the field current sensor 6. Here, Ifr is a detected value of the field current If.

The field current control unit 35 calculates the field current command value Ifo, which is the current command value of the field winding, calculates the field voltage command value Vfo based on the field current command value Ifo, and calculates the field voltage. A voltage is applied to the field winding 4 by controlling the switching element of the converter 9 on and off based on the command value Vfo.

In the present embodiment, as shown in FIG. 2, the field current control unit 35 includes a current command value calculation unit 351, a voltage command value calculation unit 352, and a switching control unit 353.

The current command value calculation unit 351 calculates the field current command value Ifo. For example, the current command value calculation unit 351 sets the field current command value Ifo based on the torque command value To or the like.

The voltage command value calculation unit 352 calculates the field voltage command value Vfo based on the field current command value Ifo. As shown in the following equation, the voltage command value calculation unit 352 performs proportional integral control with respect to the deviation ΔIf between the field current command value Ifo and the field current detection value Ifr (hereinafter referred to as field current deviation ΔIf). This is done to calculate the field voltage command value Vfo.

Here, Kpf is a proportional gain, Kif is an integral gain, s is a Laplace operator, and 1 / s represents an integral. The proportional gain Kpf and the integrated gain Kif may be changed according to the field current detection value Ifr, the d-axis current (command value or detection value), and the like. Although the equation (4) is represented by a continuous system, in reality, the arithmetic processing is executed for each arithmetic cycle using the arithmetic expression in which the equation (4) is discretized in the arithmetic cycle. In the present embodiment, the calculation period is set to be the same as the period Tsf of the field carrier wave described later.

Alternatively, the voltage command value calculation unit 352 executes feed forward control for calculating the field voltage command value Vfo using the specifications of the rotating machine based on the field current command value Ifo without using the current detection value. You may. For example, the voltage command value calculation unit 352 has a field voltage based on the specifications of the rotating machine (resistance value Rf of the field winding 4) based on the field current command value Ifo as shown in the following equation. The command value Vfo may be calculated. At this time, as shown in the following equation, a primary advance process may be added. Here, Tfo is a constant of linear advance processing, and s is a Laplace operator. The constant Tfo of the primary lead processing may be changed according to the field current detection value Ifr, the d-axis current (command value or detection value), and the like. In this case, the field current sensor 6 and the field current detection unit 34 may not be provided.
Vfo = (Tfo × s + 1) × Rf × Ifo ・ ・ ・ (5)

As shown in the following equation, the voltage command value calculation unit 352 limits the field voltage command value Vfo to the upper limit by the upper limit voltage value Vfmax, and limits the field voltage command value Vfo to the lower limit by the lower limit voltage value Vfmin. Here, MIN (A, B) is a function that outputs whichever of A and B is smaller. MAX (A, B) is a function that outputs whichever of A and B is larger.
Vfo = MAX (Vfmin, MIN (Vfmax, Vfo)) ... (6)

The upper limit voltage value Vfmax is set to the maximum voltage that can be applied to the field winding 4. The lower limit voltage value Vfmin is set to the minimum voltage that can be applied to the field winding 4. In the present embodiment, the upper limit voltage value Vfmax is set to the DC voltage Vdc. The lower limit voltage value Vfmin is set to -1 × DC voltage Vdc. The upper limit voltage value Vfmax may be set to a value smaller than the DC voltage Vdc in consideration of the influence of ringing immediately after switching, the setting of the short circuit prevention period described later, and the lower limit voltage value Vfmin is -1 × DC. It may be set to a value larger than the voltage Vdc.

The voltage command value calculation unit 352 does not have to limit the field voltage command value Vfo by the upper limit voltage value Vfmax and the lower limit voltage value Vfmin. In this way, even if the upper limit limit and the lower limit limit are not performed, as will be described later, the field voltage command value Vfo is a field carrier signal that oscillates between the maximum voltage (Vdc) and the minimum voltage (-Vdc). Since it is compared with Cf, the on / off control result of the switching element of the converter 9 is the same regardless of the presence or absence of the upper limit limit and the lower limit limit.

The switching control unit 353 controls the switching element of the converter 9 on and off by PWM control (Pulse Width Modulation) based on the field voltage command value Vfo.

For example, as shown in FIG. 5, the switching control unit 353 turns on and off a plurality of switching elements by comparing the field voltage command value Vfo with the field carrier signal Cf vibrating at the period Tsf of the field carrier. Control. The field carrier signal Cf is a triangular wave that oscillates between -1 × DC voltage Vdc and DC voltage Vdc at the period Tsf of the field carrier. The DC voltage Vdc may be detected by a voltage sensor.

When the field carrier signal Cf falls below the field voltage command value Vfo, the switching control unit 353 turns on the switching signal QP1 of the switching element SP1 on the positive electrode side of the first set (1 in this example), and the first The switching signal QN1 of the switching element SN1 on the negative electrode side of one set is turned off (0 in this example), the switching signal QP2 of the switching element SP2 on the positive electrode side of the second set is turned off (0), and the negative electrode of the second set. The switching signal QN2 of the switching element SN2 on the side is turned on (1).

On the other hand, when the field carrier signal Cf exceeds the field voltage command value Vfo, the switching control unit 353 turns off (0) the switching signal QP1 on the positive electrode side of the first set, and turns off (0) the switching signal QP1 on the negative electrode side of the first set. The switching signal QN1 is turned on (1), the switching signal QP2 on the positive electrode side of the second set is turned on (1), and the switching signal QN2 on the negative electrode side of the second set is turned off (0). For each set, between the on period of the switching element on the positive electrode side and the on period of the switching element on the negative electrode side, a short circuit prevention period (dead time) in which both the switching element on the positive electrode side and the switching element on the negative electrode side are turned off. May be provided.

1-5-3. Control of increase of d-axis current when field voltage is saturated <Effect of field voltage saturation in comparative example>
6 and 7 show the control behavior according to the comparative example when the torque command value To increases stepwise. In the comparative example, the process of increasing the current command value of the d-axis at the time of field voltage saturation, which will be described later, is not performed. In FIG. 6, the increase amount of the field voltage command value Vfo is small, the field voltage command value Vfo does not reach the maximum voltage (upper limit voltage value Vfmax), and the maximum voltage saturation state is not reached. On the other hand, in FIG. 7, the increase amount of the field voltage command value Vfo is large, the field voltage command value Vfo reaches the maximum voltage (upper limit voltage value Vfmax), and the maximum voltage is saturated.

First, FIG. 6 will be described. The vertical axis of each graph shows the physical quantity dimensionless. The field voltage represents the maximum voltage that can be applied by 1.

At time t01, the torque command value To increases stepwise from 0. Then, the field current command value Ifo calculated according to the torque command value To increases stepwise from 0. Further, according to the torque command value To, the q-axis current command value Iqo calculated by the maximum torque current control increases stepwise from 0, and the d-axis current command value Ido decreases stepwise from 0. is doing.

As a result, the field current deviation ΔIf between the field current command value Ifo and the field current detection value Ifr increases, and the field voltage command value Vfo calculated by PI control (particularly, the proportional term) increases. .. However, since the field current deviation ΔIf is relatively small, the amount of increase in the field voltage command value Vfo is small, and the field voltage command value Vfo is not limited by the upper limit voltage value Vfmax. That is, the field voltage command value Vfo, which is the operation amount of the field current feedback control system, is not limited to the upper limit. Therefore, the responsiveness of the field current feedback control system is not impaired, and the field current detection value Ifr follows the field current command value Ifo with the responsiveness (time constant) of the feedback control system. ..

The output torque Tr is proportional to the multiplication value of the rotor magnetic flux ψ and the q-axis current Iq. The rotor magnetic flux ψ changes according to the field current If. Since the responsiveness of the field current feedback control system is slower than the responsiveness of the d-axis and q-axis current feedback control systems, the field current detection value Ifr is the d-axis and q-axis current detection values Idr. It is changing later than Iqr. Therefore, the response delay of the output torque Tr is mainly caused by the response delay of the field current If.

Immediately after time t01, the decrease in the rotor magnetic flux due to the decrease in the current detection value Idr on the d-axis exceeded the increase in the rotor magnetic flux due to the increase in the field current detection value Ifr, so that the rotor magnetic flux temporarily decreased. , The output torque Tr is temporarily reduced.

Next, FIG. 7 will be described. Similar to FIG. 6, the vertical axis of each graph represents the physical quantity in a dimensionless manner. The field voltage represents the maximum voltage that can be applied by 1.

At time t11, the torque command value To increases stepwise from 0, the field current command value Ifo increases stepwise from 0, and the current command value Iqo on the q-axis increases from 0, as in FIG. It increases stepwise, and the current command value Ido on the d-axis decreases stepwise from 0. However, since the increase in the torque command value To is larger than that in FIG. 6, the increase in the field current command value Ifo, the increase in the current command value Iqo on the q-axis, and the current command value Ido on the d-axis are large. The amount of decrease is large.

Therefore, the field current deviation ΔIf is larger than that in FIG. 6, and the field voltage command value Vfo calculated by PI control (particularly, the proportional term) is larger. The amount of increase in the field voltage command value Vfo calculated by PI control is large, and the field voltage command value Vfo is limited by the upper limit voltage value Vfmax and is in the maximum voltage saturation state (from time t11 to time t12). ). That is, the field voltage command value Vfo, which is the operation amount of the field current feedback control system, is limited to the upper limit. Therefore, the responsiveness of the field current feedback control system is impaired, and the field current detection value Ifr responds to the field current command value Ifo slower than the original responsiveness (time constant) of the feedback control system. Follow by sex.

Therefore, the response delay of the field current detection value Ifr is large, and the response delay of the rotor magnetic flux ψ and the output torque Tr that change according to the field current detection value Ifr is large. As described above, in the comparative example, when the field voltage command value Vfo reaches the maximum voltage (upper limit voltage value Vfmax) and reaches the maximum voltage saturation state, the responsiveness of the field current feedback control system deteriorates and the field current The responsiveness of the responsiveness and the responsiveness of the torque are deteriorated.

<Improvement of field winding responsiveness by reducing current differential inductance dLIf>
The voltage equation of the field winding can be expressed by the following equation. Here, ψ is the magnetic flux of the iron core of the rotor, Rf is the resistance of the field winding, and Vf is the applied voltage of the field winding.

The following equation is obtained by transforming equation (7). Here, the current differential inductance dLIf is obtained by differentiating the rotor magnetic flux ψ with respect to the field current If. The current differential inductance dLIf can also be expressed as the ratio of the change in the rotor magnetic flux ψ to the change in the field current If at each operating point of the field current If.

When the equation (8) is transformed by Laplace transform, the transfer function Gpf (s) of the field winding becomes as follows.

As shown in the equation (9), the responsiveness (time constant) of the transfer function Gpf (s) of the field winding to be controlled is proportional to the current differential inductance dLIf. Therefore, by reducing the current differential inductance dLIf, the responsiveness of the field winding to be controlled can be improved.

Therefore, when the field voltage command value Vfo is limited to the maximum voltage (upper limit voltage value Vfmax) and the responsiveness of the field current feedback control system deteriorates, the current differential inductance dLIf is reduced to control the target. By improving the responsiveness of the field winding, it is conceivable to suppress the deterioration of the responsiveness. In the following, it will be examined to reduce the current differential inductance dLIf by the magnetic saturation of the iron core of the rotor.

<Control system design considering the magnetic saturation of the rotor>
As shown in the upper part of FIG. 8, under the condition of d-axis current Id = 0, in the region where the field current If is smaller than the operating point A, the rotor is not magnetically saturated and is proportional to the field current If. Therefore, the rotor magnetic flux ψ is increasing, and the current differential inductance dLIf is a constant value. On the other hand, when the field current If becomes larger than the operating point A, magnetic saturation occurs in the iron core of the rotor, and the slope of the increase in the rotor magnetic flux ψ with respect to the increase in the field current If decreases. Here, the rotor magnetic flux ψ is a d-axis component of the rotor magnetic flux. Therefore, as shown in the lower part of FIG. 8, the current differential inductance dLIf obtained by differentiating the rotor magnetic flux ψ with respect to the field current If decreases as the field current If increases from the operating point A.

<Theoretical rotor magnetic flux ψ0 and actual magnetic flux ψ due to magnetic saturation>
The theoretical rotor magnetic flux ψ0 when magnetic saturation does not occur is the magnetic flux obtained by multiplying the theoretical field winding inductance Lf0 by the field current If, and the theoretical d-axis inductance Ld0, as shown in the following equation. The magnetic flux obtained by multiplying the d-axis current Id by the d-axis current Id is the total magnetic flux. Here, the theoretical inductance Lf0 of the field winding is an inductance corresponding to the number of turns of the field winding (square of the number of turns), and the theoretical d-axis inductance Ld0 is the number of turns of the armature winding (the number of turns of the armature winding). It is the inductance according to the square of the number of turns).
ψ0 = Lf0 × If + Ld0 × Id ・ ・ ・ (10)

However, as shown in the following equation and FIG. 9, when magnetic saturation occurs, the actual rotor magnetic flux ψ decreases from the theoretical magnetic flux ψ0 when magnetic saturation does not occur. fψ () is a function representing the magnetic saturation characteristic of the iron core of the rotor.
ψ = fψ (ψ0) ・ ・ ・ (11)

<Translation of magnetic flux ψ according to d-axis current>
The following equation is obtained by modifying the equation (10).
ψ0 = Lf0 × (If + Ksr × Id)
Ksr = Ld0 / Lf0 ... (12)
Here, Ksr is a conversion constant that converts the d-axis current Id into a value equivalent to the field current. The conversion constant Ksr is the ratio of the d-axis inductance Ld0 according to the number of turns of the armature winding to the inductance Lf0 of the field winding corresponding to the number of turns of the field winding.

As shown in the equation (12), the field current If that the theoretical magnetic flux ψ0 has the same value changes according to the value obtained by multiplying the d-axis current Id by −Ksr. As shown in Equation (11) and FIG. 9, the actual magnetic flux ψ corresponding to the theoretical magnetic flux ψ0 of the same value has the same value. Therefore, as shown in FIG. 8, the characteristics of the actual rotor magnetic flux ψ and the current differential inductance dLIf are in the direction (horizontal direction) of the field current If according to the value obtained by multiplying the d-axis current Id by −Ksr. Move in parallel.

<Increase in d-axis current to obtain desired magnetic saturation>
Consider setting the d-axis current Id to obtain the desired magnetic saturation. For example, as shown in FIG. 8, the target rotor magnetic flux ψo is set to the rotor magnetic flux in a state where magnetic saturation occurs, and the target current differential inductance dLIfo is set to correspond to the target rotor magnetic flux ψo. When the d-axis current Id = 0, the target field current value at which the target rotor magnetic flux ψo is generated is defined as Ifsat 0. From the equation (12), when the field current If is the field current value Ifsat0 of the target saturation and the d-axis current Id is 0, the theoretical target rotor magnetic flux ψo0 is given by the following equation.
ψo0 = Lf0 × Ifsat0 ・ ・ ・ (13)

Then, in the current field current Ifs, assuming that the current command value of the d-axis for obtaining the theoretical target rotor magnetic flux ψo0 is Idoinc, the following equation is obtained from the equation (12).
ψo0 = Lf0 × (Ifs + Ksr × Idoinc) ・ ・ ・ (14)

By substituting the equation (15) into the equation (13) and rearranging the current command value Idoinc on the d-axis, the following equation is obtained.
Idoinc = (Ifsat0-Ifs) / Ksr ... (15)

Therefore, if the current command value Idoinc of the d-axis is increased to a positive value satisfying the following equation, the target magnetic saturation can be generated in the rotor, the current differential inductance dLIf is lowered, and the field winding. Responsiveness can be improved.
Idoinc ≧ (Ifsat0-Ifs) / Ksr ・ ・ ・ (16)

Therefore, the armature current control unit 33 increases the d-axis current when the field voltage command value Vfo becomes the maximum voltage saturation state in which the field voltage command value Vfo becomes equal to or higher than the maximum voltage (upper limit voltage value Vfmax) that can be applied to the field winding. It is determined that the condition is satisfied, and the current command value Ido on the d-axis is increased to a positive value.

In the present embodiment, the armature current control unit 33 calculates the d-axis current command value Idoinc at the time of increase satisfying the equation (16) when the condition for increasing the d-axis current is satisfied. For example, the armature current control unit 33 calculates the current command value Idoinc of the d-axis at the time of increase by using the equation (15). The field current value Ifsat0 of the target saturation of Id = 0 in the equation (15) is preset to the field current value at which the desired magnetic saturation can be obtained at Id = 0. On the other hand, the field current command value Ifo is set to the field current at which the rotor has a target magnetic saturation when the d-axis current Id is the basic current command value Idob of the d-axis. Basically, the d-axis basic current command value Idob is set to a negative value, so if the condition for increasing the d-axis current is satisfied, the field current command value Ifo is the target of Id = 0. It is larger than the saturated field current value Ifsat0.

The current field current Ifs is set to the field current detection value Ifr at the time when the condition for increasing the d-axis current is satisfied. As shown in the equation (12), the conversion constant Ksr is previously set to the ratio of the d-axis inductance Ld0 according to the number of turns of the armature winding to the inductance Lf0 of the field winding according to the number of turns of the field winding. It is set. Alternatively, a value larger than 1 may be multiplied by the current command value Idoinc on the d-axis at the time of increase calculated according to the equation (15).

As the d-axis current increases, the rotor magnetic flux ψ is strengthened, resulting in a state of magnetic saturation. As a result, the current differential inductance dLIf is reduced, and the responsiveness of the field winding is improved. Therefore, even when the field voltage command value Vfo is limited by the maximum voltage (upper limit voltage value Vfmax) and the responsiveness of the field current feedback control system deteriorates, the responsiveness of the field winding to be controlled can be improved. It can be improved, the deterioration of the responsiveness of the field current feedback control system can be suppressed, and the field current detection value Ifr can be made to follow the field current command value Ifo with good responsiveness.

Further, in the present embodiment, after the armature current control unit 33 is in the maximum voltage saturation state and the condition for increasing the d-axis current is satisfied, the deviation ΔIf between the field current command value Ifo and the field current detection value Ifr is satisfied. When the absolute value of is equal to or less than the release determination value Thcn, it is determined that the condition for increasing the d-axis current is no longer satisfied, and the process of increasing the current command value of the d-axis is terminated.

The release determination value Thcn may be set to a fixed value or may be changed according to the field current command value Ifo.

As described above using the equation (1), the current command value calculation unit 331 sets the d-axis basic current command value Idob set according to the vector control method when the condition for increasing the d-axis current is not satisfied. , The final d-axis current command value Ido is set, and if the condition for increasing the d-axis current is satisfied, the d-axis current command value Idoinc at the time of increase is set to the final d-axis current command value. Set to Ido.

<Control behavior>
FIG. 10 shows the control behavior according to the present embodiment in which the process of increasing the current command value of the d-axis is performed under the same conditions as in FIG. 7 of the comparative example. Similar to FIG. 7, the vertical axis of each graph represents the physical quantity in a dimensionless manner. The field voltage represents the maximum voltage that can be applied by 1.

At time t21, as in FIG. 7, the torque command value To increases stepwise from 0, the field current command value Ifo increases stepwise from 0, and the current command value Iqo on the q-axis increases from 0. It increases stepwise, and the basic current command value Idob on the d-axis decreases stepwise from 0. Since the amount of increase in the torque command value To is large, the amount of increase in the field current command value Ifo is large.

Therefore, the field current deviation ΔIf is large, and the field voltage command value Vfo calculated by PI control (particularly, the proportional term) is large. The amount of increase in the field voltage command value Vfo calculated by PI control is large, and the field voltage command value Vfo is limited by the upper limit voltage value Vfmax and is in the maximum voltage saturation state (from time t21 to time t22). ). That is, the field voltage command value Vfo, which is the operation amount of the field current feedback control system, is limited to the upper limit. Therefore, the responsiveness of the field current feedback control system deteriorates.

The armature current control unit 33 is in the maximum voltage saturation state at time t21, and the condition for increasing the d-axis current is satisfied. Therefore, the field current at time t21 is used by using equation (16) or equation (15). Based on the detected value Ifr, the current command value Idoinc of the d-axis at the time of increase is calculated, and the current command value Idoinc of the d-axis at the time of increase is set to the current command value Ido of the d-axis. As a result, the current command value Ido on the d-axis has increased to a positive value.

Due to the increase in the d-axis current, the rotor magnetic flux ψ is strengthened, and the state of magnetic saturation is reached. As a result, the current differential inductance dLIf is reduced, and the responsiveness of the field winding is improved. Therefore, it is possible to suppress the deterioration of the responsiveness of the field current feedback control system and make the field current detection value Ifr follow the field current command value Ifo with good responsiveness. Further, since it is possible to avoid a decrease in the rotor magnetic flux by increasing the d-axis current to a positive value, the output torque Tr does not temporarily drop as shown in FIGS. 6 and 7.

The inductance of the field winding is larger than the inductance of the armature winding. The response frequency of the field current feedback control system from the field current command value Ifo to the field current detection value Ifr is the current command value Ido on the d-axis and q-axis and the current detection value Idr on the d-axis and q-axis from Iqo. , It is set lower than the response frequency of the feedback control system of the armature current up to Iqr. Here, the response frequency corresponds to the cutoff frequency of the closed loop transfer function and the reciprocal of the time constant. Therefore, the rate of increase of the d-axis current is larger than the rate of increase of the field current. By increasing the current command value of the d-axis, the d-axis current can be rapidly increased to cause magnetic saturation.

Then, at time t23, the armature current control unit 33 said that the absolute value of the deviation ΔIf between the field current command value Ifo and the field current detection value Ifr became equal to or less than the release determination value Thcn, so that the d-axis current increased. It is determined that the condition is no longer satisfied, the process of increasing the current command value of the d-axis is terminated, and the basic current command value Idob of the d-axis is set to the final current command value Ido of the d-axis.

<Increase in q-axis current command value>
On the other hand, from the time t21 to the time t23 when the d-axis current is increased, the output torque Tr does not sufficiently increase with respect to the torque command value To. This is because the reluctance torque decreases by increasing the d-axis current to a positive value.

The output torque Tr of the rotating machine is given by the following equation. Here, Pm is the pole logarithm, ψ is the rotor magnetic flux (d-axis component) described above, and Lq is the q-axis inductance. In a rotating machine in which reluctance torque is generated, Ld <Lq and (Ld-Lq) <0 in many cases.
Tr = Pm × Iq × {Lf × If + (Ld-Lq) × Id}
= Pm × Iq × {ψ-Lq × Id}
= Pm × Iq × {ψ-Lq × (Idob + ΔId)}
ΔId = Idoinc-Idob ... (17)

ここで、Ｉｑｏｉｎｃは、増加時のｑ軸の電流指令値であり、Ｔｏは、トルク指令値である。 The d-axis rotor magnetic flux ψ of the equation (19) becomes the target rotor magnetic flux due to the increase in the d-axis current. On the other hand, the rotor magnetic flux on the q-axis decreases by Lq × ΔId due to the increase in the d-axis current, and the output torque decreases by Pm × Iq × Lq × ΔId. Therefore, as shown in the following equation, if the q-axis current Iq is increased so as to compensate for the decrease in output torque Pm × Iq × Lq × ΔId, the decrease in output torque can be suppressed.

Here, Iqoinc is the current command value of the q-axis at the time of increase, and To is the torque command value.

Therefore, when the condition for increasing the d-axis current is satisfied, the armature current control unit 33 increases the current command value Iqo of the q-axis according to the increase amount (Idoinc-Idob) of the current command value of the d-axis. You may. For example, the armature current control unit 33 calculates the current command value Iqoinc of the q-axis at the time of increase by using the equation (18) for each calculation cycle during the period when the condition for increasing the d-axis current is satisfied, and increases the current. The q-axis current command value Iqoinc at the time is set to the final q-axis current command value Iqo, and when the condition for increasing the d-axis current is not satisfied, the q-axis basic current command value Iqob is finally set. Set to the current command value Iqo on the q-axis.

It is also possible to increase the output torque earlier by setting the release determination value Thcn to a value larger than that in the case of FIG. 10 and ending the increase of the d-axis current earlier.

<When used as a generator motor for vehicles>
When the control device for the rotary machine of the present embodiment is used for a generator motor for a vehicle, the configuration is as shown in FIG. The rotary shaft of the rotor of the rotary machine 1 is connected to the crank shaft of the internal combustion engine 100 via a pulley and a belt mechanism 101. The rotating shaft of the rotating machine 1 is connected to the wheel 103 via the internal combustion engine 100 and the transmission 102. The rotary machine 1 functions as an electric motor, serves as a driving force source for the wheels 103 as an auxiliary machine of the internal combustion engine 100, and also functions as a generator, and generates electricity by utilizing the rotation of the internal combustion engine 100.

In recent years, the number of idle-stop vehicles has increased, and there is a demand for shortening the rise time of the drive torque when the internal combustion engine is restarted by the drive torque of the rotary machine 1. In the control device of a rotating machine, the rising time of the field current greatly affects the rising time of the drive torque and the rising time of power generation, so it is desired to improve the control response of the field current. As described above, the control response of the field current can be enhanced by increasing the d-axis current in the maximum voltage saturation state.

2. 2. Embodiment 2
Next, the rotary machine 1 and the control device 11 according to the second embodiment will be described. The description of the same components as those in the first embodiment will be omitted. The basic configuration of the rotary machine 1 and the control device 11 according to the present embodiment is the same as that of the first embodiment, but the method of setting the current command value Idoinc of the d-axis at the time of increase is different from that of the first embodiment. ..

In the present embodiment, the armature current control unit 33 is in the maximum voltage saturation state, and when the condition for increasing the d-axis current is satisfied, the d-axis current command value Ido is increased and then the d-axis current. The amount of increase in the command value Ido is gradually reduced.

According to this configuration, when magnetic saturation occurs due to an increase in the current command value Ido of the d-axis, the responsiveness of the field winding is improved and the field current If is responsively increased. As the field current If increases, the amount of increase in the current command value Ido on the d-axis required to cause magnetic saturation of the rotor decreases. Therefore, even if the increase in the current command value Ido on the d-axis is gradually reduced after the increase in the current command value Ido on the d-axis, magnetic saturation of the rotor can be caused and the responsiveness of the field current can be improved. .. Further, by gradually reducing the increase amount of the current command value Ido of the d-axis, the decrease of the output torque due to the increase of the d-axis current Id can be reduced, and the output torque can be increased with good responsiveness.

For example, when the armature current control unit 33 is in the maximum voltage saturation state and the condition for increasing the d-axis current is satisfied, the d-axis current command value Idoinc at the time of increase is set to d, as in the first embodiment. After setting the current command value Ido of the axis, the current command value Ido of the d-axis is gradually brought closer to the basic current command value Ido of the d-axis from the current command value Idoinc of the d-axis at the time of increase.

Alternatively, after the condition for increasing the d-axis current is satisfied, the armature current control unit 33 calculates the current command value Idoinc of the d-axis at the time of increase by using the equation (15), and the current of the d-axis at the time of increase. The command value Idoinc is set to the current command value Ido of the d-axis.

The calculation using the equation (15) is performed for each calculation cycle during the period in which the condition for increasing the d-axis current is satisfied. As described above, the field current value Ifsat0 of the target saturation of Id = 0 in the equation (15) is preset to the field current value at which the desired magnetic saturation can be obtained at Id = 0. The field current command value Ifo is set to the field current at which the target magnetic saturation occurs in the rotor when the d-axis current Id is the d-axis basic current command value Idob, and the target saturation of Id = 0. It becomes larger than the field current value Ifsat 0. The current field current Ifs of the equation (15) is set to the field current detection value Ifr at the time of the calculation cycle. The current command value Idoinc on the d-axis at the time of increase calculated using the equation (15) decreases as the field current detection value Ifr increases.

According to this configuration, it is possible to accurately calculate the current command value Idoinc of the d-axis at the time of increase required for causing magnetic saturation of the rotor according to the increase of the field current If. .. Therefore, as the field current If increases, the increase in the current command value Ido on the d-axis can be gradually reduced while improving the responsiveness of the field current with high accuracy.

Then, when the field current detection value Ifr reaches the field current value Ifsat 0 of the target saturation of Id = 0, the current command value Idoinc of the d-axis at the time of increase becomes 0. When the field current detection value Ifr exceeds the field current value Ifsat0 of the target saturation of Id = 0 and approaches the field current command value Ifo when Id = Idob, the d-axis current command at the time of increase The value Idoinc approaches the basic current command value Idob on the d-axis. Therefore, if the increase in the field current causes magnetic saturation even with the current command value of the d-axis before the increase, the process of increasing the current command value of the d-axis may be terminated. For example, the armature current control unit 33 may end the process of increasing the current command value of the d-axis when the equation (18-1) is satisfied.
Ksr × Idob + Ifr ≧ Ifsat0 ・ ・ ・ (18-1)
Therefore, as the field current detection value Ifr approaches the field current command value Ifo, the current command value Idoinc on the d-axis at the time of increase is gradually changed to the basic current command value Idob on the d-axis while maintaining the target rotor magnetic flux. The output torque Tr can be gradually brought closer to the torque command value To. The armature current control unit 33 may use the equation (18-2) instead of the equation (15) to calculate the current command value Idoinc of the d-axis at the time of increase.
Idoinc = Idob + (Ifo-Ifr) / Ksr ... (18-2)

<Control behavior>
FIG. 12 shows a control behavior in which the current command value Idoinc of the d-axis at the time of increase is calculated for each calculation cycle using the equation (15) under the same conditions as in FIG. 10 of the first embodiment. Similar to FIG. 10, the vertical axis of each graph represents the physical quantity in a dimensionless manner. The field voltage represents the maximum voltage that can be applied by 1.

At time t31, the torque command value To increases stepwise from 0, the field current command value Ifo increases stepwise from 0, and the current command value Iqo on the q-axis increases from 0, as in FIG. It increases stepwise, and the basic current command value Idob on the d-axis decreases stepwise from 0. Since the amount of increase in the torque command value To is large, the amount of increase in the field current command value Ifo is large.

Similar to FIG. 10, the field voltage command value Vfo is limited by the upper limit voltage value Vfmax and is in the maximum voltage saturation state (from time t31 to time t32). That is, the field voltage command value Vfo, which is the operation amount of the field current feedback control system, is limited to the upper limit. Therefore, the responsiveness of the field current feedback control system deteriorates.

The armature current control unit 33 uses the equation (15) for each calculation cycle during the period in which the condition for increasing the d-axis current from the time t31 to the time t34 is satisfied, and the field current detection value Ifr at each time point is used. Based on the above, the current command value Idoinc of the d-axis at the time of increase is calculated and set to the current command value Ido of the d-axis.

Therefore, as the field current detection value Ifr increases, the d-axis current command value Idoinc and the d-axis current command value Ido at the time of increase gradually decrease. At time t33, the field current detection value Ifr has reached the field current value Ifsat0 of the target saturation of Id = 0, and the current command value Idoinc of the d-axis at the time of increase has become 0. After time t33, when the field current detection value Ifr exceeds the field current value Ifsat0 of the target saturation of Id = 0 and approaches the field current command value Ifo when Id = Idob, d at the time of increase. The current command value Idoinc of the shaft approaches the basic current command value Idob of the d-axis. Therefore, as the field current detection value Ifr approaches the field current command value Ifo, the current command value Idoinc on the d-axis at the time of increase is gradually changed to the basic current command value Idob on the d-axis while maintaining the target rotor magnetic flux. The output torque Tr can be gradually brought closer to the torque command value To.

Then, at time t34, the armature current control unit 33 said that the absolute value of the deviation ΔIf between the field current command value Ifo and the field current detection value Ifr became equal to or less than the release determination value Thcn, so that the d-axis current increased. It is determined that the condition is no longer satisfied, the process of increasing the current command value of the d-axis is terminated, and the basic current command value Idob of the d-axis is set to the final current command value Ido of the d-axis.

3. 3. Embodiment 3
Next, the rotary machine 1 and the control device 11 according to the third embodiment will be described. The same components as those of the above-described first and second embodiments will be omitted. The basic configuration of the rotary machine 1 and the control device 11 according to the present embodiment is the same as that of the first and second embodiments. In the first and second embodiments, the mutual inductance between the armature winding and the field winding is very small, but in the present embodiment, the mutual inductance between the armature winding and the field winding is small. Mutual inductance is too large to ignore.

Therefore, the voltage equation of the field winding can be expressed by the following equation. Compared with the equation (8) of the first embodiment, the term of mutual inductance Mf is added to the second term on the left side.

FIG. 13 shows the control behavior when the same control as in the second embodiment is performed on the rotating machine 1 whose mutual inductance Mf cannot be ignored. Similar to FIG. 12, the vertical axis of each graph represents the physical quantity in a dimensionless manner. The field voltage represents the maximum voltage that can be applied by 1.

At time t41, the torque command value To increases stepwise from 0, the field current command value Ifo increases stepwise from 0, and the current command value Iqo on the q-axis increases from 0, as in FIG. It increases stepwise, and the basic current command value Idob on the d-axis decreases stepwise from 0. Since the amount of increase in the torque command value To is large, the amount of increase in the field current command value Ifo is large.

Similar to FIG. 12, the field voltage command value Vfo is limited by the upper limit voltage value Vfmax and is in the maximum voltage saturation state (from time t41 to time t42). That is, the field voltage command value Vfo, which is the operation amount of the field current feedback control system, is limited to the upper limit. Therefore, the responsiveness of the field current feedback control system deteriorates.

The armature current control unit 33 uses the equation (15) for each calculation cycle during the period in which the condition for increasing the d-axis current from the time t41 to the time t44 is satisfied, and the field current detection value Ifr at each time point is used. Based on the above, the current command value Idoinc of the d-axis at the time of increase is calculated and set to the current command value Ido of the d-axis.

Immediately after the time t41, the current detection value Idr on the d-axis is sharply increased, so that the second term on the left side of the equation (19) increases in the negative direction, and the entire right side of the equation (19) is stepped down. Therefore, the field current detection value Ifr decreases and becomes a negative value.

The rotor magnetic flux ψ is expressed by the equations (10) and (11), and is determined by the balance between the d-axis current Id and the field current If, but can be negative. Therefore, the rotor may be provided with a permanent magnet having the same magnetic flux direction as the electromagnet. By providing a permanent magnet, it is possible to suppress the rotor magnetic flux ψ from becoming negative.

Therefore, as compared with FIG. 12, while the current detection value Idr on the d-axis is increasing, the increase in the field current detection value Ifr is delayed, and the increase in the output torque Tr is delayed. On the other hand, due to the increase in the d-axis current, the rotor is in a magnetically saturated state, and the field current detection value Ifr is increased with good responsiveness. Then, as the field current detection value Ifr increases, the d-axis current command value Idoinc calculated by the equation (15) gradually decreases, and when the d-axis current detection value Idr gradually decreases, the equation (19) The second term on the left side of) becomes positive, and acts in the direction of increasing the field current detection value Ifr. Therefore, as compared with FIG. 12, the field current detection value Ifr increases faster, and the output torque Tr increases faster.

Therefore, in the rotating machine 1 having a large mutual inductance Mf, the increase of the field current If and the output torque Tr is delayed immediately after the start of the increase of the d-axis current, but the increase of the field current If and the output torque Tr becomes faster thereafter. .. Therefore, as in the case of the rotary machine 1 having a small mutual inductance Mf, the responsiveness of the field current If and the output torque Tr can be improved by increasing the d-axis current.

Then, at time t44, the armature current control unit 33 said that the absolute value of the deviation ΔIf between the field current command value Ifo and the field current detection value Ifr became equal to or less than the release determination value Thcn, so that the d-axis current increased. It is determined that the condition is no longer satisfied, the process of increasing the current command value of the d-axis is terminated, and the basic current command value Idob of the d-axis is set to the final current command value Ido of the d-axis.

4. Embodiment 4
Next, the rotary machine 1 and the control device 11 according to the fourth embodiment will be described. The description of the same components as those in the first embodiment will be omitted. The basic configuration of the rotary machine 1 and the control device 11 according to the present embodiment is the same as that of the first embodiment, but the configuration of the converter 9, the control method of the converter 9, and the process of increasing the d-axis current command value are described. , Different from the first embodiment. FIG. 14 is a schematic configuration diagram of the rotary machine 1 and the control device 11 according to the present embodiment.

The converter 9 is provided with two sets of series circuits in which the power semiconductor SP on the positive electrode side connected to the positive electrode side of the DC power supply 2 and the power semiconductor SN on the negative electrode side connected to the negative electrode side of the DC power supply 2 are connected in series. It is said to be an H-bridge circuit. The connection point between the power semiconductor SP1 on the positive electrode side and the power semiconductor SN1 on the negative electrode side in the series circuit 28 of the first set is connected to one end of the field winding 4, and the power on the positive electrode side in the series circuit 29 of the second set. The connection point between the semiconductor SP2 and the power semiconductor SN2 on the negative electrode side is connected to the other end of the field winding 4.

In the present embodiment, the power semiconductor SN1 on the negative electrode side of the first set and the power semiconductor SP2 on the positive electrode side of the second set are diodes. The power semiconductor SP1 on the positive electrode side of the first set and the power semiconductor SN2 on the negative electrode side of the second set are switching elements. In the present embodiment, the voltage that can be applied to the field winding 4 is from 0 V to the DC voltage Vdc. The power semiconductor SN1 on the negative electrode side of the first set may be a switching element.

Similar to the first embodiment, the voltage command value calculation unit 352 limits the field voltage command value Vfo to the upper limit by the upper limit voltage value Vfmax, and limits the field voltage command value Vfo to the lower limit by the lower limit voltage value Vfmin.

The upper limit voltage value Vfmax is set to the maximum voltage that can be applied to the field winding 4. The lower limit voltage value Vfmin is set to the minimum voltage that can be applied to the field winding 4. In the present embodiment, the upper limit voltage value Vfmax is set to the DC voltage Vdc. The lower limit voltage value Vfmin is set to 0V. The upper limit voltage value Vfmax may be set to a value smaller than the DC voltage Vdc, and the lower limit voltage value Vfmin is larger than 0V in consideration of the influence of ringing immediately after switching, the setting of the short circuit prevention period described later, and the like. It may be set to a value.

The voltage command value calculation unit 352 does not have to limit the field voltage command value Vfo by the upper limit voltage value Vfmax and the lower limit voltage value Vfmin. In this way, even if the upper limit and the lower limit are not limited, the field voltage command value Vfo vibrates between the maximum voltage (Vdc) and the minimum voltage (0V) as described later, and the field carrier signal Cf. Therefore, the on / off control result of the switching element of the converter 9 is the same regardless of the presence or absence of the upper limit limit and the lower limit limit.

The switching control unit 353 controls on / off of a plurality of switching elements by comparing the field voltage command value Vfo with the field carrier signal Cf vibrating at the period Tsf of the field carrier. In the present embodiment, the field carrier signal Cf is a triangular wave that oscillates between 0V and the DC voltage Vdc in the period Tsf of the field carrier. The DC voltage Vdc may be detected by a voltage sensor.

When the field carrier signal Cf falls below the field voltage command value Vfo, the switching control unit 353 turns on the switching signal QP1 of the switching element SP1 on the positive electrode side of the first set (1 in this example), and turns on the switching signal QP1. The switching signal QN2 of the two sets of switching elements SN2 on the negative electrode side is turned on (1). On the other hand, when the field carrier signal Cf exceeds the field voltage command value Vfo, the switching control unit 353 turns off (0) the switching signal QP1 on the positive electrode side of the first set and turns off (0) the switching signal QP1 on the negative electrode side of the second set. The switching signal QN2 is turned off (0).

<Effect of field voltage saturation in comparative example>
FIG. 15 shows the control behavior according to the comparative example when the torque command value To decreases stepwise. In the comparative example, the process of increasing the current command value of the d-axis when the field voltage is saturated is not performed. The vertical axis of each graph in FIG. 15 represents a dimensionless physical quantity. For the field voltage, the maximum voltage that can be applied is represented by 1, and 0V is represented by 0.

At time t51, the torque command value To decreases stepwise to 0, the field current command value Ifo decreases stepwise to 0A, and the q-axis current command value Iqo decreases stepwise to 0A. The current command value Ido on the d-axis is gradually increased to 0.

The field current deviation ΔIf is large, and the field voltage command value Vfo calculated by PI control (particularly, the proportional term) is smaller than 0, but the field voltage command value Vfo is the lower limit voltage value. The lower limit is limited by Vfmin (0V in this example), and the minimum voltage is saturated (after time t51). That is, the field voltage command value Vfo, which is the operation amount of the field current feedback control system, is limited to the lower limit. Therefore, the responsiveness of the field current feedback control system is impaired, and the field current detection value Ifr responds to the field current command value Ifo slower than the original responsiveness (time constant) of the feedback control system. Follow by sex. When the field current command value Ifo is set to 0A, the field voltage command value Vfo is the lower limit voltage value Vfmin (0V) even when the field current deviation ΔIf becomes 0A and the steady state is reached. , And the minimum voltage is saturated.

Therefore, the response delay of the field current detection value Ifr is large, and the response delay of the rotor magnetic flux ψ that changes according to the field current detection value Ifr is large. In particular, as the field current detection value Ifr decreases, the current differential inductance dLIf increases and the responsiveness of the field winding deteriorates, so that the rate of decrease of the field current detection value Ifr decreases and the field current is detected. The value Ifr does not easily follow the field current command value Ifo.

On the other hand, since the q-axis current Iq is responsively reduced to 0A, the output torque Tr is responsively reduced to 0. As described above, in the comparative example, when the field voltage command value Vfo reaches the minimum voltage (lower limit voltage value Vfmin) in the minimum voltage saturation state, the responsiveness of the field current feedback control system deteriorates, and the field current Responsiveness deteriorates.

<Increase in d-axis current command value>
Therefore, the armature current control unit 33 increases the d-axis current when the field voltage command value Vfo becomes the minimum voltage saturation state that becomes equal to or less than the minimum voltage (lower limit voltage value Vfmin) that can be applied to the field winding. It is determined that the condition is satisfied, and the current command value Ido on the d-axis is increased to a positive value.

In the present embodiment, the armature current control unit 33 calculates the d-axis current command value Idoinc at the time of increase satisfying the equation (16) when the condition for increasing the d-axis current is satisfied. For example, the armature current control unit 33 uses the equation (15) to calculate the current command value Idoinc of the d-axis at the time of increase. The field current value Ifsat0 of the target saturation of Id = 0 in the equation (15) is preset to the field current value at which the desired magnetic saturation can be obtained at Id = 0. When the minimum voltage is saturated and the condition for increasing the d-axis current is satisfied, the field current command value Ifo is smaller than the field current value Ifsat0 of the target saturation of Id = 0.

The current field current Ifs is set to the field current command value Ifo at the time when the condition for increasing the d-axis current is satisfied. As shown in the equation (12), the conversion constant Ksr is previously set to the ratio of the d-axis inductance Ld0 according to the number of turns of the armature winding to the inductance Lf0 of the field winding according to the number of turns of the field winding. It is set. Alternatively, a value larger than 1 may be multiplied by the current command value Idoinc on the d-axis at the time of increase calculated according to the equation (15).

As the d-axis current increases, the rotor magnetic flux ψ is strengthened, resulting in a state of magnetic saturation. As a result, the current differential inductance dLIf is reduced, and the responsiveness of the field winding is improved. Therefore, even if the field voltage command value Vfo is limited to the lower limit by the minimum voltage (lower limit voltage value Vfmin), the minimum voltage is saturated, and the responsiveness of the field current feedback control system deteriorates, the field to be controlled is controlled. It is possible to improve the responsiveness of the magnetic winding, suppress the deterioration of the responsiveness of the field current feedback control system, and make the field current detection value Ifr follow the field current command value Ifo with good responsiveness. ..

If the voltage command value of the d-axis is increased while the torque command value To is not 0, the absolute value of the output torque decreases due to the increase of the d-axis current, but the responsiveness of the field current can be improved. .. Further, with respect to the decrease in the absolute value of the output torque, as shown in the equation (19) of the first embodiment, the armature current control unit 33 controls the d-axis when the condition for increasing the d-axis current is satisfied. The current command value Iqo on the q-axis may be increased according to the increase amount (Idoinc-Idob) of the current command value of.

On the other hand, even if the voltage command value of the d-axis is increased while the torque command value To is 0, the output torque does not change from 0. Therefore, the armature current control unit 33 does not have to increase the current command value Iqo on the q-axis according to the increase amount (Idoinc-Idob) of the current command value on the d-axis. When the torque command value To is 0, the basic current command value Iqob of the q-axis is 0A, so that the current command value Iqoinc of the q-axis at the time of increase calculated by the equation (19) is the q-axis. The basic current command value is Iqob. Therefore, regardless of the torque command value To, even if the q-axis current command value is increased, there is no adverse effect.

In order to prevent the output torque from being affected, the minimum voltage saturation state is the state where the field current command value Ifo is 0A (or the state where the torque command value To is 0, and the basic current command value Iqob on the q-axis is 0. In the state of 0A), the field voltage command value may be set to the minimum voltage (lower limit voltage value Vfmin) or less.

Further, as in the first embodiment, the armature current control unit 33 sets the field current command value Ifo and the field current detection value Ifr after the minimum voltage saturation state is reached and the condition for increasing the d-axis current is satisfied. When the absolute value of the deviation ΔIf becomes equal to or less than the release determination value Thcn, it is determined that the condition for increasing the d-axis current is no longer satisfied, and the process of increasing the current command value of the d-axis is terminated.

<Control behavior>
FIG. 16 shows the control behavior according to the present embodiment in which the process of increasing the current command value of the d-axis is performed under the same conditions as in FIG. 15 of the comparative example. Similar to FIG. 15, the vertical axis of each graph represents the physical quantity in a dimensionless manner. For the field voltage, the maximum voltage that can be applied is represented by 1, and 0V is represented by 0.

At time t61, the torque command value To decreases stepwise to 0, the field current command value Ifo decreases stepwise to 0, and the q-axis current command value Iqo changes stepwise, as in FIG. It decreases to 0, and the basic current command value Idob on the d-axis increases to 0 step by step.

The field current deviation ΔIf is large, and the field voltage command value Vfo calculated by PI control (particularly, the proportional term) is smaller than 0, but the field voltage command value Vfo is the lower limit voltage value. The lower limit is limited by Vfmin (0V in this example), the field current command value Ifo is 0A, and the minimum voltage is saturated (after time t61). Since the field voltage command value Vfo, which is the operation amount of the field current feedback control system, is limited to the lower limit, the responsiveness of the field current feedback control system is deteriorated.

The armature current control unit 33 is in the minimum voltage saturation state at time t61, and the condition for increasing the d-axis current is satisfied. Therefore, the field current at time t61 is used by using equation (16) or equation (15). Based on the command value Ifo (0A), the current command value Idoinc of the d-axis at the time of increase is calculated, and the current command value Idoinc of the d-axis at the time of increase is set to the current command value Ido of the d-axis. As a result, the current command value Ido on the d-axis has increased to a positive value.

By increasing the d-axis current, the rotor magnetic flux ψ is strengthened, and even if the field current detection value Ifr decreases, the magnetic saturation state is reached. As a result, even if the field current detection value Ifr decreases, the state in which the current differential inductance dLIf has decreased can be maintained, and the responsiveness of the field winding is improved. Therefore, it is possible to suppress the deterioration of the responsiveness of the field current feedback control system and make the field current detection value Ifr follow the field current command value Ifo with good responsiveness.

Then, at time t62, the armature current control unit 33 said that the absolute value of the deviation ΔIf between the field current command value Ifo and the field current detection value Ifr became equal to or less than the release determination value Thcn, so that the d-axis current increased. It is determined that the condition is no longer satisfied, the process of increasing the current command value of the d-axis is terminated, and the basic current command value Idob (0A in this example) of the d-axis is set to the final current command value Ido of the d-axis. It is set.

In the example of FIG. 16, at the time t61 when the condition for increasing the d-axis current was satisfied, the current command value Iqo on the q-axis was decreased to 0A. However, as shown in FIG. 17, at the time t71 when the condition for increasing the d-axis current is satisfied, the current command value Iqo for the q-axis is not reduced to 0A, but becomes the value before the condition for increasing the d-axis current is satisfied. May be maintained. Even in this case, by increasing the d-axis current, the responsiveness of the field current can be improved and the responsiveness of the field current can be lowered. By reducing the field current, the rotor magnetic flux can be reduced and the output torque can be reduced.

Even when the converter 9 is configured in the same manner as in the first embodiment and the minimum voltage (lower limit voltage value Vfmin) is −Vdc, the armature current control unit 33 has a field voltage command value Vfo for field winding. When the minimum voltage saturation state that is equal to or less than the minimum voltage that can be applied to the line (lower limit voltage value Vfmin) is reached, it is determined that the condition for increasing the d-axis current is satisfied, and the d-axis current command value Ido is set to a positive value. It may be increased.

<Example of diversion>
In each of the above embodiments, the case where the rotary machine 1 is a generator motor for a vehicle has been described as an example. However, the rotary machine 1 may be an electric motor, a generator, or may be used for various devices other than a vehicle.

In each of the above embodiments, a case where a set of three-phase armature windings is provided on the stator has been described as an example. However, a plurality of sets (for example, two sets) of armature windings may be provided on the stator, and armature current control units of an inverter and a control device may be provided corresponding to each set of armature windings.

Although the present application describes various exemplary embodiments and examples, the various features, embodiments, and functions described in one or more embodiments are applications of a particular embodiment. It is not limited to, but can be applied to embodiments alone or in various combinations. Therefore, innumerable variations not illustrated are envisioned within the scope of the techniques disclosed herein. For example, it is assumed that at least one component is modified, added or omitted, and further, at least one component is extracted and combined with the components of other embodiments.

1 Rotating machine, 4 field winding, 5 inverter, 9 converter, 11 rotating machine control device, 12 armature winding, 14 rotor, 18 stator, 32 armature current detector, 33 armature current control unit, Ido d-axis current command value, Idob d-axis basic current command value, d-axis current command value when Idoinc increases, Idr d-axis current detection value, Iqo q-axis current command value, Iqob q-axis basic current command Value, q-axis current command value when Iqoinc increases, Iqr q-axis current detection value, Ifo field current command value, Ifr field current detection value, Ifs current field current, Ifsat0 Id = 0 target saturation Field current value, Ksr conversion constant, Mf mutual inductance, Thcn release judgment value, To torque command value, Tr output torque, Vdc DC voltage, Vdo d-axis voltage command value, Vqo q-axis voltage command value, Vfmax field Upper limit voltage value of voltage command value, lower limit voltage value of Vfmin field voltage command value, Vfo field voltage command value, dLIf current differential inductance

Claims (13)

A control device for a rotating machine that controls a rotating machine having a rotor provided with field windings and a stator provided with armature windings.
The armature current command value, which is the current command value of the armature winding, is calculated, the armature voltage command value is calculated based on the armature current command value, and the inverter is based on the armature voltage command value. An armature current control unit that applies a voltage to the armature winding by controlling the switching element to be turned on and off.
The field current command value, which is the current command value of the field winding, is calculated, the field voltage command value is calculated based on the field current command value, and the converter is based on the field voltage command value. A field current control unit that applies a voltage to the field winding by controlling the switching element to be turned on and off is provided.
The direction of the magnetic poles of the rotor is defined as the d-axis, and the direction 90 ° ahead of the d-axis in terms of electrical angle is defined as the q-axis.
The armature current control unit is in a state of maximum voltage saturation where the field voltage command value is equal to or higher than the maximum voltage that can be applied to the field winding, or the field voltage command value is the field winding. A controller for a rotating machine that increases the d-axis component of the armature current command value to a positive value when the minimum voltage is saturated below the minimum voltage that can be applied to the armature. In the armature current control unit, when the d-axis component of the armature current is 0, the target field current value at which the target magnetic saturation occurs in the rotor is set to Ifsat 0, the set field current is set to Ifs, and the conversion constant. Is Ksr, and the d-axis component of the armature current command value at the time of increase is Idoinc.
When the maximum voltage saturation state is reached, the set field current is set to the detected value of the field current , and when the minimum voltage saturation state is reached, the set field current is the field current. Set to the command value,
When the maximum voltage saturation state is reached or when the minimum voltage saturation state is reached,
Idoinc ≧ (Ifsat0-Ifs) / Ksr
The control device for a rotary machine according to claim 1, wherein the d-axis component of the armature current command value at the time of increasing satisfying the above equation is set as the d-axis component of the armature current command value. The armature current control unit increases the d-axis component of the armature current command value to a positive value when the maximum voltage is saturated or the minimum voltage is saturated, and then the armature current control unit increases the d-axis component to a positive value. The control device for a rotating machine according to claim 1 or 2, wherein the amount of increase in the d-axis component of the armature current command value is gradually reduced. The armature current control unit sets the target field current value at which magnetic saturation occurs in the rotor when the d-axis component of the armature current is 0 is Ifsat0, the set field current is Ifs, and the conversion constant is Ksr. The d-axis component of the armature current command value at the time of increase is set to Idoinc.
When the maximum voltage is saturated, the set field current is set to the detected value of the field current .
After reaching the maximum voltage saturation state,
Idoinc = (Ifsat0-Ifs) / Ksr
The d-axis component of the armature current command value at the time of increase is calculated using the formula of, and the d-axis component of the armature current command value at the time of increase is set as the d-axis component of the armature current command value at the time of increase. The control device for the rotating machine according to claim 1. The conversion constant is set in claim 2 or 4 in which the ratio of the d-axis inductance according to the number of turns of the armature winding to the inductance of the field winding corresponding to the number of turns of the field winding is set. The controller of the rotary machine described. In the armature current control unit, after the maximum voltage saturation state is reached or the minimum voltage saturation state is reached, the absolute value of the deviation between the field current command value and the field current detection value is released. The control device for a rotating machine according to claim 1 , wherein the increase of the d-axis component of the armature current command value is terminated when the value becomes equal to or less than the determination value. The armature current control unit sets the target field current value at which magnetic saturation occurs in the rotor when the d-axis component of the armature current is 0 to Ifsat 0, the field current detection value to Ifr, and a conversion constant. Is Ksr, and the d-axis component of the armature current command value before the increase is Ido.
After the maximum voltage saturation state or after the minimum voltage saturation state is reached.
Ksr × Idob + Ifr ≧ Ifsat0
The control device for a rotating machine according to claim 1 , wherein when the above is satisfied, the increase of the d-axis component of the armature current command value is terminated. The state according to any one of claims 1 to 7, wherein the minimum voltage saturation state is a state in which the field current command value is 0 A and the field voltage command value is equal to or lower than the minimum voltage. Rotating machine control device. The first aspect of claim 1 is that the response frequency of the control system from the field current command value to the detected value of the field current is lower than the response frequency of the control system from the armature current command value to the detected value of the armature current. Rotating machine control device. The claim that the armature current control unit increases the q-axis component of the armature current command value according to the increase amount of the d-axis component of the armature current command value after the maximum voltage saturation state is reached. The control device for a rotating machine according to any one of 1 to 9. The control device for a rotating machine according to any one of claims 1 to 10, wherein the rotor is provided with a permanent magnet in addition to the field winding. The converter is provided with two sets of a series circuit in which a power semiconductor on the positive electrode side connected to the positive electrode side of the DC power supply and a power semiconductor on the negative electrode side connected to the negative electrode side of the DC power supply are connected in series. The connection point between the power semiconductor on the positive electrode side and the power semiconductor on the negative electrode side in the series circuit of the set is connected to one end of the field winding, and the power semiconductor on the positive electrode side in the series circuit of the second set. The connection point between the negative electrode side and the power semiconductor on the negative electrode side is connected to the other end of the field winding, and at least the power semiconductor on the positive electrode side of the second set of the series circuit is a diode, claims 1 to 11. The control device for the rotary machine according to any one of the above items. The control device for a rotary machine according to any one of claims 1 to 12, wherein the rotary machine is a generator motor for a vehicle.

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