Source: https://patents.google.com/patent/JP5781785B2/en
Timestamp: 2020-03-30 20:35:28
Document Index: 139570663

Matched Legal Cases: ['arts 86', 'art 98', 'art 98', 'art 56', 'art 60', 'art 60', 'art 60', 'art 60', 'art 60', 'art, 68']

JP5781785B2 - Rotating electric machine drive system - Google Patents
Rotating electric machine drive system Download PDF
JP5781785B2
JP5781785B2 JP2011029876A JP2011029876A JP5781785B2 JP 5781785 B2 JP5781785 B2 JP 5781785B2 JP 2011029876 A JP2011029876 A JP 2011029876A JP 2011029876 A JP2011029876 A JP 2011029876A JP 5781785 B2 JP5781785 B2 JP 5781785B2
JP2011029876A
JP2012170256A (en
中井　英雄
紀元 蓑島
2011-02-15 Application filed by トヨタ自動車株式会社, 株式会社豊田中央研究所, 株式会社豊田自動織機 filed Critical トヨタ自動車株式会社
2011-02-15 Priority to JP2011029876A priority Critical patent/JP5781785B2/en
2012-09-06 Publication of JP2012170256A publication Critical patent/JP2012170256A/en
2015-09-24 Publication of JP5781785B2 publication Critical patent/JP5781785B2/en
The present invention relates to a rotating electrical machine drive system including a rotating electrical machine in which a stator and a rotor are arranged to face each other, a driving unit that drives the rotating electrical machine, and a control unit that controls the driving unit.
Conventionally, as described in Patent Document 1, a rotor winding is provided on the rotor, and an induction current is generated in the rotor winding by a rotating magnetic field including spatial harmonics generated in the stator, thereby generating torque in the rotor. A rotating electric machine is known. Further, according to this rotating electrical machine, an effect of efficiently generating an induction current in the rotor winding and efficiently increasing the torque acting on the rotor can be obtained. 23 to 25 show a schematic configuration of the rotating electrical machine described in Patent Document 1. FIG. FIG. 23 is a diagram illustrating a schematic configuration of the stator and the rotor as viewed in a direction parallel to the rotation axis of the rotor. FIG. 24 shows a schematic configuration of the stator, and FIG. 25 shows a schematic configuration of the rotor. As prior art documents related to the present invention, there are Patent Documents 2 to 4 in addition to Patent Document 1.
JP 2009-112091 A JP 2007-185082 A JP 2010-98908 A JP 2010-110079 A
However, in the case of the rotating electrical machine 10 described in FIGS. 23 to 25, there is still room for improvement in terms of effectively increasing the torque during low-speed rotation with a low rotation speed. FIG. 26 is a diagram illustrating an example of the relationship between the rotor rotational speed and the motor torque when the same configuration as the rotating electrical machine described in FIGS. 23 to 25 is used as an electric motor (motor). As shown in FIG. 26, in the rotating electrical machine 10, the motor torque greatly decreased in a region where the rotational speed was low. The reason for this will be described with reference to FIGS. 23 to 25. In the rotating electrical machine 10 described above, the rotor induced current flowing in the rotor windings 18n and 18s due to the magnetic field fluctuation due to the harmonic component of the rotating magnetic field generated by the stator 12. In the region where the rotational speed is low, the interlinkage magnetic flux linked to the rotor windings 18n and 18s does not change much, but the fluctuation speed of the interlinkage magnetic flux decreases, so the induced electromotive voltage decreases. This is because the rotor induced current decreases. For this reason, the motor torque decreases during low-speed rotation. In the above description, the case where the motor torque is reduced when the rotating electrical machine 10 is used as an electric motor in a region where the rotational speed is low has been described, but the same applies even when the rotating electrical machine 10 is used as a generator. For the reason, there is a possibility that the regenerative torque is greatly reduced in the low rotation speed region.
On the other hand, the present inventor may increase the induced current generated in the rotor winding by superimposing the pulse current on the alternating current flowing in the stator winding, and increase the torque of the rotating electrical machine even in a low rotation region. I thought there was. However, if the method of superimposing the pulse current is not devised, the peak value of the current flowing in the stator winding will be excessive, which may cause inconveniences such as an increase in the size and cost of the control system including the inverter that is the rotating electrical machine drive unit. I found out that
On the other hand, Patent Documents 2 to 4 describe a field winding type synchronous machine that uses the superposition of pulse currents. However, while preventing the current flowing in the stator winding from becoming excessive, torque Means capable of increasing the number are not disclosed.
An object of the present invention is to realize a rotating electrical machine capable of increasing torque even in a low rotational range while preventing an excessive current from flowing through a stator winding in a rotating electrical machine drive system.
The rotating electrical machine drive system according to the present invention employs the following means in order to achieve the above object.
A rotating electrical machine drive system according to the present invention includes a rotating electrical machine in which a stator and a rotor are arranged to face each other, a driving unit that drives the rotating electrical machine, and a control unit that controls the driving unit. The stator includes a stator core in which a plurality of stator side slots are formed spaced apart from each other in a circumferential direction around a rotor rotation axis, and a multi-phase stator wound around the stator core through the stator side slot in a concentrated manner. The rotor includes a rotor core in which a plurality of rotor-side slots are spaced apart from each other in a circumferential direction around the rotor rotation axis, and at least a part of the rotor is disposed in the rotor-side slot. A plurality of rotor windings wound around a plurality of locations in the circumferential direction of the rotor core, and connected to each of the rotor windings, And a rectifying unit that alternately varies the air characteristics in the circumferential direction among the plurality of rotor windings, and magnetic characteristics of magnetic pole portions at a plurality of circumferential directions that are generated by magnetizing with currents flowing through the rotor windings. Are alternately varied in the circumferential direction, and the control unit generates the field magnetic flux in a direction advanced by 90 degrees in electrical angle with respect to the magnetic pole direction which is the winding central axis direction of the rotor winding. In order to superimpose a decreasing pulse current to be reduced in a pulse shape on the q-axis current command for causing a current to flow in the stator winding, and to cause a current to flow in the stator winding so as to generate a field magnetic flux in the magnetic pole direction. the d-axis current command, have reduced increase pulse superimposing means for superimposing the increased pulse current is increased in a pulse shape, the reduction increasing pulse superimposing unit, said increased pulse electrodeposition on the d-axis current command output torque below the threshold When the output torque exceeds the threshold without superimposing the decrease pulse current on the q-axis current command, the increase pulse current is superimposed on the d-axis current command, and the q-axis current is superimposed. A rotating electrical machine drive system, wherein the reduced pulse current is superimposed on a command . The decreasing pulse current means a pulse current that suddenly decreases after being pulsed and then increases rapidly, and the increasing pulse current is a pulse current that rapidly increases after being pulsed and then decreases rapidly. (The same applies throughout the present specification and claims). The pulse waveform of the decrease pulse current and the increase pulse current may be a rectangular wave, a triangular wave, or a waveform formed in a protruding shape from a plurality of curves or straight lines. The “rotor core” refers to an integral member of the rotor other than the rotor winding, and may be composed of, for example, a rotor core body made of a magnetic material and a magnet (within the entire specification and claims). The same shall apply.) Further, the “rotor side slot” is not limited to a portion having a groove shape opened on the circumferential surface of the rotor core, and for example, is formed so as not to open on the circumferential surface of the rotor core and to penetrate through the rotor core in the axial direction. (Same throughout the specification and in the claims).
According to the rotating electrical machine drive system of the present invention, it is possible to realize a rotating electrical machine capable of increasing torque even in a low rotational range while preventing an excessive current from flowing through the stator winding. That is, by superimposing the decrease pulse current with respect to the q-axis current command and the increase pulse current with respect to the d-axis current command, the induced current generated in the rotor winding is increased while keeping the currents of all phases within the required current limit range. it can. In addition, since the increase pulse current is superimposed on the d-axis current command, the amount of fluctuation of the magnetic flux passing through the d-axis magnetic path generated by the d-axis current command can be increased. Since the d-axis magnetic path can reduce the passage of the air gap less than the q-axis magnetic path corresponding to the q-axis current command, the magnetic resistance is lowered, and increasing the fluctuation amount of the d-axis magnetic flux increases the torque. It is valid. Therefore, the induction current induced in the rotor winding can be increased even in the low rotation region while suppressing the stator current peaks of all phases, and the torque of the rotating electrical machine can be increased.
A rotating electrical machine drive system according to the present invention includes a rotating electrical machine in which a stator and a rotor are arranged to face each other, a driving unit that drives the rotating electrical machine, and a control unit that controls the driving unit. The stator includes a stator core in which a plurality of stator side slots are formed spaced apart from each other in the circumferential direction around the rotor rotation axis, and a plurality of phases wound around the stator core through the stator side slot in a concentrated manner. The rotor includes a rotor core in which a plurality of slots on the rotor side are formed spaced apart from each other in a circumferential direction around the rotor rotation axis, and at least a part of the rotor is disposed in the slot on the rotor side. A plurality of rotor windings wound around a plurality of locations in the circumferential direction of the rotor core, and the rotors connected to the rotor windings, A rectifying unit that alternately changes the magnetic characteristics of the wire in the circumferential direction between the plurality of rotor windings, and magnetic pole portions at a plurality of circumferential directions that are generated by magnetizing with current flowing through the rotor windings. The magnetic characteristics are alternately varied in the circumferential direction, and the control unit generates a field magnetic flux in a direction advanced by 90 degrees in electrical angle with respect to the magnetic pole direction that is the winding central axis direction of the rotor winding. In addition, a q-axis current command for causing a current to flow through the stator winding is superimposed with a decreasing pulse current that decreases in a pulsed manner, and a current is passed through the stator winding so as to generate a field magnetic flux in the magnetic pole direction. And a decrease increasing pulse superimposing unit that superimposes an increasing pulse current that is increased in a pulse shape on the d axis current command, and the decreasing increasing pulse superimposing unit outputs the increase to the d axis current command when an output torque is below a threshold value. Pa Is but to superimpose the scan current no prior Symbol q-axis current command by superimposing the reduced pulse current, the output torque is to superimpose the increased pulse current to the d-axis current command in the following second threshold value exceeds the threshold In addition, the decrease pulse current is superimposed on the q-axis current command, and when the output torque exceeds the second threshold, the increase pulse current is not superimposed on the d-axis current command, and the q-axis current command is superimposed on the q-axis current command. It is a rotating electrical machine drive system characterized by superposing a reduced pulse current.
Further, in the rotating electrical machine drive system according to the present invention, preferably, the decrease increasing pulse superimposing means is a current defined by a dq coordinate system when a pulse current is not superimposed on a stator current that is a current flowing through the stator winding. The decrease pulse current is superimposed on the q-axis current command and the increase is added to the d-axis current command so that the current vector after the pulse current superimposition of the stator current is within the control circle drawn by the tip of the vector. A pulse current is superimposed.
Also, in the rotating electrical machine drive system according to the present invention, preferably, each of the rotor windings is a rectifying element that is the rectifying unit whose forward direction is reversed between the rotor windings adjacent in the circumferential direction of the rotor. Each of the rectifying elements rectifies the current flowing through the rotor winding by the generation of the induced electromotive force, so that the phase of the current flowing through the rotor winding adjacent in the circumferential direction is changed to the A phase and the B phase. Are alternately different.
In the rotating electrical machine drive system according to the present invention, preferably, the rectifying elements are a first rectifying element and a second rectifying element connected to the corresponding rotor winding, respectively, The second rectifying element is configured to independently rectify a current flowing through the corresponding rotor winding by the generation of the induced electromotive force, and at a plurality of circumferential directions generated by the current flowing through the rotor windings. The magnetic characteristics of the magnetic pole portions are alternately varied in the circumferential direction.
In the rotating electrical machine drive system according to the present invention, preferably, the rotor core includes salient poles that are arranged at intervals in the circumferential direction of the rotor and that are the plurality of magnetic pole portions protruding toward the stator. The salient pole functions as a magnet having a fixed magnetic pole by being magnetized in accordance with the current rectified by the rectifier flowing in the rotor winding.
Further, in the rotating electrical machine drive system according to the present invention, the rotor core includes salient poles that are arranged at intervals in the circumferential direction of the rotor and that are the plurality of magnetic pole portions projecting toward the stator. The pole functions as a magnet with the magnetic pole fixed by being magnetized in response to the current rectified by the rectifying element flowing in the rotor winding, and is further wound around the base side of each salient pole The two auxiliary rotor windings wound around the salient poles adjacent in the circumferential direction of the rotor are connected in series to constitute an auxiliary winding set. One end of each of the two adjacent rotor windings wound around the salient poles adjacent to each other in the circumferential direction of the rotor has the rectifying elements facing each other in the opposite direction. Connected at the connection point via The other end of each of the two rotor windings wound around the salient pole adjacent in the circumferential direction of the rotor is connected to one end of the auxiliary winding set, and the other end of the auxiliary winding set is connected to the other end of the auxiliary winding set. The connection point is connected.
In the rotating electrical machine drive system according to the present invention, preferably, the width of each salient pole in the circumferential direction of the rotor is smaller than a width corresponding to 180 ° in electrical angle, and the rotor winding is Each salient pole is wound with a short-pitch winding.
In the rotating electrical machine drive system according to the present invention, preferably, the width of each rotor winding in the circumferential direction of the rotor is equal to a width corresponding to 90 ° in electrical angle.
According to the rotating electrical machine drive system of the present invention, it is possible to realize a rotating electrical machine capable of increasing torque even in a low rotational range while preventing an excessive current from flowing through the stator winding.
It is a figure which shows schematic structure of the rotary electric machine drive system which concerns on embodiment of this invention. In embodiment of this invention, it is the schematic which shows a part of part which the stator and rotor oppose. In embodiment of this invention, it is a schematic diagram which shows a mode that a magnetic flux flows in a rotor. FIG. 3 is a diagram showing a result of calculating the amplitude of the interlinkage magnetic flux to the rotor winding while changing the width θ of the rotor winding in the circumferential direction in the rotating electrical machine of FIG. 2. In embodiment of this invention, it is a block diagram which shows the structure of a control apparatus. It is a figure which shows one example of the time change of the stator current in embodiment of this invention with the superposed d-axis current command value Idsum *, the superposed q-axis current command value Iqsum *, and each phase current. It is a figure which shows the time change of the rotor electric current induced | guided | derived to a rotor winding corresponding to FIG. 5A. In embodiment of this invention, it is a figure for demonstrating the time t1, t2 which starts superimposing a pulse current on the stator current of each phase. In the embodiment of the present invention, when the q-axis current is a constant value (a), the previous period (b) when the reduced pulse current is superimposed on the q-axis current, and the reduced pulse current is superimposed on the q-axis current. It is a schematic diagram which shows a mode that magnetic flux passes a stator and a rotor by the latter stage (c) at the time of making it. In embodiment of this invention, it is a schematic diagram which shows a mode that magnetic flux passes a stator and a rotor by d-axis current. In embodiment of this invention, it is a figure which shows the current vector before and behind pulse current superimposition. In embodiment of this invention, it is a figure which shows the relationship between the rotation speed and torque of a rotary electric machine for demonstrating the example which changes the superimposition state of a pulse current. It is a figure corresponding to Drawing 3A showing another embodiment of the present invention. FIG. 12 is a diagram showing an equivalent circuit of a rotor winding and a rotor auxiliary winding in the embodiment of FIG. 11. In another embodiment of this invention, it is a schematic sectional drawing which shows a part of part which the stator and rotor oppose. It is the schematic which shows the rotor of the other structural example of the rotary electric machine which comprises embodiment of this invention. It is the schematic which shows the rotor of the other structural example of the rotary electric machine which comprises embodiment of this invention. It is the schematic which shows the rotor of the other structural example of the rotary electric machine which comprises embodiment of this invention. In other structural examples of the rotating electrical machine constituting the embodiment of the present invention, it is a schematic view seen in a direction parallel to the rotation axis of the rotor. It is the schematic which shows the rotor of the structural example of FIG. It is the schematic which shows the rotor of the other structural example of the rotary electric machine which comprises embodiment of this invention. It is the schematic which shows the rotor of the other structural example of the rotary electric machine which comprises embodiment of this invention. It is the schematic which shows the rotor of the other structural example of the rotary electric machine which comprises embodiment of this invention. It is the schematic which shows the rotor of the other structural example of the rotary electric machine which comprises embodiment of this invention. In the rotary electric machine of a prior art example, it is a figure which shows schematic structure of the stator and rotor seen in the direction parallel to the rotating shaft of a rotor. FIG. 24 is a diagram showing a schematic configuration of a stator in the rotating electric machine of FIG. 23. FIG. 24 is a diagram showing a schematic configuration of a rotor in the rotating electric machine of FIG. 23. FIG. 24 is a diagram showing an example of the relationship between the rotor rotational speed and the motor torque in the same configuration as the rotating electrical machine of FIG.
Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 8 and 10 are diagrams showing an embodiment of the present invention. FIG. 1 is a diagram showing a schematic configuration of a rotating electrical machine drive system according to an embodiment of the present invention. FIG. 2 is a schematic diagram illustrating a part of a portion where the stator and the rotor face each other in the embodiment of the present invention. FIG. 3A is a schematic diagram showing how magnetic flux flows in the rotor in the embodiment of the present invention. FIG. 3B is a diagram illustrating a result of calculating the amplitude of the interlinkage magnetic flux to the rotor winding while changing the width θ of the rotor winding in the circumferential direction in the rotating electric machine of FIG. 2. FIG. 4 is a block diagram showing the configuration of the control device in the embodiment of the present invention. As shown in FIG. 1, the rotating electrical machine drive system 34 of the present embodiment includes a rotating electrical machine 10, an inverter 36 that is a drive unit that drives the rotating electrical machine 10, and a control device 38 that is a control unit that controls the inverter 36. And a power storage device 40 that is a power supply unit, and drives the rotating electrical machine 10. In addition, as shown in FIG. 2, a rotating electrical machine 10 that functions as an electric motor or a generator is disposed to face a stator 12 fixed to a casing (not shown) and radially inward with a predetermined gap from the stator 12. 12 and a rotor 14 rotatable with respect to 12. The “radial direction” means a radial direction orthogonal to the rotation axis of the rotor (hereinafter, the meaning of “radial direction” is the same unless otherwise specified).
The stator 12 includes a stator core 26 made of a magnetic material, and a plurality of phases (more specifically, for example, three phases of a U phase, a V phase, and a W phase) disposed in the stator core 26. 28w. A plurality of teeth 30, which are a plurality of stator teeth projecting radially inward (toward the rotor 14 (FIG. 23)), are disposed at a plurality of locations in the circumferential direction of the stator core 26. A slot 31 is formed. The “circumferential direction” refers to a direction along a circle drawn around the rotation center axis of the rotor (hereinafter, the meaning of “circumferential direction” is the same unless otherwise specified).
That is, a plurality of teeth 30 projecting radially inward (toward the rotor 14) are spaced apart from each other along the circumferential direction around the rotation center axis that is the rotation axis of the rotor 14 on the inner circumferential surface of the stator core 26. The slots 31 are formed between the teeth 30 at intervals in the circumferential direction. That is, the stator core 26 is formed with a plurality of slots 31 spaced apart from each other in the circumferential direction around the rotation axis of the rotor 14.
The stator windings 28 u, 28 v, 28 w of each phase are wound around the teeth 30 of the stator core 26 with short-pitch concentrated windings through the slots 31. As described above, the stator windings 28u, 28v, and 28w are wound around the teeth 30 to form a magnetic pole. The teeth 30 arranged in the circumferential direction are magnetized by passing a plurality of phases of alternating current through the stator windings 28u, 28v, 28w of the plurality of phases, and a rotating magnetic field that rotates in the circumferential direction is generated in the stator 12. Can do. Note that the stator winding is not limited to the configuration in which the stator winding is wound around the stator teeth as described above, and the stator winding can be wound around a stator core that is removed from the stator teeth.
The rotating magnetic field formed on the teeth 30 acts on the rotor 14 from the front end surface. In the example shown in FIG. 2, one pole pair is constituted by three teeth 30 around which three-phase (U-phase, V-phase, W-phase) stator windings 28u, 28v, 28w are wound.
The rotor 14 includes a rotor core 16 made of a magnetic material and a plurality of rotor windings 42n and 42s. There are a plurality of magnetic pole portions projecting radially outward (toward the stator 12) at a plurality of circumferential positions on the outer circumferential surface of the rotor core 16, projecting portions, salient poles, and rotors. Teeth 19, which are teeth, are arranged at intervals from each other along the circumferential direction of the rotor core 16, and each tooth 19 faces the stator 12. Further, slots 20 that are rotor-side slots are formed between the teeth 19 of the rotor core 16 at intervals in the circumferential direction. That is, a plurality of slots 20 are formed in the rotor core 16 at intervals in the circumferential direction around the rotation axis of the rotor 14.
In the rotor 14, the magnetic resistance when the magnetic flux from the stator 12 (tooth 30) passes is changed by the teeth 19 according to the rotation direction, and the magnetic resistance is lowered at the position of the teeth 19. Increases the magnetic resistance. The rotor windings 42n and 42s are wound around these teeth 19 so that the rotor windings 42n and the rotor windings 42s are alternately arranged in the circumferential direction. Here, the winding central axes of the rotor windings 42n and 42s coincide with the radial direction.
Further, with respect to the circumferential direction of the rotor 14, a plurality of first rotor windings 42 n are wound around the other teeth 19 in a concentrated manner, that is, wound, and the teeth 19 are wound with the first rotor winding 42 n. A plurality of second rotor windings 42s are wound in concentrated winding around every other tooth 19 in the circumferential direction. Each of the first rotor winding circuit 44 including the plurality of first rotor windings 42n and the second rotor winding circuit 46 including the plurality of second rotor windings 42s includes one diode 21n and 21s, respectively. It is connected. That is, the plurality of first rotor windings 42n arranged every other in the circumferential direction of the rotor 14 are electrically connected in series and connected in an endless manner, and a rectifier is provided in part between them. The first rotor winding circuit 44 is configured by connecting a diode 21n, which is a rectifying element and is a first diode, in series with each first rotor winding 42n. Each first rotor winding 42n is wound around a tooth 19 that functions as the same magnetic pole (N pole).
The plurality of second rotor windings 42s are electrically connected in series and connected endlessly, and a part of the second rotor winding 42s is a rectifying unit, a rectifying element, and a second diode. A certain diode 21s is connected in series with each second rotor winding 42s, thereby forming a second rotor winding circuit 46. Each second rotor winding 42s is wound around a tooth 19 that functions as the same magnetic pole (S pole). Further, the rotor windings 42n and 42s wound around the teeth 19 adjacent to each other in the circumferential direction (where magnets with different magnetic poles are formed) are electrically separated from each other. As described above, the rotor windings 42 n and 42 s are wound around a plurality of locations in the circumferential direction of the outer peripheral portion of the rotor core 16 so that a part of each of the rotor windings 42 n and 42 s is disposed in the slot 20.
Further, the current rectification directions of the rotor windings 42n and 42s by the diodes 21n and 21s are opposite to each other so that the teeth 19 adjacent to each other in the circumferential direction of the rotor 14 form magnets having different magnetic poles. . That is, the direction of the current flowing through the rotor winding 42n and the rotor winding 42s arranged adjacent to each other in the circumferential direction of the rotor 14 (rectification direction by the diodes 21n and 21s), that is, the forward direction is opposite to each other. The diodes 21n and 21s are connected to the rotor windings 42n and 42s in opposite directions. Each of the diodes 21n and 21s rectifies the current flowing through the corresponding rotor windings 42n and 42s by generating an induced electromotive force due to a rotating magnetic field including spatial harmonics generated by the stator 12, thereby The phases of the currents flowing through the rotor windings 42n and 42s adjacent to each other in the direction are alternately changed between the A phase and the B phase. The A phase generates an N pole on the tip side of the corresponding tooth 19, and the B phase generates an S pole on the tip side of the corresponding tooth 19. That is, the rectifier elements provided in the rotor 14 are the diode 21n as the first rectifier element and the diode 21s as the second rectifier element respectively connected to the corresponding rotor windings 42n and 42s. The diodes 21n and 21s independently rectify the current flowing through the corresponding rotor windings 42n and 42s by the generation of the induced electromotive force, and generate a plurality of circumferential directions generated by the current flowing through the rotor windings 42n and 42s. The magnetic characteristics of the teeth 19 are alternately changed in the circumferential direction. As described above, the plurality of diodes 21n and 21s alternately change the magnetic characteristics generated in the plurality of teeth 19 by the induced electromotive force generated in the rotor windings 42n and 42s in the circumferential direction. That is, the diodes 21n and 21s are connected to the rotor windings 42n and 42s, respectively, and the magnetic characteristics of the rotor windings 42n and 42s are alternately changed in the circumferential direction between the plurality of rotor windings 42n and 42s. Yes. In this configuration, unlike the configuration shown in FIGS. 23 to 25 described above, the number of diodes 21n and 21s can be reduced to two, and the winding structure of the rotor 14 can be simplified. The rotor 14 is concentrically fixed to the radially outer side of a rotating shaft 22 (see FIGS. 23 and 25 and the like, not shown in FIG. 2) that is rotatably supported by a casing (not shown). In the present embodiment, the rectifying element is connected to the rotor windings 42n and 42s. However, in the present invention, the magnetic characteristics of each rotor winding are set in the circumferential direction between the rotor windings. It is sufficient that a rectifying unit that is alternately changed is connected, and this rectifying unit can use a configuration other than the rectifying element. Each of the rotor windings 42n and 42s can be wound around the corresponding tooth 19 via an insulator having electrical insulation made of resin or the like.
Further, the width θ of the rotor windings 42n and 42s in the circumferential direction of the rotor 14 is set to be shorter than the width corresponding to 180 ° in terms of the electrical angle of the rotor 14, and the rotor windings 42n and 42s are short to the teeth 19, respectively. Wrapped in a clause winding. More preferably, the width θ of the rotor windings 42n and 42s in the circumferential direction of the rotor 14 is equal to or substantially equal to the width corresponding to 90 ° in terms of the electrical angle of the rotor 14. The width θ of the rotor windings 42n and 42s here can be expressed by the center width of the cross section of the rotor windings 42n and 42s in consideration of the cross-sectional area of the rotor windings 42n and 42s. That is, the width θ of the rotor windings 42n and 42s can be expressed by an average value of the widths of the inner and outer peripheral surfaces of the rotor windings 42n and 42s. The electrical angle of the rotor 14 is represented by a value obtained by multiplying the mechanical angle of the rotor 14 by the number of pole pairs p of the rotor 14 (electrical angle = mechanical angle × p). For this reason, the width θ of each of the rotor windings 42n and 42s in the circumferential direction satisfies the following expression (1), where r is the distance from the rotation center axis of the rotor 14 to the rotor windings 42n and 42s.
θ <π × r / p (1)
The reason why the width θ is regulated by the expression (1) will be described in detail later.
As shown in FIG. 1, the power storage device 40 is provided as a direct current power source and can be charged / discharged, and is constituted by a secondary battery, for example. The inverter 36 includes U-phase, V-phase, and W-phase three-phase arms Au, Av, and Aw, and each phase arm Au, Av, and Aw has two switching elements Sw connected in series. The switching element Sw is a transistor, an IGBT, or the like. Further, a diode Di is connected in antiparallel to each switching element Sw. Further, the middle point of each arm Au, Av, Aw is connected to one end side of the corresponding phase stator windings 28u, 28v, 28w constituting the rotating electrical machine 10. In the stator windings 28u, 28v, 28w, stator windings of the same phase are connected in series with each other, and stator windings 28u, 28v, 28w of different phases are connected at a neutral point.
Further, the positive electrode side and the negative electrode side of the power storage device 40 are respectively connected to the positive electrode side and the negative electrode side of the inverter 36, and a capacitor 68 is connected in parallel to the inverter 36 between the power storage device 40 and the inverter 36. Has been. The control device 38 calculates a torque target of the rotating electrical machine 10 according to an acceleration command signal input from, for example, an accelerator pedal sensor (not shown) of the vehicle, for example, and changes each according to a current command value according to the torque target or the like. The switching operation of the switching element Sw is controlled. The control device 38 includes a signal indicating a current value detected by a current sensor 70 provided on the stator winding (for example, 28u, 28v) side of at least two phases of the three phases, and a rotation angle detection unit such as a resolver. A signal indicating the rotation angle of the rotor 14 of the rotating electrical machine 10 detected at 82 (FIG. 4) is input. The control device 38 includes a microcomputer having a CPU, a memory, and the like, and controls the torque of the rotating electrical machine 10 by controlling the switching of the switching element Sw of the inverter 36. The control device 38 can also be configured by a plurality of control devices divided for each function.
Such a control device 38 converts the DC power from the power storage device 40 into three-phase AC power of U phase, V phase, and W phase by the switching operation of each switching element Sw constituting the inverter 36, and It is possible to supply electric power of a phase corresponding to each phase of the windings 28u, 28v, 28w. According to such a control device 38, the torque of the rotor 14 (FIG. 2) can be controlled by controlling the phase (current advance angle) of the alternating current flowing through the stator windings 28u, 28v, 28w.
Further, according to the rotating electrical machine 10 shown in FIG. 2, an induction current can be generated in the rotor windings 42 n and 42 s by a rotating magnetic field including spatial harmonics generated in the stator 12, and torque can be generated in the rotor 14. That is, the distribution of the magnetomotive force that generates the rotating magnetic field in the stator 12 depends on the arrangement of the stator windings 28u, 28v, 28w of each phase and the shape of the stator core 26 by the teeth 30 and the slots 31 (only the fundamental wave). (I) It does not have a sinusoidal distribution, but includes harmonic components. In particular, in the concentrated winding, the stator windings 28u, 28v, 28w of the respective phases do not overlap each other, so that the amplitude level of the harmonic component generated in the magnetomotive force distribution of the stator 12 increases. For example, when the stator windings 28u, 28v, 28w are three-phase concentrated windings, the amplitude level of the spatial secondary component that is the (temporal) tertiary component of the input electrical frequency increases as the harmonic component. The harmonic components generated in the magnetomotive force due to the arrangement of the stator windings 28u, 28v, and 28w and the shape of the stator core 26 are called spatial harmonics.
Further, when a rotating magnetic field (fundamental wave component) formed in the teeth 30 is applied to the rotor 14 by flowing a three-phase alternating current through the three-phase stator windings 28u, 28v, 28w, The teeth 19 are attracted to the rotating magnetic field of the teeth 30 so that the magnetic resistance is reduced. As a result, torque (reluctance torque) acts on the rotor 14.
Furthermore, when the rotating magnetic field including the spatial harmonic component formed in the teeth 30 is interlinked with the rotor windings 42n and 42s of the rotor 14, the rotor windings 42n and 42s have a spatial harmonic component in the rotor 14 due to the spatial harmonic components. Magnetic flux fluctuations having a frequency different from the rotational frequency (the fundamental wave component of the rotating magnetic field) occur. Due to this magnetic flux fluctuation, an induced electromotive force is generated in each of the rotor windings 42n and 42s. The current flowing through the rotor windings 42n and 42s along with the generation of the induced electromotive force is rectified by the diodes 21n and 21s to be unidirectional (direct current). Each tooth 19 as a rotor tooth is magnetized in accordance with the direct current rectified by the diodes 21n and 21s flowing through the rotor windings 42n and 42s, so that each tooth 19 has a magnetic pole (N pole or not). It functions as a magnet fixed to one of the south poles. As described above, since the current rectification directions of the rotor windings 42n and 42s by the diodes 21n and 21s are opposite to each other, the magnets generated in the teeth 19 are alternately arranged with N and S poles in the circumferential direction. It will be. Then, the magnetic field of each tooth 19 (magnet with a fixed magnetic pole) interacts with the rotating magnetic field (fundamental wave component) generated by the stator 12, thereby causing attraction and repulsion. Torque (torque corresponding to magnet torque) is also exerted on the rotor 14 by electromagnetic interaction (attraction and repulsion) between the rotating magnetic field (fundamental wave component) generated by the stator 12 and the magnetic field of the teeth 19 (magnet). The rotor 14 is driven to rotate in synchronization with the rotating magnetic field (fundamental wave component) generated by the stator 12. In this way, the rotating electrical machine 10 can function as an electric motor that generates power (mechanical power) in the rotor 14 using the power supplied to the stator windings 28u, 28v, 28w.
In this case, in the rotor 14, as shown schematically in FIG. 3A, another diode 21n, 21s is connected between the rotor windings 42n, 42s wound around the teeth 19 adjacent in the circumferential direction of the rotor 14. The rotating magnetic field including harmonics generated by the stator 12 (FIG. 2) is interlinked, and induced currents whose directions are regulated by the diodes 21n and 21s are induced in the rotor windings 42n and 42s, The teeth 19 are magnetized as different magnetic pole portions between adjacent teeth 19. In this case, the magnetic flux due to the induced current flows in the direction indicated by the arrow α in FIG. 3A to the teeth 19 and the portions other than the teeth 19 of the rotor core 16.
In addition, the rotating electrical machine drive system 34 shown in FIG. 1 is used, for example, as a vehicular travel power generator mounted on a hybrid vehicle, a fuel cell vehicle, an electric vehicle or the like that includes an engine and a travel motor as drive sources. The Note that a DC / DC converter that is a voltage conversion unit may be connected between the power storage device 40 and the inverter 36 so that the voltage of the power storage device 40 can be boosted and supplied to the inverter 36.
In addition, the control device 38 provided in the rotating electrical machine drive system 34 provides a pulse-shaped q-axis current command for causing a current to flow through the stator windings 28u, 28v, and 28w so as to generate a field magnetic flux in the q-axis direction described later. A decrease pulse current to be reduced is superimposed and a d-axis current command for causing a current to flow through the stator windings 28u, 28v, 28w so as to generate a field magnetic flux in the d-axis direction described later is increased in a pulse shape. A decrease increasing pulse superimposing means 72 (FIG. 4) for overlapping the increasing pulse current is provided. This will be described in detail with reference to FIG. FIG. 4 is a diagram showing the configuration of the inverter control unit in the control device 38. The control device 38 includes a current command calculation unit (not shown), a decrease / increase pulse superimposing means 72, subtraction units 74 and 75, PI calculation units 76 and 77, a three-phase / two-phase conversion unit 78, and a two-phase / 3. A phase conversion unit 80, a rotation angle detection unit 82, a PWM signal generation unit and a gate circuit (not shown) are included.
The current command calculation unit corresponds to the d-axis and q-axis current command values according to the torque command value of the rotating electrical machine 10 calculated according to the acceleration instruction input from the user according to a table created in advance. Id * and Iq * are calculated. Here, the d-axis refers to the magnetic pole direction that is the winding center axis direction of the rotor windings 42n and 42s with respect to the circumferential direction of the rotating electrical machine 10, and the q-axis is a direction advanced by 90 degrees in electrical angle with respect to the d-axis. Say. For example, when the rotation direction of the rotor 14 is defined as shown in FIG. 2 above, the d-axis direction and the q-axis direction are defined by the relationship shown by the arrows in FIG. The current command values Id * and Iq * are a d-axis current command value that is a command value for the d-axis current component and a q-axis current command value that is a command value for the q-axis current component, respectively. Using such d-axis and q-axis, the current flowing through the stator windings 28u, 28v, 28w can be determined by vector control.
The three-phase / two-phase conversion unit 78 includes the rotation angle θ of the rotating electrical machine 10 detected by the rotation angle detection unit 82 provided in the rotating electrical machine 10 and the two-phase current (for example, V phase) detected by the current sensor 70. , W-phase currents Iv, Iw), a two-phase current d-axis current value Id and q-axis current value Iq are calculated. The reason why only the two-phase current is detected by the current sensor 70 is that the sum of the two-phase currents is 0, so that the one-phase current can be obtained by calculation. However, the U-phase, V-phase, and W-phase currents can be detected, and the d-axis current value Id and the q-axis current value Iq can be calculated from the current values.
The decrease / increase pulse superimposing means 72 includes a decrease / increase pulse generator 84 that generates a decrease pulse current to be superimposed on the q-axis current and an increase pulse current to be superimposed on the d-axis current, and an addition for d-axis current and q-axis current Parts 86 and 87. The adder 86 for d-axis current superimposes, i.e., adds, the increased pulse current Idp * to the d-axis current command value Id * at a constant period, and corresponds the post-superimposition d-axis current command value Idsum *. The result is output to the subtracting unit 74. The adder 87 for q-axis current superimposes the decrease pulse current Iqp * on the q-axis current command value Iq * at the same timing as when the increase pulse current is superimposed on the d-axis current. And an adder 87 for outputting the q-axis current command value Iqsum * to the corresponding subtractor 75. The subtractor 74 corresponding to the d-axis obtains a deviation δId between the superposed d-axis current command value Idsum * and the d-axis current Id converted by the three-phase / 2-phase converter 78, and corresponds to the d-axis. The deviation δId is input to the PI calculation unit 76 that performs the operation.
The subtractor 75 corresponding to the q axis obtains a deviation δIq between the q-axis current command value Iqsum * after superposition and the q-axis current Iq converted by the three-phase / 2-phase converter 78, and corresponds to the q axis. The deviation δIq is input to the PI calculation unit 77. The PI calculators 76 and 77 perform a PI calculation with a predetermined gain on the deviations δId and δIq input to the respective units to obtain a control deviation, and a d-axis voltage command value Vd * and a q-axis voltage command value corresponding to the control deviation. Vq * is calculated.
The two-phase / three-phase conversion unit 80 is a 1.5 control cycle obtained from the rotation angle θ of the rotating electrical machine 10 based on the voltage command values Vd * and Vq * input from the PI calculation units 76 and 77. The prediction angle predicted to be positioned later is converted into three-phase voltage command values Vu, Vv, and Vw of U phase, V phase, and W phase. The voltage command values Vu, Vv, Vw are converted into PWM signals by a PWM signal generator (not shown), and the PWM signal is output to a gate circuit (not shown). The gate circuit controls on / off of the switching element Sw by selecting the switching element Sw to which the control signal is applied. In this way, the control device 38 converts the stator current flowing in the stator windings 28u, 28v, 28w into the dq axis coordinate system into the d axis current component and the q axis current component, and performs the target by vector control including feedback control. The inverter 36 is controlled so that a stator current of each phase corresponding to the torque is obtained.
FIG. 5A is a diagram showing an example of a temporal change of the stator current in the embodiment of the present invention by a superposed d-axis current command value Idsum *, a superposed q-axis current command value Iqsum *, and each phase current. FIG. 5B is a diagram showing a temporal change in the rotor magnetomotive force corresponding to FIG. 5A. 5A and 5B show the simulation results, and the extremely short time is enlarged in terms of time, that is, enlarged in the horizontal direction of each figure. Therefore, actually, the U-phase, V-phase, and W-phase currents are sine waves when the rotating electrical machine is driven, but in FIG. 5A, they are represented as straight lines before and after the pulse current is superimposed. In the following description, the same elements as those shown in FIGS.
As shown in FIG. 5A, the decrease / increase pulse superimposing means 72 shown in FIG. 4 superimposes the increase pulse current on the d-axis current command value Id * and simultaneously superimposes the decrease pulse current on the q-axis current command value Iq *. Let In both the d-axis current command value Id * and the q-axis current command value Iq *, a current value that does not include pulse current superposition is calculated corresponding to the torque command. Thus, the q-axis current command value Iq * is superposed with the current command that increases after decreasing in a pulse manner at a constant cycle by the decrease increase pulse superimposing means 72, and the d-axis current command value Id * is The decrease / increase pulse superimposing means 72 superimposes a current command that increases and decreases in a pulse shape at a constant cycle. Note that even when the pulse current is commanded as a rectangular wave as shown in FIG. 5A, the pulse current may actually be a pulse with a combination of curves as indicated by a broken line β due to a delay in response. The pulse waveform of the increase pulse current and the decrease pulse current may be a rectangular wave, a triangular wave, or a waveform formed in a protruding shape from a plurality of curves or straight lines.
When the pulse current is superposed in this way, for example, when the maximum current flows in the stator winding of one phase, even when the current flows evenly in the remaining two phases and the sum flows in one phase, It is possible to increase the amount of current change in at least one phase while suppressing the peak value. For example, in the lower diagram of FIG. 5A, the maximum current flows through the W-phase stator winding 28w, and the current flows evenly through the remaining U-phase and V-phase two-phase stator windings 28u and 28v. The sum is flowing in the W phase. FIG. 6 is a diagram for explaining the time points t1 and t2 at which the pulse current starts to be superimposed on the stator current of each phase in the embodiment of the present invention. As shown in FIG. 6, the phase of the stator current of each phase is shifted by 120 °. In contrast, in FIGS. 5A and 5B, a pulse current is superimposed on the d-axis current command Id * and the q-axis current command Iq * at the instants t1, t2,... At which the W-phase stator current is minimized. ing. In the following description, a case where the pulse current is superimposed at the times t1 and t2 in FIG. 6 will be described, but this embodiment does not limit the timing of the pulse current superposition. In FIG. 6, the pulse current is superimposed at a constant period ta.
In this case, the arrow γ in FIG. 5A indicates the current limiting range, and the broken lines P and Q are the allowable current limits required in design. That is, the current value is required to fall between the broken lines P and Q due to the relationship between the components such as the capacity of the inverter 36. On the other hand, the value of the current flowing through the W-phase stator winding 28w is located near the allowable limit. In this case, the increase pulse current and the decrease pulse current are superimposed to increase the current change amount of at least one phase (for example, V phase) while keeping all the phase currents within the required current limit range (γ range). it can. For this reason, the magnetic flux change of the spatial harmonic component contained in the rotating magnetic field generated in the stator 12 in accordance with the current change increases. In this case, the current flowing through the W-phase stator winding 28w close to the allowable limit decreases toward the center of the current limit range, and the current flowing through the U-phase stator winding 28u away from the allowable limit increases. , The increase amount can be reduced. For this reason, it is possible to increase the induced current generated in the rotor windings 42n and 42s while preventing an excessive current from flowing through all the stator windings 28u, 28v and 28w. In addition, since the increased pulse current Idp * is superimposed on the d-axis current command Id *, the amount of fluctuation of the magnetic flux passing through the d-axis magnetic path generated by the d-axis current command Id * can be increased. Since the d-axis magnetic path can reduce passage through the air gap that is the air gap between the stator 12 and the rotor 14 as compared with the q-axis magnetic path corresponding to the q-axis current command, the magnetic resistance is lowered. For this reason, the magnetic flux change of the spatial harmonic component contained in the rotating magnetic field generated in the stator 12 in accordance with the current change increases. Therefore, as shown in FIG. 5B, the rotor current increases and the motor torque increases. Also, each phase current can be within the current limit range (arrow γ range in FIG. 5A). Therefore, the induction current induced in the rotor windings 42n and 42s can be increased even in the low rotation region while suppressing the stator current peaks of all phases, and the torque of the rotating electrical machine 10 can be increased.
This will be described in more detail with reference to FIGS. 7 and 8, the change in the magnetic flux due to the q-axis current (FIG. 7) and the change in the magnetic flux due to the d-axis current (FIG. 8) will be described separately. FIG. 7 shows a case where the q-axis current is set to a constant value (a), a previous period (b) where the reduced pulse current is superimposed on the q-axis current, and a decrease to the q-axis current in the embodiment of the present invention. It is a schematic diagram which shows a mode that a magnetic flux passes a stator and a rotor by the latter stage (c) at the time of superimposing a pulse current. FIG. 7 shows that the teeth 30 in which the stator windings 28u, 28v, 28w of each phase are wound are not opposed to the teeth 19 in which the rotor windings 42n, 42s are wound in the radial direction. Is opposed to the center position between two adjacent teeth 19 in the circumferential direction of the rotor 14. In this state, as indicated by solid line arrows R1 and broken line arrows R2 in FIG. 7, the magnetic flux flowing through the stator 12 and the rotor 14 is a q-axis magnetic flux.
7A corresponds to the state of A1 in which the post-superimposition q-axis current command value Iqsum * in FIG. 5A is a constant value, and FIG. 7B shows the post-superimposition q-axis current command value Iqsum * in FIG. 5A. This corresponds to the previous period in which a decreasing pulse current is generated, that is, the state of A2 in which Iqsum * rapidly decreases. FIG. 7C corresponds to the latter period in which a decreasing pulse current is generated in the post-superimposition q-axis current command value Iqsum * of FIG. 5A, that is, the state of A3 in which Iqsum * increases rapidly. .
First, as shown in FIG. 7A, in a state where the post-superimposition q-axis current command value Iqsum * before the decrease pulse current is generated is a constant value, as shown by a solid line arrow R1, a W-phase tooth 30 is obtained. The magnetic flux passes through the A and B teeth 19 through the space between the A and B teeth 19 and the U phase and V phase teeth 30. In this case, a positive current flows through the U-phase and V-phase stator windings 28u and 28v, and a large negative current flows through the W-phase stator winding 28w. However, in this case, a change in magnetic flux due to the fundamental wave passing through each tooth 30 does not occur.
On the other hand, as shown in FIG. 7B, in the previous period in which the reduced pulse current is generated, that is, in the state where the q-axis current is rapidly reduced, the magnitude of the current flowing through the stator windings 28u, 28v, 28w is large. As shown by the broken line arrow R2, the magnetic flux changes in the opposite direction due to the change from FIG. 7A. Note that this change in magnetic flux may reverse the polarity of the stator current value so that the magnetic flux actually flows in the direction opposite to that shown in FIG. In any case, the magnetic flux flows in the direction in which the N pole becomes the S pole in the teeth 19 of A, and the induced current flows in the rotor winding 42n in the direction that prevents the magnetic flux, and the arrow in FIG. The flow in the T direction is not blocked by the diode 21n. On the other hand, the magnetic flux flows in the direction in which the S pole is strengthened by the B teeth 19 and the induced current flows through the rotor winding 42 s in the direction to prevent it, that is, the direction to make the B teeth 19 N pole. However, since the flow in that direction is blocked by the diode 21s, no current flows in B.
Subsequently, as shown in FIG. 7C, in the latter period when the decreasing pulse current is generated, that is, in the state where the q-axis current is rapidly increased, the magnitude of the current flowing through the stator windings 28u, 28v, 28w is As shown by the solid arrow R1, the magnetic flux flows in the opposite direction from FIG. 7B. In this case, the magnetic flux flows in the direction in which the N pole is strengthened by the teeth 19 of A, and the rotor winding is in a direction to prevent it, that is, the direction in which the teeth 19 of A are intended to be the S pole (the X direction opposite to the diode 21n). Although an induced current is going to flow through 42n, since the current has already flowed in FIG. 7B, the current gradually decreases at least for a certain time but flows in the direction opposite to the X direction. Further, magnetic flux flows in the direction in which the S pole becomes the N pole in the teeth 19 of B, and an induced current tends to flow in the rotor winding 42 s in a direction that prevents the magnetic flux from flowing in the direction indicated by the arrow Y in FIG. The flow is not blocked by the diode 21s.
When the reduced pulse current becomes 0 and returns to the state of FIG. 7A, the current flowing through the rotor windings 42n and 42s gradually decreases. The above describes the change in the q-axis magnetic flux when the decreasing pulse current is superimposed on the q-axis current. The increasing pulse is superimposed on the d-axis current at the same time as the decreasing pulse current is superimposed. In this case, the d-axis magnetic flux flows as shown in FIG. FIG. 8 is a schematic diagram showing how magnetic flux passes through the stator 12 and the rotor 14 by the d-axis current in the embodiment of the present invention. That is, the d-axis magnetic flux flows as indicated by the arrow R3 in FIG. 8 due to the d-axis current of the stator windings 28u, 28v, 28w. An arrow R3 in FIG. 8 indicates the positive flow of the d-axis magnetic flux. The d-axis magnetic flux flows from the V-phase teeth 30 to the B-phase teeth 19, the back yoke of the rotor core 16, and the A-tooth 19 to the U-phase teeth 30. The d-axis magnetic path through which the d-axis magnetic flux passes in this way does not pass through a large gap unlike the q-axis magnetic path through which the q-axis magnetic flux in FIG. The amount of change can be increased. As shown in FIG. 5A, when the increased pulse current is superimposed on the d-axis current, the flow of the d-axis magnetic flux due to the d-axis current rapidly increases and then decreases rapidly. Accordingly, as is apparent from FIGS. 7B, 7C and 8, if the d-axis magnetic flux and the q-axis magnetic flux are considered together, the V-phase stator current will greatly decrease before returning. The U-phase stator current increases with a small increase width and then decreases to return. As a result, as shown in FIG. 5A, the stator current of each phase changes due to the superposition of the pulse current, and the change amount of the V-phase stator current can be increased while keeping the stator current of all phases within the current limiting range. The torque of the rotating electrical machine 10 can be increased.
FIG. 9 is a diagram showing current vectors before and after superimposing pulse currents in the embodiment of the present invention. FIG. 9 shows the current vector of the stator current in the dq coordinate system. In FIG. 9, a current vector I shows an example of an initial current vector before pulse current superposition determined from a target torque or the like. The current vector Ia is a current vector in the case where the increasing pulse current is superimposed on the d-axis current and the decreasing pulse current is superimposed on the q-axis current in the initial current vector. Thus, the current vector changes due to the superposition of the pulse current. However, even in that case, in the present embodiment, the reduced pulse current is applied to the q-axis current command so that the current vector Ia after the superposition of the stator current pulse current is within the control circle X drawn by the tip of the initial current vector. The increased pulse current is superimposed on the d-axis current command. For this reason, the stator current can be kept within the current limiting range. On the other hand, the current vector Ib indicates a current vector having a configuration of a comparative example in which the increased pulse current is superimposed only on the d-axis current and the pulse current is not superimposed on the q-axis current. In this case, the current vector Ib protrudes from the control circle, and it can be seen that the stator current exceeds the current limit range.
Thus, in the present embodiment, the decrease increasing pulse superimposing means 72 included in the control device 38 is within the control circle drawn by the tip of the initial current vector defined by the dq coordinate system when the pulse current is not superimposed on the stator current. The decrease pulse current is superimposed on the q-axis current command and the increase pulse current is superimposed on the d-axis current command so that the current vector Ia after the superposition of the pulse current of the stator current falls within the range. For this reason, the decrease increase pulse generator 84 shown in FIG. 4 determines the increase pulse current Idp * and the decrease pulse current Iqp * according to the current torque and the rotation speed of the rotating electrical machine 10.
FIG. 10 is a diagram showing the relationship between the rotational speed of the rotating electrical machine and the torque for explaining an example of changing the superimposed state of the pulse current in the embodiment of the present invention. As shown in FIG. 10, in the present embodiment, the pulse current superposition method can be changed in three stages according to the rotational speed and torque range of the rotating electrical machine 10. In FIG. 10, in this Embodiment, the relationship between the rotation speed of the rotary electric machine 10 and a torque when not superimposing a pulse current is shown. For this reason, in the range where the rotational speed indicated by the arrow Z is low, the torque of the rotating electrical machine 10 may decrease due to the reason described in the column of the problem to be solved by the present invention. Therefore, conventionally, it has been desired to increase the torque at the shaded portion in FIG. On the other hand, in the present embodiment, when the relationship between the torque and the rotational speed is defined in the H1, H2, and H3 regions, the pulse current is expressed by a different method corresponding to each region. It is superimposed on at least one of current and q-axis current.
First, when it is in the H1 region, that is, when the output torque of the rotating electrical machine 10 is equal to or less than a threshold value (K1Nm) at a predetermined rotation speed (Jmin −1 ) or less of a predetermined rotor 14, the decrease increase pulse superimposing means 72 An increasing pulse method is executed in which the increasing pulse current Idp * is superimposed on the axial current command Id *, but the decreasing pulse current is not superimposed on the q-axis current command Iq *. As described above, when there is a margin from the current limitation, the rotor current can be efficiently induced by the incremental pulse method using only the change of the d-axis magnetic flux.
On the other hand, when in the H2 region, that is, when the rotor 14 has a predetermined rotational speed (Jmin −1 ) or less, the output torque of the rotating electrical machine 10 exceeds the threshold value (K1Nm) and is equal to or less than the second threshold value (K2Nm). In this case, the decrease increase pulse superimposing means 72 executes a decrease increase pulse method in which the increase pulse current Idp * is superimposed on the d-axis current command Id * and the decrease pulse current Iq * is superimposed on the q-axis current command Iq *. Thus, when the margin from the current limit becomes small, the rotor current can be induced within the range of the current limit by the increase / decrease pulse method using the change of the q-axis magnetic flux together with the change of the d-axis magnetic flux.
In the H3 region, that is, when the output torque of the rotating electrical machine 10 exceeds the threshold value (K2Nm) at a predetermined rotational speed (Jmin −1 ) or less of the rotor 14, the decrease / increase pulse superimposing means 72 generates the q-axis current. A decrease pulse method is executed in which the decrease pulse current Iqp * is superimposed on the command Iq *, but the increase pulse current is not superimposed on the d-axis current command Id *. In this way, when the current limit is approached, a decreasing pulse method using only the change in the q-axis magnetic flux is used, so that each phase stator current is changed to the center side of the current limit range to prevent an increase in current. However, torque can be increased.
Although the case where the pulse current superposition method is changed in three steps of the H1, H2, and H3 regions has been described, the pulse current superposition method can be changed in two steps of the H1 region and the H2 region. . In this case, the decrease increase pulse superimposing means 72 superimposes the increase pulse current on the d-axis current command when the output torque is equal to or lower than a predetermined value at a predetermined number of rotations of the rotor 14 or less. When the output pulse exceeds the threshold value, the increase pulse method that does not superimpose the current is executed, and the increase pulse current is superimposed on the d-axis current command and the decrease pulse current is superimposed on the q-axis current command. . When the pulse current superposition method is changed in the above-described three or two stages, the pulse current superposition method can be changed according to the output torque without defining the rotational speed condition.
According to such a rotating electrical machine drive system, it is possible to realize a rotating electrical machine that can increase torque even in a low rotational range while preventing an excessive current from flowing through all the stator windings 28u, 28v, 28w. In other words, by superimposing the decreasing pulse current with respect to the q-axis current command and the increasing pulse current with respect to the d-axis current command, the induction generated in the rotor windings 42n and 42s while keeping the currents of all phases within the required current limiting range. The current can be increased. In addition, since the increase pulse current is superimposed on the d-axis current command, the amount of fluctuation of the magnetic flux passing through the d-axis magnetic path generated by the d-axis current command can be increased. Since the d-axis magnetic path can reduce the passage of the air gap less than the q-axis magnetic path corresponding to the q-axis current command, the magnetic resistance is lowered. For this reason, increasing the fluctuation amount of the d-axis magnetic flux is effective for increasing the torque. Therefore, the induction current induced in the rotor windings 42n and 42s can be increased even in the low rotation region while suppressing the stator current peaks of all phases, and the torque of the rotating electrical machine 10 can be increased. Therefore, it is possible to reduce the cost and size of the control system including the inverter 36, such as preventing the switching element of the inverter 36 from increasing in capacity. In addition, since it is not necessary to expand the detection range of the current sensor for current control, it is possible to effectively reduce the size of the sensor and the detection accuracy. Further, since there is no need to provide a magnet on the rotor 14 side, it is possible to reduce the magnet and increase the torque.
On the other hand, in the case of the synchronous machine described in Patent Document 2, the electromagnet is formed by the rotor by the pulse current, but the rotor winding is provided so as to straddle the outer peripheral portion of the rotor in the radial direction. By connecting one rectifying element to the rotor winding, two different magnetic poles are formed on the opposite side of the rotor in the radial direction. For this reason, even if a pulse is superimposed on the q-axis current, the induced currents for forming the two magnetic poles cancel each other and the induced current cannot be generated in the rotor winding. That is, with this configuration, it is not possible to generate torque by superimposing a pulse current on the q-axis current.
Further, in the case of the synchronous machine described in the above-mentioned Patent Document 3, since the increased pulse current that increases and decreases in a pulse shape is superimposed on the d-axis current and the q-axis current, the current flowing in the stator winding The peak of may increase excessively. Further, in the case of the synchronous machine described in Patent Document 4 described above, for the purpose of realizing a rotating electrical machine capable of increasing torque even in a low rotation region while preventing an excessive current from flowing through the stator winding. No means for superimposing the reduced pulse current on the q-axis current is disclosed.
In the present embodiment, since the width θ of the rotor windings 42n and 42s in the circumferential direction of the rotor 14 is regulated as described in the above equation (1), it is generated in the rotor windings 42n and 42s. The induced electromotive force due to the spatial harmonics of the rotating magnetic field can be increased. That is, the amplitude (variation width) of the interlinkage magnetic flux to the rotor windings 42n and 42s due to the spatial harmonics is affected by the width θ of the rotor windings 42n and 42s in the circumferential direction. Here, FIG. 3B shows a result of calculating the amplitude (variation width) of the interlinkage magnetic flux to the rotor windings 42n and 42s while changing the width θ of the rotor windings 42n and 42s in the circumferential direction. FIG. 3B shows the coil width θ converted to an electrical angle. As shown in FIG. 3B, since the fluctuation width of the linkage flux to the rotor windings 42n and 42s increases as the coil width θ decreases from 180 °, the coil width θ is made smaller than 180 °. By setting the rotor windings 42n and 42s to short-pitch windings, it is possible to increase the amplitude of the interlinkage magnetic flux due to spatial harmonics as compared to full-pitch windings.
Therefore, in the rotating electrical machine 10 (FIG. 2), the width of each tooth 19 in the circumferential direction is made smaller than the width corresponding to 180 ° in electrical angle, and the rotor windings 42n and 42s are wound around each tooth 19 with short-pitch winding. By mounting, the induced electromotive force due to the spatial harmonics generated in the rotor windings 42n and 42s can be efficiently increased. As a result, the torque acting on the rotor 14 can be increased efficiently.
Furthermore, as shown in FIG. 3B, when the coil width θ is 90 °, the amplitude of the interlinkage magnetic flux due to the spatial harmonics is maximized. Therefore, in order to further increase the amplitude of the interlinkage magnetic flux to the rotor windings 42n and 42s due to the spatial harmonics, the width θ of each rotor winding 42n and 42s in the circumferential direction is set to 90 ° in terms of the electrical angle of the rotor 14. It is preferably equal (or nearly equal) to the corresponding width. Therefore, when the number of pole pairs of the rotor 14 is p and the distance from the rotation center axis of the rotor 14 to the rotor windings 42n, 42s is r, the width θ of each rotor winding 42n, 42s in the circumferential direction is It is preferable that the following expression (2) is satisfied (or substantially satisfied).
θ = π × r / (2 × p) (2)
By doing so, the induced electromotive force due to the spatial harmonics generated in the rotor windings 42n and 42s can be maximized, and the magnetic flux generated in each tooth 19 can be most efficiently increased by the induced current. . As a result, the torque acting on the rotor 14 can be increased more efficiently. That is, when the width θ greatly exceeds the width corresponding to 90 °, the magnetomotive forces in the direction of canceling each other easily interlink with the rotor windings 42n and 42s, but smaller than the width corresponding to 90 °. Therefore, the possibility becomes low. However, when the width θ is greatly reduced from a width corresponding to 90 °, the magnitude of the magnetomotive force linked to the rotor windings 42n and 42s is greatly reduced. For this reason, such inconvenience can be prevented by setting the width θ to a width corresponding to about 90 °. For this reason, it is preferable that the width θ of each rotor winding 42n, 42s in the circumferential direction is substantially equal to a width corresponding to 90 ° in electrical angle.
Thus, in the present embodiment, when the width θ of the rotor windings 42n and 42s in the circumferential direction of the rotor 14 is substantially equal to a width corresponding to 90 ° in electrical angle, the rotor windings 42n and 42s The induced electromotive force generated by the spatial harmonics of the rotating magnetic field generated can be increased, and the magnetic flux of the teeth 19 that is the magnetic pole portion generated by the induced current flowing through the rotor windings 42n and 42s can be most efficiently increased. Can do. As a result, the torque acting on the rotor 14 can be increased more efficiently. In the present embodiment, the rotor 14 electrically divides the rotor windings 42n and 42s adjacent to each other in the circumferential direction, and the rotor windings 42n arranged every other in the circumferential direction are electrically connected. The configuration has been described in which the rotor windings 42s that are connected in series and are alternately arranged in the circumferential direction are electrically connected in series. However, in the present embodiment, similarly to the configuration shown in FIGS. 23 to 25, the diodes 21n and 21s are connected to the rotor windings 42n and 42s wound around the teeth 19, respectively. A configuration in which the rotating electrical machine including the rotor 14 in which the wires 42n and 42s are electrically separated from each other is used and the control device 38 includes the decrease increasing pulse superimposing means 72 (FIG. 4) may be employed.
Next, FIG. 11 is a figure corresponding to FIG. 3A which shows another embodiment of this invention. FIG. 12 is a diagram showing an equivalent circuit of the rotor winding and the rotor auxiliary winding in the embodiment of FIG. In the rotating electrical machine of the embodiment shown in FIG. 11, unlike the embodiments shown in FIGS. 1 to 8 described above, each tooth 19 provided in the rotor 14 has a rotor winding 42n wound on the tip side. , 42s, and auxiliary rotor windings 92n, 92s wound on the base side. That is, in the present embodiment, similarly to the embodiments of FIGS. 1 to 8, the rotor cores 16 are arranged at intervals in the circumferential direction of the rotor 14 and protrude toward the stator 12 (see FIG. 2). This includes a tooth 19 that is a magnetic pole part and a protrusion. Further, the teeth 19 function as a magnet with fixed magnetic poles by being magnetized according to the current rectified by the diodes 21n and 21s flowing in the rotor windings 42n, 42s, 92n and 92s. The auxiliary rotor windings 92 n and 92 s are wound around the roots of the teeth 19 and wound around the teeth 19 adjacent in the circumferential direction of the rotor 14. The two auxiliary rotor windings 92n and 92s are connected in series to form an auxiliary winding set 94.
Further, one end of each of the two adjacent rotor windings 42n and 42s wound around the teeth 19 adjacent to each other in the circumferential direction of the rotor 14 has a diode so that the corresponding diodes 21n and 21 face each other in the opposite direction. They are connected at a connection point R (FIG. 12) through 21n and 21s. Further, the other end of each of the two rotor windings 42n and 42s adjacent to each other in the circumferential direction of the rotor 14 is connected to one end of the auxiliary winding set 94, and a connection point R is connected to the other end of the auxiliary winding set 94. Has been.
In such a configuration, the teeth 19 are magnetized by the rectified current flowing through the rotor windings 42n and 42s and the auxiliary rotor windings 92n and 92s, and function as magnetic pole portions. That is, by supplying an alternating current to the stator windings 28u, 28v, 28w, a rotating magnetic field including a space-emphasized wave component acts on the rotor 14 from the stator 12 (FIG. 2). Due to the magnetic flux fluctuation of the spatial harmonic component, a fluctuation of the leakage magnetic flux leaking into the space between the teeth 19 of the rotor 14 is generated, thereby generating an induced electromotive force. In addition, the rotor windings 42n and 42s on the tip side of the teeth 19 can have a function of mainly generating an induced current, and the auxiliary rotor windings 92n and 92s can have a function of mainly magnetizing the teeth 19. Further, the sum of the currents flowing through the rotor windings 42n and 42s wound around the adjacent teeth 19 is the current flowing through the auxiliary rotor windings 92n and 92s. Further, since the adjacent auxiliary rotor windings 92n and 92s are connected in series, the same effect can be obtained as when the number of turns is increased in both, and the magnetic fluxes flowing through the teeth 19 are kept the same. The current flowing through the rotor windings 42n, 42s, 92n, 92s can be reduced. Other configurations and operations are the same as those of the embodiment shown in FIGS.
Next, FIG. 13 is a schematic cross-sectional view showing a part of a cross section of a portion where the stator and the rotor face each other in another embodiment of the present invention. In the rotating electrical machine 10 of the present embodiment, a magnetic material is used between the teeth 19 adjacent to each other in the circumferential direction of the rotor 14 in the embodiment of FIGS. 1 to 8 or the embodiments of FIGS. An auxiliary electrode 96 is provided. The auxiliary pole 96 is coupled to the tip of the column portion 98 made of nonmagnetic material. The base portion of the column portion 98 is coupled to the center portion in the circumferential direction at the bottom portion of the slot 100 between the teeth 19 adjacent to each other in the circumferential direction of the outer peripheral surface of the rotor core 16. The column part 98 is made of a magnetic material, and the cross-sectional area of the column part 98 in the circumferential direction of the rotor 14 can be made sufficiently small on the assumption that strength can be ensured.
According to such a configuration, it is easy to form a magnetic path through which spatial harmonic components pass in a portion including the auxiliary pole 96, and a large amount of spatial harmonics included in the rotating magnetic field generated in the stator 12 passes through the auxiliary pole 96. Therefore, the magnetic flux fluctuation of the spatial harmonic can be increased. For this reason, the induced current generated in the rotor windings 42n and 42s can be increased, and the torque of the rotating electrical machine 10 can be further increased. Other configurations and operations are the same as those of the embodiment shown in FIGS.
Next, another configuration example of the rotating electrical machine that constitutes the rotating electrical machine drive system of the above embodiment will be described. As shown below, in the present invention, various configuration examples of rotating electric machines can be used.
For example, in the above embodiment, the rotor windings 42n and 42s are wound around the teeth 19 that are salient poles protruding in the radial direction of the rotor 14. However, as shown in FIG. Also by forming a certain slit (gap) 48, the magnetic resistance of the rotor 14 can be changed according to the rotation direction. As shown in FIG. 14, in the rotor core 16, the magnetic path at the center in the circumferential direction of the portion formed so as to arrange the plurality of slits 48 in the radial direction is a q-axis magnetic path portion 50, and the magnetic pole in which the rotor winding is arranged When the magnetic path in the partial direction is a d-axis magnetic path portion 52, the slit 48 is arranged such that the d-axis magnetic path portion 50 and the q-axis magnetic path portion 52 facing the stator 12 (tooth 30) are alternately arranged in the circumferential direction. The d-axis magnetic path portion 50 is located between the q-axis magnetic path portions 52 in the circumferential direction.
Each of the rotor windings 42n and 42s passes through the slit 48 and is wound around the q-axis magnetic path portion 52 having a low magnetic resistance. In this case, the slits 48 are formed in the rotor core 16 at intervals in the circumferential direction around the rotation axis of the rotor 14, and the rotor windings 42 n and 42 s are partially arranged in the slit 48. It is wound around a plurality of locations in the circumferential direction of the outer periphery of the rotor core 16. In the configuration example shown in FIG. 14, a rotating magnetic field including a spatial harmonic component formed by the stator 12 is linked to each rotor winding 42n, 42s, so that each diode 21n, 21s is connected to each rotor winding 42n, 42s. As a result of the rectified direct current flowing and magnetizing each d-axis magnetic path portion 52, each d-axis magnetic path portion 52 functions as a magnet (magnetic pole portion) with a fixed magnetic pole. At that time, the width of each d-axis magnetic path portion 52 in the circumferential direction (the width θ of each rotor winding 42n, 42s) is set to be shorter than the width corresponding to 180 ° in terms of the electrical angle of the rotor 14, By winding the wires 42n and 42s around each d-axis magnetic path portion 52 with a short-pitch winding, the induced electromotive force due to the spatial harmonics generated in the rotor windings 42n and 42s can be efficiently increased. Furthermore, in order to maximize the induced electromotive force due to the spatial harmonics generated in the rotor windings 42n and 42s, the width θ of each rotor winding 42n and 42s in the circumferential direction is set to 90 ° in terms of the electrical angle of the rotor 14. It is preferable to make it equal (or substantially equal) to the corresponding width. Other configurations and operations are the same as those in the above embodiment.
In the above embodiment, for example, as shown in FIG. 15, the rotor core 16 includes the rotor core body 17 made of a magnetic material and a plurality of permanent magnets 54, and the permanent magnets 54 can be disposed on the rotor core 16. . In the configuration example shown in FIG. 15, a plurality of magnetic pole portions 56 that function as magnets with fixed magnetic poles are arranged to face the stator 12 (see FIG. 2) in a circumferentially spaced manner. 56, the rotor windings 42n and 42s are wound. In this case, slits 102 that are rotor-side slots are formed at a plurality of locations in the circumferential direction of the rotor core 16, and the rotor windings 42 n and 42 s are arranged on the outer periphery of the rotor core 16 so that a part of each is disposed in the slit 102. It is wound around a plurality of locations in the circumferential direction. Each permanent magnet 54 is disposed opposite to the stator 12 (the teeth 30) in a portion located between the magnetic pole portions 56 in the circumferential direction. The permanent magnet 54 may be embedded in the rotor core 16 or exposed on the surface (outer peripheral surface) of the rotor core 16. Further, the permanent magnet 54 can be arranged in a V shape inside the rotor core 16. In the configuration example shown in FIG. 15, a rotating magnetic field including a spatial harmonic component formed by the stator 12 is linked to each rotor winding 42n, 42s, so that each diode 21n, 21s is connected to each rotor winding 42n, 42s. As a result of the rectified direct current flowing and magnetizing each magnetic pole portion 56, each magnetic pole portion 56 functions as a magnet with a fixed magnetic pole. At that time, the width of each magnetic pole portion 56 in the circumferential direction (the width θ of each rotor winding 42n, 42s) is set shorter than the width corresponding to 180 ° in terms of the electrical angle of the rotor 14, and the rotor windings 42n, 42n, By winding 42s around each magnetic pole part 56 with a short-pitch winding, the induced electromotive force due to the spatial harmonics generated in the rotor windings 42n and 42s can be efficiently increased. Furthermore, in order to maximize the induced electromotive force due to the spatial harmonics generated in the rotor windings 42n and 42s, the width θ of each rotor winding 42n and 42s in the circumferential direction is set to 90 ° in terms of the electrical angle of the rotor 14. It is preferable to make it equal (or substantially equal) to the corresponding width. Other configurations and operations are the same as those in the above embodiment.
In the above embodiment, for example, as shown in FIG. 16, the rotor windings 42n and 42s can be toroidal. In the configuration example shown in FIG. 16, the rotor core 16 includes an annular core portion 58, and each tooth 19 protrudes radially outward (toward the stator 12) from the annular core portion 58. The rotor windings 42 n and 42 s are wound by toroidal winding at positions near the teeth 19 in the annular core portion 58. The rotor windings 42 n and 42 s are wound around a plurality of locations in the circumferential direction of the rotor core 16 so that a part of each of the rotor windings 42 n and 42 s is disposed in the slot 20. Also in the configuration example shown in FIG. 16, a rotating magnetic field including a spatial harmonic component formed by the stator 12 is linked to each rotor winding 42n, 42s, so that each diode 21n, 21s is connected to each rotor winding 42n, 42s. The rectified direct current flows through each of the teeth 19, and each tooth 19 is magnetized. As a result, the teeth 19 located near the rotor winding 42n function as the N pole, and the teeth 19 located near the rotor winding 42s function as the S pole. At that time, by setting the width θ of each tooth 19 in the circumferential direction to be shorter than the width corresponding to 180 ° in terms of the electrical angle of the rotor 14, induction induced by spatial harmonics generated in the rotor windings 42 n and 42 s. Electric power can be increased efficiently. Furthermore, in order to maximize the induced electromotive force due to the spatial harmonics generated in the rotor windings 42n and 42s, the width θ of each tooth 19 in the circumferential direction is set to a width corresponding to 90 ° in terms of the electrical angle of the rotor 14. It is preferred that they be equal (or nearly equal). In FIG. 16, similarly to the configuration example shown in FIG. 2, the rotor windings 42n and 42s adjacent to each other in the circumferential direction are electrically separated from each other, and the rotor windings 42n disposed every other rotor winding 42n are arranged in the circumferential direction. Are electrically connected in series, and the rotor windings 42s arranged in every other circumferential direction are electrically connected in series. However, also in the example in which the rotor windings 42n and 42s are toroidally wound, the rotor windings 42n and 42s wound around the teeth 19 are electrically separated from each other, as in the configuration examples shown in FIGS. You can also Other configurations and operations are the same as those in the above embodiment.
Further, as shown in the following configuration example, in the above embodiment, each rotor winding of the rotating electrical machine is located at the same position as the magnet of the rotor, or at the same position as the slot between the teeth, or a plurality of slits. It is also possible to adopt a configuration in which it is arranged at the same position as the part having the magnetic saliency by FIG. 17 is a schematic view of the rotating electrical machine as viewed in a direction parallel to the rotation axis. FIG. 18 is a schematic view of the schematic configuration of the rotor of FIG. 17 viewed in a direction parallel to the rotation axis.
The rotating electrical machine 10 of this configuration example includes a stator 12 fixed to a casing (not shown), and a rotor 14 that is arranged to face the stator 12 inward in the radial direction with a predetermined gap and is rotatable with respect to the stator 12. The configuration and operation of the stator 12 are the same as those of the embodiment described with reference to FIGS.
As shown in FIG. 18, the rotor 14 includes a rotor core 16 and wound rotor windings 42 n and 42 s arranged at a plurality of locations in the circumferential direction of the rotor core 16. The rotor core 16 is a rotor core body made of a magnetic material. 17 and permanent magnets 54 disposed at a plurality of locations in the circumferential direction of the rotor 14. The rotor 14 is fixed to the rotating shaft 22. Magnetic pole portions 60 such as pillar portions extending in the radial direction are formed at a plurality of locations in the circumferential direction of the rotor core 16, and the rotor windings 42 n and 42 s are wound around the magnetic pole portions 60. That is, slits 102 that are rotor-side slots are formed at a plurality of locations in the circumferential direction of the rotor core 16, and the rotor windings 42 n and 42 s are arranged on the outer periphery of the rotor core 16 so that a part of each is disposed in the slit 102. It is wound around several places in the circumferential direction.
The permanent magnets 54 are arranged, that is, embedded in the magnetic pole portions 60 provided at a plurality of portions in the circumferential direction of the rotor 14 that coincide with the rotor windings 42 n and 42 s with respect to the circumferential direction of the rotor 14. In other words, the rotor windings 42 n and 42 s are wound around each permanent magnet 54. The permanent magnet 54 is magnetized in the radial direction of the rotor 14, and the magnetizing direction is made different between the permanent magnets 54 adjacent in the circumferential direction of the rotor 14. 17 and 18 (the same applies to FIG. 19 described later), the solid line arrow arranged on the permanent magnet 54 represents the magnetization direction of the permanent magnet 54. The magnetic pole part 60 can also be constituted by salient poles or the like arranged to extend in the radial direction at a plurality of locations in the circumferential direction of the rotor 14.
The rotor 14 has different magnetic salient pole characteristics with respect to the circumferential direction. Of the rotor 14, the magnetic path at the center in the circumferential direction between the magnetic pole parts adjacent to each other in the circumferential direction, which is located in the circumferential direction away from each permanent magnet 54, and away from the magnetic pole part 60 in the circumferential direction, is a q-axis magnetic path. Assuming that a magnetic path that coincides with the winding center axis of each rotor winding 42n, 42s in the circumferential direction is a d-axis magnetic path, each permanent magnet 54 has d-axis magnetic paths positioned at a plurality of locations in the circumferential direction of the rotor 14. Is arranged.
Further, the rotor windings 42n and 42s wound around the magnetic pole portions 60 are not electrically connected to each other and are separated (insulated). A diode 21n (or 21s), which is a rectifier, is connected in parallel to each of the rotor windings 42n and 42s that are electrically separated. Further, the current flow directions of the diodes 21n connected to every other part of the rotor windings 42n in the circumferential direction of the rotor 14 and the diodes 21s connected to the remaining rotor windings 42s are reversed, so that each other The forward direction is reversed. For this reason, each rotor winding 42n, 42s is short-circuited via the diode 21n (or 21s). Therefore, the current flowing through each rotor winding 42n, 42s is rectified in one direction. Also in this configuration example, each of the diodes 21n and 21s rectifies the current flowing through the rotor windings 42n and 42s due to the generation of the induced electromotive force, so that the rotor windings 42n and 42s adjacent in the circumferential direction of the rotor 14 are rectified. The phase of the flowing current is alternately changed between the A phase and the B phase between the adjacent rotor windings 42n and 42s.
When a direct current corresponding to the rectification direction of the diodes 21n and 21s flows through the rotor windings 42n and 42s, the magnetic pole portion 60 around which the rotor windings 42n and 42s are wound is magnetized, so that the magnetic pole portion 60 is the magnetic pole. Functions as a fixed magnet. 17 and 18, the direction of the broken arrow shown on the outer side of the rotor windings 42 n and 42 s with respect to the radial direction of the rotor 14 represents the magnetization direction of the magnetic pole part 60.
Further, as shown in FIG. 18, the direct current directions are opposite to each other between the rotor windings 42 n and 42 s adjacent in the circumferential direction of the rotor 14. The magnetization directions of the magnetic pole portions 60 adjacent to each other in the circumferential direction of the rotor 14 are opposite to each other. That is, in this configuration example, the magnetic characteristics of the magnetic pole portions 60 are alternately different with respect to the circumferential direction of the rotor 14. For example, in FIGS. 17 and 18, N poles are arranged on the radially outer side of the rotor windings 42 n and portions corresponding to the circumferential direction of the rotor 14, which are every other magnetic pole part 60 in the circumferential direction of the rotor 14. The S pole is arranged on the outer side in the radial direction of the portion corresponding to the circumferential direction of the rotor winding 42 s and the rotor 14, which is the magnetic pole portion 60 adjacent to the magnetic pole portion 60 in the circumferential direction. The two magnetic pole portions 60 (N pole and S pole) adjacent in the circumferential direction of the rotor 14 constitute one pole pair. In addition, the magnetization direction of each permanent magnet 54 is matched with the magnetization direction of the magnetic pole portion 60 that matches the circumferential direction of the rotor 14 with respect to each permanent magnet 54.
In the example shown in FIGS. 17 and 18, an 8-pole magnetic pole portion 60 is formed, and the number of pole pairs of the rotor 14 is 4 pole pairs. Further, the number of pole pairs of the stator 12 (FIG. 17) and the number of pole pairs of the rotor 14 are all four, and the number of pole pairs of the stator 12 and the number of pole pairs of the rotor 14 are equal. However, the number of pole pairs of the stator 12 and the number of pole pairs of the rotor 14 may be other than four pole pairs.
In this configuration example, the width of each magnetic pole portion 60 in the circumferential direction of the rotor 14 is set to be shorter than the width corresponding to 180 ° in terms of the electrical angle of the rotor 14. The width θ (FIG. 18) of each rotor winding 42n, 42s in the circumferential direction is set to be shorter than the width corresponding to 180 ° in electrical angle of the rotor 14, and the rotor windings 42n, 42s 60 is wound with a short winding. Preferably, the width θ of each of the rotor windings 42n and 42s in the circumferential direction of the rotor 14 is equal (or substantially equal) to a width corresponding to 90 ° in electrical angle.
In such a rotating electrical machine 10, a rotating magnetic field having a frequency including harmonic components generated in the teeth 30 (FIG. 17) is generated by passing a three-phase alternating current through the three-phase stator windings 28 u, 28 v, 28 w. 14 acts. Accordingly, the reluctance torque Tre, the permanent magnet generation torque Tmg, and the rotor winding generation torque Tcoil act on the rotor 14 to synchronize the rotor 14 with the rotating magnetic field (fundamental wave component) generated by the stator 12. And rotate. Here, the reluctance torque Tre is a torque generated when each magnetic pole portion 60 is attracted to the rotating magnetic field generated by the stator 12. The permanent magnet generation torque Tmg is a torque generated by attraction and repulsion, which is an interaction between the magnetic field generated by each permanent magnet 54 and the rotating magnetic field of the stator 12. Further, the rotor winding generation torque Tcoil is a torque generated by a current induced in the rotor windings 42n and 42s when the spatial harmonic component of the magnetomotive force generated by the stator 12 acts on the rotor windings 42n and 42s. The torque generated by attraction and repulsion, which is an electromagnetic interaction between the magnetic field generated by each magnetic pole portion 60 and the rotating magnetic field of the stator 12.
According to the rotating electrical machine 10 of this configuration example, the torque of the rotating electrical machine 10 can be effectively increased. Moreover, since the magnetic flux fluctuation in each permanent magnet 54 is suppressed by the induced current flowing through the rotor windings 42n and 42s, eddy current loss in each permanent magnet 54 can be suppressed, and the heat generation of the magnet can be reduced. As a result, eddy current loss in each permanent magnet 54 is suppressed, and heat generation from the magnet can be reduced.
FIG. 19 is a schematic diagram corresponding to FIG. 18 in another configuration example. In the present configuration example, among the plurality of rotor windings 42n and 42s, some of the rotor windings 42n arranged every other in the circumferential direction of the rotor 14 are electrically connected in series, and one in the circumferential direction. The remaining rotor windings 42s arranged at intervals are electrically connected in series. That is, the rotor windings 42n (or 42s) wound around the magnetic pole portion 60 functioning as a magnet magnetized in the same direction are electrically connected in series. Further, the rotor windings 42n and 42s wound around the magnetic pole portions 60 adjacent to each other in the circumferential direction of the rotor 14 are electrically separated. Then, two sets of rotor winding circuits 62a and 62b that are electrically separated from each other are configured by a circuit including the rotor winding 42n (or 42s) electrically connected to each other. That is, the rotor windings 42n and 42s are wound around the magnetic pole part 60 having the same magnetic characteristics and are electrically connected.
In addition, the two sets of rotor winding circuits 62a and 62b are rectifying elements, and diodes 21n and 21s having different polarities are connected in series to every other rotor winding 42n and 42s, respectively. The direction of the current flowing through the rotor winding circuits 62a and 62b is rectified in one direction. Of the two sets of rotor winding circuits 62a and 62b, the current flowing through one rotor winding circuit 62a and the current flowing through the other rotor winding circuit 62b are opposite to each other. About another structure and effect | action, it is the same as that of the structural example shown to said FIG.
FIG. 20 is a schematic diagram corresponding to FIG. 18 in another configuration example. The rotor 14 constituting the rotating electrical machine of this configuration example is the configuration example shown in FIG. 19 described above, and the permanent magnet 54 (see FIG. 19) provided on the rotor 14 is omitted. The rotor core 16 has a configuration in which teeth 64 projecting in the radial direction are provided at a plurality of circumferential positions on the outer peripheral surface, and the rotor windings 42 n and 42 s are disposed between the teeth 64 adjacent to each other in the circumferential direction of the rotor 14. doing. That is, the rotor windings 42n and 42s are arranged in an air-core state in which the inside is a space portion. Further, the portion between the rotor windings 42n and 42s in the circumferential direction of the rotor 14 protrudes toward the stator 12 (see FIG. 17), and the rotor core 16 has magnetic salient pole characteristics. In this case, the rotor windings 42 n and 42 s are wound around a plurality of locations in the circumferential direction of the outer periphery of the rotor core 16 so that a part or all of the rotor windings 42 n and 42 s are arranged in the slot 20.
In such a rotor 14, a magnetic path that coincides with the teeth 64 in the circumferential direction of the rotor 14 is a q-axis magnetic path, and a position that coincides with the rotor windings 42 n and 42 s in the circumferential direction of the rotor 14 is a d-axis magnetic path. Become.
In this configuration example, unlike the configuration examples of FIGS. 17 to 18 described above, the permanent magnet 54 (see FIG. 18) is not disposed on the rotor 14, but the torque of the rotating electrical machine is independent of the rotation direction of the rotor 14. Can be increased. That is, regardless of the rotation direction of the rotor 14, the current phase-torque characteristics are the same, the maximum value of the torque is increased, and the torque can be effectively increased. For example, when the power running torque is increased, the power running torque can be increased both when the rotor 14 is rotating forward and when it is rotating in reverse. Further, when increasing the regenerative torque, it is possible to increase the regenerative torque both when the rotor 14 is rotating forward and when it is rotating in reverse. Therefore, it is possible to realize a rotating electrical machine that can obtain a high torque in both forward and reverse rotations of the rotor 14. About another structure and effect | action, it is the same as that of the structural example of said FIG. 17-18 or the structural example of FIG.
FIG. 21 is a schematic diagram corresponding to FIG. 18 in another configuration example. Similarly to the case of the configuration example shown in FIG. 20, the rotor 14 constituting the rotating electrical machine of this configuration example is not provided with the permanent magnet 54 (see FIG. 18 and the like). In this configuration example, the magnetic resistance of the rotor 14 is changed with respect to the rotation direction by forming a slit 48 that is a gap and is a rotor-side slit inside the rotor core 16 constituting the rotor 14. That is, a plurality of slits 48 extending in the axial direction with a substantially U-shaped cross section and opening radially outward are disposed at a plurality of circumferential positions of the rotor core 16 at intervals in the radial direction of the rotor 14. The rotor windings 42n and 42s are arranged at a plurality of positions in the circumferential direction of the rotor core 16 at positions corresponding to the central positions in the circumferential direction of the plurality of slits 48 to form a d-axis magnetic path between the adjacent slits 48 in the circumferential direction. Is a q-axis magnetic path.
Further, the rotor windings 42n and 42s are short-circuited by diodes 21n and 21s having different polarities between the adjacent rotor windings 42n and 42s. The rotor winding 42n short-circuited by the diode 21n and the rotor winding 42s short-circuited by the diode 21s are alternately arranged in the circumferential direction of the rotor 14, and a plurality of magnetic poles generated by the current flowing through the rotor windings 42n and 42s. The magnetic characteristics of the portions 66 are alternately varied with respect to the circumferential direction of the rotor 14. In this case, the slits 48 are formed at intervals in the circumferential direction around the rotation axis of the rotor 14 in the rotor core 16, and a part of each of the rotor windings 42 n and 42 s is disposed in the slit 48. As described above, the rotor core 16 is wound around a plurality of locations in the circumferential direction.
In the case of this configuration example, the rotating magnetic field from the stator 12 (see FIG. 17) is linked to the rotor windings 42n and 42s, so that each rotor winding 42n and 42s is connected to each diode 21n and 21s. The rectified direct current flows, the magnetic pole portions 66 at a plurality of circumferential positions located in each d-axis magnetic path are magnetized, and each magnetic pole portion 66 functions as a magnet with a fixed magnetic pole. Further, the width of each rotor winding 42n, 42s in the circumferential direction of the rotor 14 is set to be shorter than the width corresponding to 180 ° in terms of the electrical angle of the rotor 14, and the rotor windings 42n, 42s are shortened to each magnetic pole portion 60. It is wound with a clause winding. Preferably, the width of each rotor winding 42n, 42s in the circumferential direction is equal (or substantially equal) to a width corresponding to 90 ° in electrical angle of the rotor 14.
Even in this configuration example, no permanent magnet is arranged on the rotor 14, but the torque of the rotating electrical machine can be increased regardless of the rotation direction of the rotor 14. About another structure and effect | action, it is the same as that of the structural example of said FIGS.
FIG. 22 is a schematic diagram corresponding to FIG. 18 in another configuration example. In the rotor 14 constituting the rotating electrical machine of this configuration example, in the rotor 14 constituting the configuration example shown in FIGS. 17 to 18, the rotor core 16 is composed of a rotor core body 104 made of a magnetic material and a plurality of permanent magnets 54. It is configured. In addition, the rotor core body 104 does not have magnetic salient pole characteristics, and the permanent magnets 54 are fixed at a plurality of locations in the circumferential direction of the outer peripheral surface of the rotor core body 104. In the rotor core 16, the slots 20 are formed between the permanent magnets 54 at intervals in the circumferential direction around the rotor rotation axis. Further, rotor windings 42n and 42s are wound around each permanent magnet 54. In this case, the rotor windings 42 n and 42 s are wound around a plurality of locations in the circumferential direction of the outer periphery of the rotor core 16 so that a part of each of the rotor windings 42 n and 42 s is disposed in the slot 20. In the present configuration example, a plurality of portions in the circumferential direction of the rotor 14 that coincide with the permanent magnets 54 in the circumferential direction are used as magnetic pole portions. Further, the respective rotor windings 42n and 42s are short-circuited by diodes 21n and 21s having different polarities between the adjacent rotor windings 42n and 42s. About another structure and effect | action, it is the same as that of the structural example of said FIGS.
In the above description of the embodiments and configuration examples, the case of a radial type rotating electrical machine in which the stator 12 and the rotor 14 are disposed to face each other in the radial direction orthogonal to the rotation shaft 22 has been described. However, the rotary electric machine constituting the above embodiment may be an axial type rotary electric machine in which the stator 12 and the rotor 14 are arranged to face each other in the direction parallel to the rotary shaft 22 (rotary axis direction). In the above description, the case where the rotor is disposed opposite to the inner side in the radial direction of the stator has been described. However, the present invention can also be implemented with a configuration in which the rotor is disposed opposite to the outer side in the radial direction of the stator.
As described above, the rotating electrical machine drive system according to the present invention includes a rotating electrical machine in which a stator and a rotor are arranged to face each other, a driving unit that drives the rotating electrical machine, and a control unit that controls the driving unit. In the system, the stator includes a stator core having stator-side slots formed at a plurality of locations in the circumferential direction, and a multi-phase stator winding wound in a concentrated manner on the stator core through the stator-side slots. The rotor is connected to the rotor core, the rotor windings wound around the rotor core at a plurality of locations in the circumferential direction, and the rotor windings, and the magnetic characteristics of the rotor windings are determined between the rotor windings. A rectifying unit that alternately varies in the circumferential direction, and magnetic characteristics of the magnetic pole portions at a plurality of circumferential directions generated by the current flowing through each rotor winding are alternately varied in the circumferential direction. The control unit supplies a current to the stator winding so as to generate a field magnetic flux in a direction advanced by 90 degrees in electrical angle with respect to the magnetic pole direction which is the winding central axis direction of the rotor winding. A d-axis current command for flowing a current through the stator winding so as to generate a field magnetic flux in the direction of the magnetic pole while superimposing a decreasing pulse current to be reduced in a pulse shape on the q-axis current command for flowing, It has the structure which has the reduction | decrease increase pulse superimposition means which superimposes the increase pulse electric current increased to a pulse form. With this configuration, as described above, it is possible to realize a rotating electrical machine that can increase torque even in a low rotation region while preventing an excessive current from flowing through the stator winding.
10 Rotating machine, 12 Stator, 14 Rotor, 16 Rotor core, 17 Rotor core body, 18n, 18s Rotor winding, 19 teeth, 20 slots, 21, 21n, 21s Diode, 22 Rotating shaft, 26 Stator core, 28u, 28v, 28w Stator Winding, 30 teeth, 31 slots, 34 rotating electrical machine drive system, 36 inverter, 38 control device, 40 power storage device, 42n first rotor winding (rotor winding), 42s second rotor winding (rotor winding), 44 first rotor winding circuit, 46 second rotor winding circuit, 48 slit, 50 d-axis magnetic path portion, 52 q-axis magnetic path portion, 54 permanent magnet, 56 magnetic pole portion, 58 annular core portion, 60 magnetic pole portion, 62a, 62b Rotor winding circuit, 64 teeth, 66 magnetic pole part, 68 capacitor, 0 current sensor, 72 decrease increasing pulse superimposing means, 74,75 subtraction unit, 76,77 PI calculation unit, 78 3 phase / 2 phase conversion unit, 80 2 phase / 3 phase conversion unit, 82 rotation angle detection unit, 84 decrease Increase pulse generator, 86, 87 adder, 88n, 88s rotor winding, 90 diode, 92n, 92s Auxiliary rotor winding, 94 auxiliary winding set, 96 auxiliary pole, 98 pillar, 100 slot, 102 slit, 104 Rotor core body.
In a rotating electrical machine drive system comprising a rotating electrical machine in which a stator and a rotor are arranged to face each other, a driving unit that drives the rotating electrical machine, and a control unit that controls the driving unit,
A stator core in which a plurality of stator side slots are formed spaced apart from each other in the circumferential direction around the rotor rotation axis, and a multi-phase stator winding wound around the stator core in a concentrated manner through the stator side slot. Have
A rotor core in which a plurality of slots on the rotor side are formed spaced apart from each other in the circumferential direction around the rotor rotation axis, and is wound around a plurality of locations in the circumferential direction of the rotor core so that at least a part is disposed in the slot on the rotor side A plurality of rotor windings, and a rectifying unit that is connected to each of the rotor windings and alternately changes the magnetic characteristics of the rotor windings in the circumferential direction between the plurality of rotor windings, The magnetic properties of the magnetic pole portions at a plurality of locations in the circumferential direction that are generated by magnetizing with the current flowing through each rotor winding are alternately varied in the circumferential direction,
The control unit has a q-axis for causing a current to flow in the stator winding so as to generate a field magnetic flux in a direction advanced by 90 degrees in electrical angle with respect to a magnetic pole direction that is a winding central axis direction of the rotor winding. The current command is superimposed with a decreasing pulse current that decreases in a pulsed manner, and the d-axis current command for causing a current to flow in the stator winding so as to generate a field magnetic flux in the magnetic pole direction is increased in a pulsed manner. A decrease increasing pulse superimposing means for overlapping the increasing pulse current;
The decreasing increase pulse superimposing means superimposes the increasing pulse current on the d-axis current command when the output torque is equal to or less than a threshold value, but does not superimpose the decreasing pulse current on the q-axis current command, and the output torque is When the threshold value is exceeded, the increasing pulse current is superimposed on the d-axis current command, and the decreasing pulse current is superimposed on the q-axis current command.
The control unit has a q-axis for causing a current to flow in the stator winding so as to generate a field magnetic flux in a direction advanced by 90 degrees in electrical angle with respect to a magnetic pole direction that is a winding central axis direction of the rotor winding. The current command is superimposed with a decreasing pulse current that decreases in a pulsed manner, and the d-axis current command for causing a current to flow in the stator winding to generate a field magnetic flux in the magnetic pole direction is increased in a pulsed manner. A decrease increasing pulse superimposing means for overlapping the increasing pulse current;
The decreasing increase pulse superimposing means superimposes the increasing pulse current on the d-axis current command when the output torque is equal to or less than a threshold value, but does not superimpose the decreasing pulse current on the q-axis current command, so that the output torque is equal to the threshold value. When the output pulse exceeds the second threshold when the increase pulse current is superimposed on the d-axis current command and the decrease pulse current is superimposed on the q-axis current command when the output torque exceeds the second threshold. A rotating electrical machine drive system, wherein the increasing pulse current is not superimposed on the d-axis current command but the decreasing pulse current is superimposed on the q-axis current command.
In the rotating electrical machine drive system according to claim 1 or 2 ,
The decrease-increase pulse superimposing means includes the stator current in a control circle drawn by a tip of a current vector defined by a dq coordinate system when a pulse current is not superimposed on a stator current that is a current flowing through the stator winding. A rotating electrical machine drive system, wherein the decreasing pulse current is superimposed on the q-axis current command and the increasing pulse current is superimposed on the d-axis current command so that a current vector after the pulse current is superimposed is contained.
In the rotating electrical machine drive system according to any one of claims 1 to 3 ,
Each of the rotor windings is connected to a rectifying element that is the rectifying unit whose forward direction is reversed between the rotor windings adjacent to each other in the circumferential direction of the rotor, and each of the rectifying elements is generated by generation of an induced electromotive force. A rotating electrical machine drive characterized by rectifying the current flowing through the rotor winding to alternately change the phase of the current flowing through the rotor winding adjacent in the circumferential direction between the A phase and the B phase. system.
In the rotating electrical machine drive system according to claim 4 ,
The rectifying elements are a first rectifying element and a second rectifying element connected to the corresponding rotor winding, respectively.
The first rectifying element and the second rectifying element are generated by the current flowing in each rotor winding by independently rectifying the current flowing in the corresponding rotor winding by the generation of the induced electromotive force. A rotating electrical machine drive system, wherein magnetic characteristics of the magnetic pole portions at a plurality of locations in the circumferential direction are alternately varied in the circumferential direction.
In the rotating electrical machine drive system according to any one of claims 1 to 5 ,
The rotor core includes salient poles that are arranged at intervals in the circumferential direction of the rotor and are the plurality of magnetic pole portions protruding toward the stator,
The rotating electric machine drive system, wherein the salient pole functions as a magnet with the magnetic pole fixed by being magnetized according to the current rectified by the rectifier flowing in the rotor winding.
In the rotating electrical machine drive system according to claim 5 ,
The salient pole functions as a magnet with the magnetic pole fixed by being magnetized according to the current rectified by the rectifying element flowing in the rotor winding,
Furthermore, an auxiliary rotor winding wound around the base side of each salient pole is provided,
The two auxiliary rotor windings wound around the salient poles adjacent to each other in the circumferential direction of the rotor are connected in series to form an auxiliary winding set,
One end of each of the two adjacent rotor windings wound around the salient poles adjacent to each other in the circumferential direction of the rotor passes through the rectifying element so that the corresponding rectifying elements face each other in the opposite direction. The other end of each of the two rotor windings wound around the salient pole adjacent in the circumferential direction of the rotor is connected to one end of the auxiliary winding set. The rotating electrical machine drive system, wherein the connection point is connected to the other end of the wire set.
In the rotary electric machine drive system according to claim 6 or 7 ,
The width of each salient pole in the circumferential direction of the rotor is smaller than a width corresponding to 180 ° in electrical angle, and the rotor winding is wound around each salient pole with a short-pitch winding. A rotating electric machine drive system that is characterized.
In the rotating electrical machine drive system according to claim 8 ,
A rotating electrical machine drive system, wherein a width of each rotor winding in the circumferential direction of the rotor is equal to a width corresponding to 90 ° in electrical angle.
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