阅读说明：本技术 永磁体式旋转电机的控制装置 (Control device for permanent magnet rotating machine ) 是由 西岛良雅 榎木圭一 渡边益崇 村田泰一 原田信吾 大塚和彦 于 2017-06-06 设计创作，主要内容包括：为了在计算永磁体式旋转电机的磁极位置校正量时降低校正量的偏差,并高精度地进行磁极位置校正,在使永磁体式旋转电机旋转的状态下,将dq矢量控制中的d轴电流指令值和q轴电流指令值双方保持为大致为零,根据中点电位检测单元所检测出的中点电位计算实际d轴电压和实际q轴电压,根据实际d轴电压和实际q轴电压、基于规定的运算式来计算磁极位置校正量,并基于磁极位置校正量来进行磁极位置原点校正。(In order to reduce the deviation of the correction amount when calculating the magnetic pole position correction amount of a permanent magnet type rotating electric machine and to perform magnetic pole position correction with high accuracy, both a d-axis current command value and a q-axis current command value in dq vector control are held substantially zero while the permanent magnet type rotating electric machine is rotated, an actual d-axis voltage and an actual q-axis voltage are calculated from a midpoint potential detected by a midpoint potential detection means, the magnetic pole position correction amount is calculated from the actual d-axis voltage and the actual q-axis voltage based on a predetermined operation formula, and the magnetic pole position origin is corrected based on the magnetic pole position correction amount.)

1. A control device for a permanent magnet type rotating electrical machine,

the method comprises the following steps: an inverter connected between a direct-current power supply and a permanent magnet type rotating electrical machine, for converting a direct-current voltage output from the direct-current power supply into an alternating-current voltage; an inverter control device that controls driving of the inverter; a magnetic pole position detection unit that detects a magnetic pole position of the permanent magnet type rotating electric machine; and midpoint potential detecting means for detecting a midpoint potential of the inverter, holding both a d-axis current command value and a q-axis current command value in dq vector control to substantially zero in a state where the permanent magnet type rotating electric machine is rotated, calculating an actual d-axis voltage and an actual q-axis voltage from the midpoint potential detected by the midpoint potential detecting means, calculating a magnetic pole position correction amount from the actual d-axis voltage and the actual q-axis voltage based on a predetermined arithmetic expression, and performing magnetic pole position origin correction based on the magnetic pole position correction amount.

2. The control device of a permanent magnet type rotating electric machine according to claim 1,

the magnetic pole position origin point correction is performed when the rotation speed of the permanent magnet type rotating electric machine is within a range of a preset threshold value.

3. The control device of a permanent magnet type rotating electric machine according to claim 2,

the threshold value of the rotation speed is changed according to a magnet temperature of the permanent magnet type rotating electric machine.

4. The control device of a permanent magnet type rotating electric machine according to claim 1 or 2,

the magnetic pole position origin correction is performed when the rotational speed of the permanent magnet type rotating electric machine is substantially constant.

5. The control device of a permanent magnet type rotating electric machine according to claim 1,

the magnetic pole position origin correction is performed when the voltage of the dc power supply is within a range of a preset threshold value.

6. The control device of a permanent magnet type rotating electric machine according to claim 1 or 5,

the magnetic pole position origin correction is performed when the voltage of the dc power supply is substantially constant.

7. The control device of a permanent magnet type rotating electric machine according to claim 1,

the magnetic pole position origin correction is performed in a state where the d-axis current and the q-axis current are substantially constant.

8. The control device of a permanent magnet type rotating electric machine according to any one of claims 1 to 7,

the magnetic pole position origin correction is performed based on an enable signal.

9. The control device of a permanent magnet type rotating electric machine according to any one of claims 1 to 8,

in the magnetic pole position origin correction, the engine is started with a preset 1 st correction value in a state where the permanent magnet type rotating electric machine is connected to an output shaft of the engine, and the magnetic pole position origin correction is performed in a state where the permanent magnet type rotating electric machine is rotated by the engine.

10. The control device of a permanent magnet type rotating electric machine according to claim 1,

in the magnetic pole position origin correction, the magnetic pole position correction amount is limited so that the calculated magnetic pole position correction amount is within a range of a preset value.

Technical Field

The present invention relates to a control device for a permanent magnet rotating electrical machine, and more particularly to a control device for a permanent magnet rotating electrical machine mounted on a vehicle such as a hybrid car.

Background

The permanent magnet type rotating electrical machine is a rotating magnetic field type structure obtained by providing a rotor with a permanent magnet and a stator with an armature winding. The permanent magnet rotating electrical machine is mounted on a hybrid vehicle or the like, and functions as a generator when receiving mechanical energy from an engine and as an electric motor for generating driving force when receiving electric energy.

In general, when a permanent magnet rotating electrical machine mounted on a vehicle is driven as an electric motor, control is performed by controlling a current to an armature winding of the rotating electrical machine based on a magnetic pole position of a rotor detected by a magnetic pole position sensor such as a synchronous analyzer. However, there are problems as follows: if the detected value of the magnetic pole position deviates from the actual magnetic pole position due to an attachment error, a positional deviation, or the like of the magnetic pole position sensor, a desired torque cannot be obtained.

In response to this problem, the detection value obtained by the magnetic pole position sensor is corrected to the actual magnetic pole position of the rotor. For example, in a conventional control device disclosed in patent document 1, while a rotor of a permanent magnet type rotating electrical machine is rotating, a d-axis current command value and a q-axis current command value in dq vector control are both held at zero, and a process of dq vector control is executed, and a magnetic pole position correction amount is calculated based on a predetermined arithmetic expression from a d-axis voltage command value and a q-axis voltage command value obtained at the time of execution, so as to correct a magnetic pole detection position detected by a magnetic pole position sensor.

In the conventional control device for a synchronous machine shown in patent document 2, it is detected whether or not the vehicle is about to stop, the d-axis current command value and the q-axis current command value are set to zero when it is determined that the vehicle is about to stop, a phase difference from the detection phase of the magnetic pole position sensor is detected based on the d-axis voltage command value and the q-axis voltage command value at that time, and the detection phase is corrected based on the phase difference.

The control disclosed in patent documents 1 and 2 is dq vector control, and is a control of a rotating electrical machine performed on a dq coordinate system, with the d-axis being the direction in which magnetic flux is generated by a magnetic pole (the central axis of a permanent magnet), and the axis (the axis between permanent magnets) electrically and magnetically orthogonal to the d-axis being the q-axis.

Disclosure of Invention

Technical problem to be solved by the invention

In the conventional control devices disclosed in patent documents 1 and 2, the magnetic pole position correction amount is calculated from the d-axis voltage command value and the q-axis voltage command value.

After the d-axis voltage command value and the q-axis voltage command value are converted into the three-phase voltage commands, it is necessary to perform dead time correction or the like in order to match the command voltage with the actual voltage. That is, when an error is included in the dead time correction, an error occurs in the magnetic pole position correction amount calculated based on the dead time correction.

In this case, the accuracy of the magnetic pole position correction amount calculated by the methods described in patent documents 1 and 2 is deteriorated.

In view of the above conventional drawbacks, an object of the present invention is to provide a control device for a permanent magnet type rotating electrical machine, which can reduce the deviation of the correction amount when calculating the magnetic pole position correction amount and can perform the magnetic pole position origin correction with high accuracy.

Technical scheme for solving technical problem

In order to achieve the above object, a control device for a permanent magnet type rotating electrical machine according to the present invention is a control device for a permanent magnet type rotating electrical machine, wherein both a d-axis current command value and a q-axis current command value in dq vector control are held substantially zero while the permanent magnet type rotating electrical machine is rotating, an actual d-axis voltage and an actual q-axis voltage are calculated from a midpoint potential detected by a midpoint potential detection means, a magnetic pole position correction amount is calculated from the actual d-axis voltage and the actual q-axis voltage based on a predetermined arithmetic expression, and a magnetic pole position origin is corrected based on the magnetic pole position correction amount.

Effects of the invention

According to the present invention, the magnetic pole position origin can be corrected with high accuracy based on the magnetic pole position correction amount calculated from the actual d-axis voltage and the actual q-axis voltage.

Drawings

Fig. 1 is a configuration diagram illustrating a control device for a permanent magnet rotating electrical machine according to an embodiment of the present invention.

Fig. 2 is an overall configuration diagram of a specific example of a control device for a permanent magnet type rotating electric machine according to an embodiment of the present invention.

Fig. 3 is a block diagram of an inverter control device of a permanent magnet type rotating electric machine according to an embodiment of the present invention.

Fig. 4 is a block diagram of a midpoint potential detecting unit according to the embodiment of the present invention.

Fig. 5 is a waveform diagram illustrating midpoint potential detection according to the embodiment of the present invention.

Fig. 6 is a flowchart for explaining the operation of the control device for a permanent magnet rotating electrical machine according to the embodiment of the present invention.

Fig. 7 is an explanatory diagram showing conditions for performing the correction of the origin of the magnetic pole position according to the embodiment of the present invention.

Fig. 8 is an explanatory diagram showing conditions for performing the correction of the origin of the magnetic pole position according to the embodiment of the present invention.

Fig. 9 is a configuration diagram showing a control device for a permanent magnet rotating electrical machine according to an embodiment of the present invention.

Fig. 10 is a block diagram of an inverter control device of a permanent magnet type rotating electric machine according to an embodiment of the present invention.

Fig. 11 is a hardware configuration diagram of a block diagram according to an embodiment of the present invention.

Detailed Description

Hereinafter, an embodiment of a control device for a permanent magnet type rotating electric machine according to an embodiment of the present invention will be described with reference to the drawings. In the following embodiments, a description will be given of a case where a permanent magnet rotating electric machine is used as an electric motor, and a case where a control device for the permanent magnet rotating electric machine is mounted on a hybrid vehicle as a motor control device.

Fig. 1 is a configuration diagram showing a motor control device 100 according to an embodiment of the present invention. As shown in the drawing, the motor control device 100 is provided between the dc power supply 10 and the motor 30. The motor control device 100 includes: a filter capacitor 11 connected between the high voltage side node P and the low voltage side node N for filtering the dc voltage of the dc power supply 10; an inverter 20 that converts a high-voltage direct-current voltage into an alternating-current voltage by DC/AC conversion and supplies the motor 30 with the alternating-current voltage; an inverter control device 40 that controls the inverter 20; a midpoint potential detecting unit 50 that detects midpoint potentials of outputs of the three phases of the inverter 20; a voltage sensor 60 that detects a voltage supplied from the inverter 20 to the motor 30; a current sensor 70 that detects a current supplied from the inverter 20 to the motor 30; and a state detection unit 80 that detects the state of the motor 30.

Fig. 2 is an overall configuration diagram showing a specific example of fig. 1. As shown in the drawing, inverter 20 includes semiconductor switching elements 21a to 21d, semiconductor rectifying elements 22a to 22d, upper arm side power semiconductor element 23a, lower arm side power semiconductor element 23b, U-phase switching arm 24a, V-phase switching arm 24b, and W-phase switching arm 24c, and inverter 20 includes voltage sensor 60 and current sensor 70. The voltage sensor 60 detects voltages of the respective phases by the voltage sensor VSu, the voltage sensor VSv, and the voltage sensor VSw, and outputs the detected voltages to the midpoint potential detecting means 50. The current sensor 70 detects the current of each phase by the current sensor CSu, the current sensor CSv, and the current sensor CSw, and outputs the detected current to the inverter control device 40.

Further, the state detection means 80 includes a magnetic pole position detection means 31 that detects the position of the magnetic pole of the rotor of the motor 30, a rotation speed detection means 32 that detects the rotation speed of the motor 30, and a temperature detection means 33 that detects the temperature.

The dc power supply 10 can be charged and discharged, and exchanges electric power with the motor 30 via the inverter 20. A boost converter may be provided between the DC power supply 10 and the inverter 20 to boost the DC voltage supplied from the DC power supply 10 by DC/DC conversion. The smoothing capacitor 11 is connected between the high-voltage-side node P and the low-voltage-side node N, and is configured to smooth a dc voltage. The voltage detection unit 12 measures a voltage between the high-voltage-side node P and the low-voltage-side node N of the smoothing capacitor 11, and outputs a voltage value VPN to the inverter control device 40. The inverter 20 converts a direct-current voltage of a high voltage into an alternating-current voltage by DC/AC conversion.

The motor 30 controls the driving force and the braking force of the vehicle by applying the ac voltage output from the inverter 20. The magnetic pole position detection unit 31 in the state detection unit 80 is a known detection unit configured by using a hall element or an encoder, and outputs a signal indicating a detected value of a magnetic pole rotation angle θ r (a rotation angle of the q-axis) of the rotor of the motor 30 from a predetermined reference rotation position as a magnetic pole position detection signal RSL. The detected value of the magnetic pole rotation angle θ r obtained by the magnetic pole position detection unit 31 generally has an error with respect to the actual magnetic pole position (actual rotation angle of the magnetic pole) of the rotor of the motor 30 due to an assembly error of the magnetic pole position detection unit 31 or the like.

Further, the rotation speed detection unit 32 acquires rotation information of the motor 30. The temperature detection unit 33 acquires temperature information of the motor 30 together. The rotational speed information of the motor 30 may be calculated by the magnetic pole position detection means 31.

In the inverter 20, the power semiconductor element is a unit of a structure in which a semiconductor switching element and a semiconductor rectifying element are connected in antiparallel with each other. The series-connected power semiconductor elements are referred to as arms. Here, a detailed configuration of the inverter 20 will be described. The number of arms in inverter 20 is set to correspond to the number of phases of motor 30 to be driven, and inverter 20 includes 3 switching arms 24a to 24c of U-phase, V-phase, and W-phase, as shown in fig. 2.

In U-phase switching arm 24a of inverter 20, for example, Insulated Gate Bipolar Transistors (IGBTs) made of Si are used as semiconductor switching elements 21a and 21b, and PiN diodes made of Si are used as semiconductor rectifying elements 22a and 22 b. In addition, other materials may be used.

The collector electrode C of the semiconductor switching element 21a is connected to the cathode electrode K of the semiconductor rectifying element 22a, and the emitter electrode E of the semiconductor switching element 21a is connected to the anode electrode a of the semiconductor rectifying element 22a, and are connected in reverse parallel to each other, and form one unit of the power semiconductor element. Similarly, the cathode electrode K of the semiconductor rectifier device 22b is connected to the collector electrode C of the semiconductor switching device 21b, and the anode electrode a of the semiconductor rectifier device 22b is connected to the collector electrode E of the semiconductor switching device 21 b. Thus, U-phase switching arm 24a of inverter 20 is configured by connecting in series power semiconductor elements including semiconductor switching element 21a and semiconductor rectifying element 22a, and power semiconductor elements including semiconductor switching element 21b and semiconductor rectifying element 22 b.

The V-phase switching arm 24b and the W-phase switching arm 24c of the inverter 20 are also configured by a series connection of a power semiconductor element configured by the semiconductor switching element 21c and the semiconductor rectifying element 22c, a power semiconductor element configured by the semiconductor switching element 21d and the semiconductor rectifying element 22d, a power semiconductor element configured by the semiconductor switching element 21e and the semiconductor rectifying element 22e, and a power semiconductor element configured by the semiconductor switching element 21f and the semiconductor rectifying element 22 f. The inverter control device 40 controls the switching operation of the semiconductor switching elements in the upper arm side power semiconductor elements 23a and the lower arm side power semiconductor elements 23b of the switching arms 24a to 24c included in the inverter 20, and adjusts the potentials of the connection nodes Uac, Vac, and Wac to the motor 30, thereby controlling the amount of current flowing through the motor 30.

As shown in fig. 3, the inverter control device 40 includes an instruction current operation block DB, a current control operation block CB, a two-phase/three-phase conversion block TB1, a three-phase/two-phase conversion block TB2, a three-phase/two-phase conversion block TB3, a gate drive block GD, an AD conversion block AD, a magnetic pole position origin correction block ZB, a magnetic pole position correction amount operation block PB, an actual Duty (Duty) operation block DU, and a magnetic pole position operation block MB.

The inverter control device 40 performs rotation control of the motor 30 by dq vector control. The instruction current calculation block DB in the inverter control device 40 calculates a d-axis current instruction value Cid and a q-axis current instruction value Ciq from a torque instruction value Rtrq (provided from the outside of the inverter control device 40) which is an instruction value of torque generated by the motor 30, and outputs the calculated values to the current control calculation block CB.

The current control operation block CB receives the d-axis current command value Cid and the q-axis current command value Ciq from the instruction current operation block DB and the d-axis current value id and the q-axis current value iq from the three-phase/two-phase conversion block TB2, operates the d-axis voltage command value Cvd and the q-axis voltage command value Cvq of the two-phase direct current so that the deviation between the d-axis current value id and the q-axis current value iq becomes "0", and outputs to the two-phase/three-phase conversion block TB 1.

The two-phase/three-phase conversion block TB1 converts the two-phase direct current d-axis voltage command value Cvd and the q-axis voltage command value Cvq into three-phase alternating current voltage command values Cvu, Cvv, Cvw based on the magnetic pole position θ from the magnetic pole position origin correction block ZB. The gate drive block GD controls switching operations of the semiconductor switching elements 21a to 21f in the upper arm side power semiconductor element 23a and the lower arm side power semiconductor element 23b of the switching arm included in the inverter 20, and outputs a control signal to perform DC/AC conversion in the inverter 20.

Next, a magnetic pole position origin correction process (ROL: Resolver offset learning, hereinafter referred to as ROL) will be described with reference to fig. 4 and 5. Fig. 4 is a structural diagram of the midpoint potential detecting unit 50 according to the embodiment of the present invention. Further, fig. 5 shows a waveform diagram explaining the detection of the center potential. But only the U-phase is shown here. Fig. 4 shows a configuration using a comparator, but another configuration (for example, a configuration using AD conversion) may be adopted. In the magnetic pole position origin correction, the d-axis current command value Cid is 0 and the q-axis current command value Ciq is 0 in a state where the motor 30 is rotated, and the magnetic pole position correction amount is obtained from the midpoint potential of the inverter.

As shown in fig. 4, the detected midpoint potentials VSu, VSv, and VSw are compared with the reference potentials input to the comparators CM1, CM2, and CM 3. The comparators CM1, CM2, and CM3 output whether the input midpoint potential is higher (Hi) or lower (Lo) than the reference potential. Therefore, the on state and the off state can be grasped based on the output of the midpoint potential detecting unit 50. That is, when the potential is higher than the reference potential, the state of the high-voltage-side node P connected to the power supply, that is, the on state, is shown, and when the potential is lower than the reference potential, the state of the low-voltage-side node N connected to the power supply, that is, the off state, is shown.

As shown in fig. 5, when the time when the output VU from the comparators CM1, CM2, and CM3 is Hi is Ton and the time from the valley to the valley of the carrier is Tc, the actual duty value VU of VU is obtained as "Ton/Tc". That is, the duty value indicates the proportion (%) of conduction during 1 cycle, and therefore, the actual duty value can be calculated by counting the time in 1 cycle that is higher than the reference value.

Next, in order to perform ROL in the inverter control device 40 shown in fig. 3, the actual duty ratio operation block RB of the inverter control device 40 converts the duty ratios of the actual duty ratio voltages VU, VV, VW of the output values from the midpoint potential detecting unit 50 into actual duty ratio values VU, VV, VW, and outputs them to the three-phase/two-phase conversion block TB 3. The three-phase/two-phase conversion block TB3 calculates an actual d-axis voltage value vd and a q-axis voltage value vq of two-phase direct current using the actual duty values vU, vV, vW from the actual duty ratio calculation block RB, and outputs them to the magnetic pole position correction amount calculation block PB.

The magnetic pole position correction amount calculation block PB calculates a magnetic pole position correction amount θ ofs based on the calculation expression θ ofs ═ atan (vd/vq) using the actual d-axis voltage value vd and the q-axis voltage value vq from the three-phase/two-phase conversion block TB3, and outputs to the magnetic pole position origin correction block ZB.

The magnetic pole position origin correction block ZB stores and holds the magnetic pole position correction amount θ ofs from the magnetic pole position correction amount calculation block PB, calculates the actual magnetic pole position θ based on the calculation expression θ r — θ ofs using the stored and held magnetic pole position correction amount θ ofs and the magnetic pole rotation angle θ r from the magnetic pole position detection block MB, and outputs to the two-phase/three-phase conversion block TB1 and the three-phase/two-phase conversion block TB 2.

The ROL is performed as shown in the flowchart of FIG. 6.

First, the operation state of the engine is acquired in step S101, and the process proceeds to step S108 if the state is a state before starting, and proceeds to step S102 if the state is not a state before starting.

In step S108, when the ROL has already been executed and the magnetic pole position correction amount θ ofs is set, the process proceeds to step S101 again, and the above operation is repeated. When the magnetic pole position correction amount θ ofs is not set, the initial value is stored in the magnetic pole position correction amount θ ofs in step S109. The initial value is preferably a value based on the tolerance and mounting accuracy of the magnetic pole position detection unit 31.

In step S102, the operating state of the engine is acquired, and if the engine is in the starting state, the process proceeds to step S101 and the operation is repeated. Since the initial value is set in the magnetic pole position correction amount θ ofs in the state where the engine is being started, the torque necessary for starting the engine may be obtained although the optimal torque may not be generated. If the state is not the state during startup (after startup), the process proceeds to step S103.

That is, the engine rotation speed changes as shown in fig. 7 from before the engine is started to after the engine is started, and the engine rotation speed is naturally zero before the engine is started, and during the start, the engine rotation speed becomes equal to or higher than a predetermined rotation speed and enters a steady state, and after the start, the engine rotation speed is in a state of pulsation within a steady range. The magnetic pole position origin is corrected according to the set conditions of the engine speed. That is, by performing the magnetic pole position origin correction in a state where the rotational speed of the permanent magnet type rotating electric machine is substantially constant, it is possible to perform the magnetic pole position origin correction with high accuracy while avoiding the condition where the calculation accuracy deteriorates.

In step S103, it is determined whether or not the conditions for implementing ROL can be satisfied, and if so, the process proceeds to step S104. If the condition cannot be satisfied, the process proceeds to step S101 and repeats the above operation.

In step S104, the d-axis current command value Cid and the q-axis current command value Ciq are set to zero. As a result, the armature current flowing through the U, V, W phases of the motor 30 is controlled to be substantially zero.

After waiting for a predetermined time in step S105, the magnetic pole position correction amount θ ofs is calculated until the armature currents of the respective phases of the motor 30 sufficiently converge to the vicinity of zero, and the process proceeds to step S106. Alternatively, the process proceeds to step S106 when the d-axis current id and the q-axis current iq are substantially constant after waiting for a predetermined time, and ends when the currents do not converge to be substantially constant. By performing the magnetic pole position origin correction in a state where the d-axis current and the q-axis current are substantially constant, it is possible to perform the magnetic pole position origin correction with high accuracy while avoiding the condition where the calculation accuracy is deteriorated.

In step S106, the magnetic pole position correction amount θ ofs calculated by the magnetic pole position correction amount calculation block PB is stored and held by the magnetic pole position origin correction block ZB, and the ROL processing is ended in step S107. Here, the magnetic pole position correction amount θ ofs may be limited so that the magnetic pole position correction amount θ ofs falls within a predetermined threshold value. In step S106, the magnetic pole position correction amount θ ofs stored and held in the magnetic pole position origin correction block ZB is calculated as the magnetic pole rotation angle θ r to calculate the actual magnetic pole position θ.

In the processing of the ROL described so far, the magnetic pole position correction amount θ ofs is calculated based on the midpoint voltage of the inverter, whereby the magnetic pole position can be accurately corrected, and the decrease in the power factor and the efficiency can be reduced.

The ROL implementing condition of step S103 may be set to implement ROL when the offset correction enable signal ROL _ EN shown in fig. 1 is enabled. Thus, by performing the magnetic pole position origin correction based on the permission signal, it is possible to prevent an unexpected torque variation from occurring when the calculation processing of the origin position is entered.

It should be noted that the condition may be a case where the rotation speed of the motor 30 detected by the rotation speed detecting means 32 of the state detecting means 80 shown in fig. 2 is within a range of a preset threshold value. This makes it possible to accurately correct the origin of the magnetic pole position while avoiding the condition that the calculation accuracy is deteriorated. It should be noted that the condition may be a case where the voltage value VPN between the high-voltage-side node P and the low-voltage-side node N of the smoothing capacitor 11 detected by the voltage detection means 12 shown in fig. 1 is within a range of a preset threshold value. Fig. 8 shows an example of a case where the rotation speed and voltage value VPN of the motor 30 are within the range of the predetermined threshold value. That is, by performing the magnetic pole position origin correction when the voltage of the dc power supply is within the range of the preset threshold value, the magnetic pole position origin correction can be performed with high accuracy while avoiding the condition that the calculation accuracy is deteriorated.

Note that the condition may be set such that the rotation speed of the motor 30 detected by the rotation speed detecting means 32 shown in fig. 1 is substantially constant.

The threshold value of the rotation speed of the motor 30 may be changed according to the temperature of the motor 30 detected by the temperature detecting unit 33 shown in fig. 1. By changing the threshold value of the rotation speed in accordance with the magnet temperature of the permanent magnet type rotating electric machine, it is possible to accurately correct the origin of the magnetic pole position while avoiding the condition where the calculation accuracy is deteriorated.

It should be noted that the condition may be that the voltage VPN detected by the voltage detection means 12 shown in fig. 1 is substantially constant. In this way, by performing the magnetic pole position origin correction when the voltage of the dc power supply is substantially constant, it is possible to perform the magnetic pole position origin correction with high accuracy while avoiding the condition that the calculation accuracy deteriorates.

In the above-described embodiment, the permanent magnet type rotating electric machine is described as the electric motor, and the case where the control device of the permanent magnet type rotating electric machine is mounted as the electric motor control device on the hybrid vehicle is described, but when mounted on the hybrid vehicle, the electric motor 30 is connected to the output shaft (drive shaft) of the engine 301 as shown in fig. 9, and the engine is started by starting the electric motor. Further, the motor 30 is rotated by the engine 301.

In this case, the inverter control device 40 is provided with a start-up control means 401 in which a provisional correction value (1 st correction value) is set, and after a predetermined time has elapsed from the start-up of the motor 301 by the motor 30, the magnetic pole position origin correction based on the midpoint potential detection of the present invention is performed, thereby enabling appropriate motor control.

That is, the motor control is performed using the 1 st correction value before the rotation of the motor 30 reaches a predetermined state, and when the rotation reaches a predetermined state, the magnetic pole position origin correction based on the midpoint potential detection of the present invention is performed. In order to enable the motor-based engine start, the engine 301 needs to be started even before the magnetic pole position origin is corrected.

In the inverter control device 40 shown in fig. 3, the magnetic pole position correction amount θ ofs output from the magnetic pole position correction amount calculation block PB is directly supplied to the magnetic pole position origin correction block ZB, but as a safety measure in the case where the correction amount becomes extremely large for some reason, the correction amount limiting block LB is provided for the output from the magnetic pole position correction amount calculation block PB as shown in fig. 10, and a countermeasure can be executed when the magnetic pole position correction amount θ ofs becomes an unexpected value.

If a defect occurs in the midpoint potential detecting means 50, the voltage sensor 60, or the like, the calculated correction amount may be greatly deviated from a desired value. In this case, the error of the torque becomes larger than before the correction. Therefore, for example, when a threshold value is determined based on the tolerance of the magnetic pole position detection unit 31, the accuracy of the mounting position, or the like, and when the output value exceeds the threshold value, the control can be continued using the value before correction, and the failure display can be performed.

In addition, the functional blocks shown in fig. 1 and 3 are respectively realized by hardware shown in fig. 11. That is, the processor 200, the memory 201 storing programs and data, and the input/output device 202 such as a sensor are connected to each other by the data bus 203, and data processing and data transmission are performed by control performed by the processor 200.

While the embodiments of the present invention have been described above, the present invention is not limited to the embodiments, and various design changes can be made, and the embodiments can be modified and omitted as appropriate. In addition, the embodiments can be implemented by combining the contents described above.