JPH11356100A - Control device for rotating electric machine - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To enable vector control of a rotating electric machine of a prior application. A rotating electric machine (101) has two rotors and one stator configured in a three-layer structure and on the same axis, and a single coil is formed on the stator. A composite current is caused to flow such that the same number of rotating magnetic fields are generated. Inverter 102 supplies a composite current to the single coil. In this case,
The detecting means 103 detects a composite current flowing through the single coil, and the calculating means 104 separates and calculates the detected composite current into a current for each rotor. The vector control means 105 performs vector control for each rotor based on the separated and calculated current for each rotor, and the PWM control means 106 generates a PWM signal by comparing the command voltage value obtained by this vector control with the triangular wave carrier. And outputs the generated PWM signal to the inverter 102.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

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

[0002]

2. Description of the Related Art Two synchronous motors of the same rated torque are independently controlled.
There has been proposed a configuration in which a plurality is provided and each is rotated synchronously (see Japanese Patent Application Laid-Open No. 9-275573).

[0003]

By the way, in order to make the structure compact, it is conceivable that two rotors and one stator are formed in a three-layer structure on the same shaft (see Japanese Patent Application Laid-Open No. 8-34063). ).

In this case, in order to separately rotate the two rotors synchronously, a dedicated coil is prepared for each rotor in the stator, and two inverters (current controllers) for controlling the current flowing through each dedicated coil are provided. You have to be prepared.

However, when current flows through each coil and each inverter, losses due to the current (copper loss and switching loss) cannot be avoided.

For this reason, a single coil is used in order to share the coil, and a composite current is supplied to the coil so as to generate a plurality of rotating magnetic fields, thereby preventing loss due to the current. Proposed (Japanese Patent Application No. Hei 10-77)
No. 449). This is hereinafter referred to as a prior application device.

In this case, it is necessary to specifically configure a control device for the rotating electric machine of the prior application.

Here, there is a vector control method for controlling the rotating electric machine with the torque τ and the angular velocity ω as target values.
In this method, for example, a three-phase current actually flowing to the motor is measured, and the measured three-phase current is converted into an excitation component current and a torque component current, and the converted excitation component current is used as an excitation component current command value, and Current feedback is performed so that the converted torque component currents match the torque component current command values, respectively (see Japanese Patent Application Laid-Open No. 10-28304).

However, this conventional vector control method cannot be applied to the rotating electric machine of the prior application without any modification. In other words, although the current for each rotor must be measured, in the rotating electric machine of the prior application, a current (composite current) for a plurality of rotors flows through the stator coil.
When the composite current is measured, the current for each rotor cannot be measured.

Accordingly, the present invention measures the composite electric current flowing through the stator coil for the rotating electric machine of the prior application and separates the measured composite electric current into the electric current for each rotor. An object is to enable vector control of an electric machine.

[0011]

According to a first aspect of the present invention, as shown in FIG. 11, two rotors and one stator are formed in a three-layer structure on the same shaft, and a single coil is mounted on the stator. Forming a rotating electric machine 101 in which a composite current flows so that the same number of rotating magnetic fields as the number of rotors are generated in the single coil, and an inverter 102 that supplies the composite current to the single coil, A means 103 for detecting a composite current flowing through the single coil, a means 104 for separating and calculating the detected composite current into a current for each rotor, and a means for each rotor based on the calculated current for each rotor. Means 105 for performing vector control of PW and PW by comparing a command voltage value obtained by this vector control with a triangular carrier
Means 106 for generating an M signal and outputting the generated PWM signal to the inverter 102.

According to a second aspect of the present invention, as shown in FIG. 12, one stator and two rotors each having at least one induction coil are formed in a three-layer structure on the same axis, and a single stator is provided for the stator. And a rotating electric machine 111 through which a composite current flows so as to generate the same number of rotating magnetic fields as the number of rotors in the single coil, and an inverter 102 that supplies the composite current to the single coil. And means 103 for detecting a composite current flowing through the single coil;
A means 104 for separating and calculating the detected composite current into a current for each rotor, a means 105 for performing vector control for each rotor based on the separated and calculated current for each rotor, and a command obtained by this vector control. The PWM signal is generated by comparing the voltage value with the triangular wave carrier, and the generated P
Means 106 for outputting a WM signal to the inverter 102.

According to a third aspect of the present invention, the equations used for setting the composite current in the first or second aspect are simultaneously set, and the simultaneous linear equation is solved for the current for each rotor to obtain the composite current. Is used for the above separation calculation.

According to a fourth aspect, in the third aspect, when the current for at least one of the rotors is a 12-phase alternating current,
The above-described composite current is set in place of 6-phase alternating current.

According to a fifth aspect of the present invention, there is provided a calculation formula for the current for each rotor obtained by solving the simultaneous linear equation in the third invention, wherein the calculation method for the current for each rotor is different. A plurality of data are prepared, and a filtering process is performed on a plurality of data obtained by the different calculation formulas.

In a sixth aspect based on the fifth aspect, the filtering is an average value calculation.

[0017]

According to the first, second and third aspects of the present invention, after the composite electric current flowing through the stator coil is detected with the rotating electric machine of the prior application as a control object, the detected composite electric current is Since the current is separately calculated for each rotor, vector control can be performed for each rotor.

Here, the rotating electric machine of the prior application device has a structure in which two rotors and one stator are formed in a three-layer structure and on the same axis, and a single coil is formed on the stator. A rotating electric machine or a stator in which a composite current flows so that the same number of rotating magnetic fields as the number of rotors are generated in the coils of the above-described manner, and a single rotor and at least one of the two rotors having an induction coil are arranged in a three-layer structure on the same axis. The present invention also relates to a rotating electric machine having a configuration, in which a single coil is formed in the stator, and a composite current is applied to the single coil so as to generate the same number of rotating magnetic fields as the number of the rotors.

When the current for at least one of the rotors is a 12-phase alternating current, the number of variables in the simultaneous linear equation becomes larger than the number of equations, and the simultaneous linear equation cannot be solved. According to the present invention, since the number of variables of the simultaneous linear equation is smaller than the number of equations, even when the current for at least one of the rotors is a 12-phase alternating current, vector control can be performed for each rotor.

In the fifth and sixth aspects, the data of the current value for each rotor, which is calculated separately from the detected value of the composite current, is stabilized.

[0021]

FIG. 1 is a sectional view of a rotary electric machine main body 1. FIG. The illustrated configuration is based on the prior application (Japanese Patent Application No. 10-7744).
No. 9). Since the present invention has been made in connection with the prior application device, the prior application device will be outlined first.

In the figure, rotors 3 and 4 are arranged with a predetermined gap outside and inside a cylindrical stator 2 (three-layer structure), and the outer and inner rotors 3 and 4 cover the whole. It is provided rotatably and coaxially with the outer frame 5 (see FIG. 3).

The inner rotor 4 is formed by a pair of permanent magnets having a half circumference of the S pole and another half circumference of the N pole, while the outer rotor 3 has twice the number of poles per one pole of the inner rotor 4. The permanent magnet poles are arranged as follows. That is, S of the outer rotor 3
There are two poles and two N poles, and the S pole and the N pole are switched every 90 degrees.

By arranging the magnetic poles of the rotors 3 and 4 in this manner, the magnet of the inner rotor 4 is not given a rotational force by the magnet of the outer rotor 3 and, conversely, the magnet of the outer rotor 3 is No rotational force is given by the magnet.

For example, consider the effect of the magnet of the inner rotor 4 on the outer rotor 3. Inner rotor 4 for simplicity
Is fixed. First, in the relationship between the S pole of the inner rotor 4 and the upper magnet SN of the outer rotor 3 opposed thereto, temporarily receive the magnetic force generated by the S pole of the inner rotor 4 in the illustrated state,
If the upper magnet SN of the outer rotor attempts to rotate in the clockwise direction, the relationship between the N pole of the inner rotor 4 and the lower magnet SN of the outer rotor 3 facing the N pole indicates that
The pole causes the lower magnet SN of the outer rotor 3 to rotate counterclockwise. In other words, the south pole of the inner rotor 4 is
The magnetic force exerted on the upper magnet 3 and the magnetic force exerted by the N pole of the inner rotor 4 on the lower magnet of the outer rotor 3 exactly cancel each other, so that the outer rotor 3 has no relation to the inner rotor 4 but has a relation to the stator 2. It is possible to control only by. This is the same between the rotating magnetic field generated in the stator coil and the rotor as described later.

The stator 2 has three magnetic poles per magnetic pole of the outer rotor 3.
Consisting of six coils 6, a total of 12 (= 3 × 4) coils 6
Are equally spaced on the same circumference. Reference numeral 7 denotes a core around which the coil is wound, and the same number of cores 7 as the coil 6 are arranged on the circumference at equal intervals with a predetermined interval (gap) 8.

As will be described later, the twelve coils are distinguished by numbers, and in this case, the coil 6 comes out in the meaning of the sixth coil. Although confusing with the expression coil 6 above, the meaning is different.

The following composite currents I _{1 to} I ₁₂ are applied to these 12 coils.

First, in order to supply a current (three-phase alternating current) for generating a rotating magnetic field to the inner rotor 4, [1, 2] = [ 7 ,
8 ], [ 3 , 4 ] = [9, 10], [5, 6] = [ 11 , 12 ]
The currents Id, If, and Ie, which are out of phase by 120 degrees, are set in the set coils.

Here, an underline below the number means that a current flows in the opposite direction. For example, flowing a current Id through a set of coils [1, 2] = [ 7 , 8 ] means that half of the current Id flows from coil 1 to coil 7 , and Id flows from coil 2 to coil 8. Is to pass the other half of the current. Since 1 and 2, 7 and 8 are close to each other on the circumference, it is possible to generate the same number (two poles) of rotating magnetic fields as the number of magnetic poles of the inner rotor 4 by this current supply.

Next, in order to flow a current (three-phase alternating current) for generating a rotating magnetic field for the outer rotor 3, [1] = [ 4 ] =
[7] = [ 10 ], [ 2 ] = [5] = [ 8 ] = [11], [3]
Currents Ia, Ic, and Ib, which are out of phase by 120 degrees, are set in three sets of coils of = [ 6 ] = [9] = [ 12 ].

For example, one set of coils [1] = [ 4 ] =
Flowing the current Ia at [7] = [ 10 ] means that coil 1
4 is to pass the current of Ia even when the current of Ia is directed from the coil 7 to the coil 10 . Since the coils 1 and 7 and the coils 4 and 10 are located 180 degrees apart on the circumference, the current supply can generate the same number (4 poles) of rotating magnetic fields as the magnetic poles of the outer rotor 3 .

As a result, the following composite current is applied to the 12 coils.
So that it may be allowed to flow I ₁ ~I _12.

[0034]

## EQU1 ## I ₁ = Ia + (1/2) Id I ₂ = Ic + (1/2) Id I ₃ = Ib + (1/2) If I ₄ = Ia + (1/2) If I ₅ = Ic + (1/2) Ie I ₆ = Ib + (1/2) Ie I ₇ = Ia + (1/2) Id I ₈ = Ic + (1/2) Id I ₉ = Ib + (1/2) If I ₁₀ = Ia + (1/2) If I ₁₁ = Ic + (1/2) Ie I ₁₂ = Ib + (1/2) Ie where the underline below the current symbol in Equation 1 indicates the reverse current. It represents that.

The setting of the composite current will be further described with reference to FIG. 2. FIG. 2 shows a comparison between FIG. 2 and FIG. A dedicated coil to be generated is arranged. That is,
The arrangement of the inner peripheral coils d, f, and e generates a rotating magnetic field for the inner rotor, and the arrangement of the outer coils a, c, and b generates a rotating magnetic field for the outer rotor. In this case, in order to share the two dedicated coils and reconstruct the single coil shown in FIG. 1, half of the current flowing through the coil d in the inner peripheral side coil is placed near the coil d. In the same way, half of the current flowing through coil f is placed on coils b and a near coil f, and half of the current flowing through coil e is placed near coil e. That is, the coils c and b may be charged. The expressions of the composite currents I _{1 to} I ₁₂ express such a concept in a mathematical expression.

The method of setting the current is not limited to this, and another current setting method may be used. For example,

[0037]

## EQU2 ## I ₁ = Ia + Id I ₂ = Ic I ₃ = Ib + If I ₄ = Ia I ₅ = Ic + Ie I ₆ = Ib I ₇ = Ia + Id I ₈ = Ic I ₉ = Ib + If I ₁₀ = Ia I ₁₁ = Ic + Ie as in the _{I 12 = Ib, I 1,} I 3, I 5, I 7, I 9, the burden of the coil to flow a respective current _{I 11 I 2, I 4,} I 6, It can be larger than the remaining coils through which the currents I ₈ , I ₁₀ and I ₁₂ flow.

On the contrary,

[0039]

## EQU3 ## I ₁ = Ia + I _i I ₂ = Ic + I _ii I ₃ = Ib + I _iii I ₄ = Ia + I _iv I ₅ = Ic + I _v I ₆ = Ib + I _vi I ₇ = Ia + I _vii I ₈ = Ic + I _viii I ₉ = Ib + I _ix I ₁₀ = Ia + I _x I ₁₁ = Ic + I _xi I ₁₂ = Ib + I _xii . The currents I _{i to} I _xii of the second term on the right side of Equation 3 are
It is a 12-phase alternating current, and the inner rotating magnetic field may be formed by the 12-phase alternating current.

When the current of the composite current is set as described above,
Although a single coil is used, two magnetic fields, a rotating magnetic field for the inner rotor 4 and a rotating magnetic field for the outer rotor 3, are generated simultaneously, but the magnet of the inner rotor 4 is given a rotating force by the rotating magnetic field for the outer rotor 3. Without
In addition, the magnet of the outer rotor 3 is not given a rotational force by the rotating magnetic field with respect to the inner rotor 4. This point has been proved by theoretical analysis.

The above Id, If, and Ie current settings are based on the inner rotor 4
The current setting of Ia, Ic, and Ib is performed in synchronization with the rotation of the outer rotor 3, respectively. The phase lead / lag is set for the direction of the torque, which is the same as for the synchronous motor.

FIG. 3 is a control system diagram for the rotating electric machine 1 shown in FIG.

In order to supply the composite currents I _{1 to} I ₁₂ to the stator coil, an inverter 12 for converting DC current from a power source such as a battery into AC current is provided. Since the sum of all instantaneous currents becomes 0, this inverter 12 is the same as a normal three-phase bridge type inverter with 12 phases, and is composed of 24 transistors Tr1 to Tr24 and the same number of diodes as this transistor. You.

The ON and OFF signals applied to each gate (base of the transistor) of the inverter 12 are PWM signals.

In order to rotate the rotors 3 and 4 synchronously, the phases of the rotors 3 and 4 (the magnetic pole position θ ₁ of the outer motor described later,
A rotation angle sensor for detecting the magnetic pole position θ ₂ ) of the inner motor is provided, and a control circuit 15 to which signals from these rotation angle sensors are input provides data of required torque (positive or negative) for the outer rotor 3 and the inner rotor 4. A PWM signal is generated based on the (required torque command).

As described above, in the prior application, the two rotors
3, 4 and one stator 2 are formed in a three-layer structure and on the same axis, and a single coil 6 is formed on the stator 2,
Since a single coil 6 is supplied with a composite current so as to generate the same number of rotating magnetic fields as the number of rotors, when driving one of the rotors as a motor and the other as a generator, the motor drive power and Since only the current corresponding to the difference in the generated power needs to flow through a single coil, the efficiency can be greatly improved.

Further, an inverter is provided for each of the two rotors.
In the case where one of the rotors is operated as a motor and the other is operated as a generator, as described above, it suffices to flow only a current corresponding to the difference between the motor driving power and the generated power to a single coil. Therefore, the capacitance of the power switching transistor of the inverter can be reduced, thereby improving the switching efficiency,
Overall efficiency is improved.

The outline of the prior application has been completed.

In the outline of the prior application, the control method has been generally described. Next, a concrete control method will be considered.

Here, there is a known vector control method as a method of controlling the rotating electric machine using the torque τ and the angular velocity ω as target values. However, in the case of a configuration in which a plurality of rotors are driven by a composite current as in the prior application, a known vector control method cannot be applied unless the composite current is separated into currents for each rotor.

Therefore, in one embodiment of the present invention, in order to separate the composite current flowing through the stator coil for each rotor for the rotating electric machine of the prior application, the simultaneous linear equations used for setting the composite current are solved to solve each rotor. Calculate the current for each.

Assuming that the rotating electric machine of the prior application has two three-phase AC motors having different pole pairs (outer motor and inner motor), as shown in FIG. It is necessary to provide one pair each, the vector control device for the outer motor from one current calculator 21 and the current controller 23,
The other current calculator 22 and current controller 24 constitute a vector controller for the inner motor. The contents of the current calculator and the current controller are described in detail in Japanese Patent Application Laid-Open No. 10-28304, but here, only the portions related to the present invention will be described.

First, the current calculator 21 calculates the excitation current command value I ₁ from the target torque τ _{1 of the} outer motor (the inner rotor 3) and the target motor angular velocity ω ₁ (calculated based on the magnetic pole position θ ₁ of the outer motor). d * and the torque current command value I ₁ q *, and the current calculator 22 calculates the target torque τ _{2 of the} inner motor (the inner rotor 4) and the target motor angular velocity ω ₂ (the magnetic pole position θ _{2 of the} inner motor).
The excitation current command value I ₂ d * and the torque current command value I ₂ q * are calculated respectively, and the current controller 23 follows the current command values I ₁ d * and I ₁ q *, and In the current controller 24, current control is performed in accordance with the current command values I ₂ d * and I ₂ q *.

This current control will be described with reference to the block diagram of FIG.

Referring to FIG. 4, a current separation calculator 31 detects composite currents I ₁ -I ₁ -I detected by a current sensor (not shown).
I ₁₂ is the outer motor current Ia, Ib, Ic and the inner motor current Id, I
e and If are separated.

More specifically, in the case where the setting of the composite current is the above equation (2), four arithmetic operations are performed for current separation. Therefore, instead of the underline below the current symbol, a negative sign is added before the symbol. Mark. According to this display, Equation 2 is expressed as follows.

[0057]

[Equation 4] I ₁ = Ia + Id (4-1) I ₂ = -Ic (4-2) I ₃ = Ib-If (4-3) I ₄ = -Ia・ ・ ・ (4-4) I ₅ ＝ Ic + Ie ・ ・ ・ (4-5) I ₆ ＝ -Ib ・ ・ ・ (4-6) I ₇ ＝ Ia-Id ・ ・ ・ (4-7) I ₈ = -Ic ・ ・ ・ (4-8) I ₉ ＝ Ib + If ・ ・ ・ (4-9) I ₁₀ ＝ -Ia ・ ・ ・ (4-10) I ₁₁ ＝ Ic-Ie ・ ・ ・ (4 -11) I ₁₂ = -Ib
... (4-12) In equation (4), if a right-hand expression is first searched for a monomial expression,

[0058]

Equation 5] Ia = -I ₄ or Ia = -I ₁₀ Ib = because it is -I ₆ or Ib = -I ₁₂ Ic = -I ₂ or Ic = -I _8, the composite current I ₄ detected (or I ₁₀ ), I ₆
By substituting I (or I ₁₂ ) and I ₂ (or I ₈ ) into Equation 5, the outer motor currents Ia, Ib, and Ic can be obtained.

Next, the inner motor currents Id, Ie and If can be obtained by any one of the following equations (6), (7) and (8).

[0060]

(Equation 6) Equation (4-1) + Equation (4-4): I ₁ + I ₄ = Ia + Id-Ia = Id -5Id = I ₁ + I ₄ (4-5) Equation + (4-8 ) Formula: I ₅ + I ₈ = Ic + Ie-Ic = Ie ∴Ie = I ₅ + I ₈ (4-9) Formula + (4-12) Formula: I ₉ + I ₁₂ = Ib + If-Ib = If ∴If = I ₉ + I ₁₂

[0061]

(Equation 7) Equation (4-1) -Equation (4-7): I ₁ -I ₇ = 2Id ∴Id = (1/2) (I ₁ -I ₇ ) (4-5) Equation- (4- Formula 11): I ₅ -I ₁₁ = 2Ie ∴Ie = (1/2) (I ₅ -I ₁₁ ) Formula (4-9) -Formula (4-3): I ₉ -I ₃ = 2If ∴If = (1/2) (I ₉ -I ₃ )

[0062]

(Equation 8) Equation (4-7) + Equation (4-10): I ₇ + I ₁₀ = Ia-Id-Ia = -Id ∴Id =-(I ₇ + I ₁₀ ) Equation (4-8) + Formula (4-11): I ₈ + I ₁₁ = -Ic + Ic-Ie = -Ie ∴Ie =-(I ₈ + I ₁₁ ) Formula (4-3) + Formula (4-6): I ₃ + I ₆ = Ib−If−Ib = −If ∴If = − (I ₃ + I ₆ ) Next, what is the control content of the current controller 23 for the outer motor and the control content of the current controller 24 for the inner motor? Since it is similar,
The current controller 23 for the outer motor will be mainly described.

The current controller 23 includes a coordinate converter 41, a PI controller
42, 43, a non-interference controller 44, a 2-3 phase coordinate converter 45, a dead time compensator 46, and the like.

[0064] The coordinate transformation unit 41, using the magnetic pole position theta ₁ of the outer motor, the outer motor current Ia, Ib, Ic is the exciting component current I
It is converted into ₁ d and torque component current I ₁ q. In the PI control unit 42, the PI according to the difference between the excitation component current command value I ₁ d * and the excitation component current I ₁ d
Control is performed, and another PI control unit 43 performs PI control according to the difference between the torque component current command value I ₁ q * and the torque component current I ₁ q.

In the non-interference control section 44, the excitation current command value I ₁
Voltage command values V ₁ dc and V ₁ qc for removing interference between the d-axis and the q-axis are calculated from d * and the current command value I ₁ q * for torque. The voltage command values V ₁ dc and V ₁ qc calculated by the non-interference controller 44 are PI
Voltage command values V ₁ d, V added to the output voltages of the control units 42, 43
₁ q is converted by 2-3 phase coordinate converter 45 the voltage command values Va of using the magnetic pole position theta ₁ of the outer motor three-phase alternating current, Vb, to Vc.

The dead time compensating section 46 uses the magnetic pole position θ ₁ of the outer motor to calculate the dead time compensating voltage values Vad, Vb
d, Vcd are calculated, and the value obtained by adding the dead time compensation voltage values Vad, Vbd, Vcd to the three-phase AC voltage command values Va, Vb, Vc is the final three-phase AC voltage command value (outside motor command). Voltage values) Va, Vb, and Vc.

Similarly, the current controller 24 for the inner motor
The inner motor command voltage value Vd by using the magnetic pole position theta ₂ of the inner motor, Ve, Vf is obtained.

Referring back to FIG. 3, the PWM controller 25 to which two motor command voltage values Va, Vb, Vc and Vd, Ve, Vf from the current controllers 23, 24 are input generates 12 PWM signals. You.

The PWM controller 25 will be described with reference to FIG. 5. The PWM controller 25 comprises an adder 61, a triangular wave generator 62 and a comparator 63.

In the adder 61, the outer motor command voltage value V1
(t) (generic term for Va, Vb, Vc) and inner motor command voltage value V2 (t)
By adding together the phase and (Vd, Ve, general term for Vf), 12 pieces of command voltage value V ₁ ~V ₁₂ corresponding to the composite current I ₁ ~I ₁₂ described above

[0071]

V ₁ = Va + Vd V ₂ = Vc V ₃ = Vb + Vf V ₄ = Va V ₅ = Vc + Ve V ₆ = Vb V ₇ = Va + Vd V ₈ = Vc V ₉ = Vb + Vf V ₁₀ = Va V ₁₁ = Vc + Ve V ₁₂ = Vb .

[0072] In the equation (9), is underline that attached to the bottom of the voltage symbol reverse voltage (for example, if the V ₃ Vb
From Vf).

By comparing the twelve command voltage values V _{1 to} V ₁₂ with the triangular wave carrier (carrier) et (t) output from the triangular wave generator 62 in the comparator 63, the twelve PWM signals Pa ( t)
(Generic name of P ₁ to P ₁₂₎ is produced.

The operation of the PWM control device will be further described with reference to FIG. 6. The upper two stages in FIG. 6 show the operation of the conventional PWM controller. However, the command voltage is represented by one phase of the three-phase alternating current. In this case, the original command voltage is a voltage of ± amplitude.
Similarly, the triangular wave carrier is also set to one-sided amplitude. In this way, the PWM output waveform is obtained by further matching the amplitude of the triangular wave carrier and the command voltage, both of which have one-sided amplitude, and comparing the two. At this time, if the command voltage changes, the pulse width of the PWM output waveform changes, and power can be controlled by this.

On the other hand, the lower two stages correspond to the PWM of this embodiment.
4 illustrates the operation of the control device. In the present embodiment, what is compared with the triangular wave carrier is basically the sum of two command voltage values. Specifically, each command voltage value V1 from the current controllers 23 and 24 is
(t) and V2 (t) are voltages of one-sided amplitude, the triangular wave carrier is also one-sided amplitude, and two command voltage values V1 ′ (t) and V2 ′ (t) of one-sided amplitude are added. After making each zero point coincide with the triangular wave carrier et '(t) having one-sided amplitude, a comparison is made. Further, W1 + W2, which is the sum of the amplitudes of the command value voltages having one-sided amplitude, is set so as not to exceed the power supply voltage Vbat.

In the lower two rows of FIG. 6, V1 '(t) = 0 and V2' (t) are represented by one phase for easy understanding.

Although FIGS. 5 and 6 show the case where the PWM control is analog control, the same applies to digital processing.

As described above, in one embodiment of the present invention, the twelve composite currents I _{1 to} I ₁₂ flowing through the stator coil 6 are detected with the rotating electric machine 1 of the prior application shown in FIG. Thereafter, the current separation calculation unit 31 shown in FIG. 4 performs the four arithmetic operations shown in the above-described equations (5) and (6) (or equations (7) and (8)) to obtain the detected composite current I. _{1 to} I
₁₂ is the outer motor current Ia, Ib, Ic and the inner motor current Id, I
Since it is separated into e and If, vector control for each motor on the outside and inside is possible.

FIG. 7 is a control system diagram of the second embodiment.
FIG. 9 replaces FIG. 3 of the first embodiment, and FIG.
3 is a block diagram of the current controller 24 of FIG.

The first embodiment is suitable for the current setting represented by the above equation (2) (equation 4), whereas the second embodiment is adapted to the above equation (3). It is suitable for the current setting.

In this embodiment, the different points from the first embodiment will be mainly described. In FIG. 9, the current separation calculator 81 calculates the composite currents I _{1 to} I ₁₂ detected by the current sensors.
Outside motor current Ia, Ib, are separated into Ic and the inner motor current I _i ~I _xii.

Since the four arithmetic operations are performed even in this separation calculation, as in the first embodiment, in accordance with the display in which a negative sign is added before the sign in place of the underline below the electric current sign in Equation (3). For example, Equation 3 is expressed as follows.

[0083]

I ₁ = Ia + I _i I ₂ = -Ic + I _ii I ₃ = Ib + I _iii I ₄ = -Ia + I _iv I ₅ = Ic + I _v I ₆ = -Ib + I _vi I ₇ = Ia + I _vii I ₈ = -Ic + I _viii I ₉ = Ib + I _ix I ₁₀ = -Ia + I _x I ₁₁ = Ic + I _xi I ₁₂ = -Ib + I _xii use trying to solve simultaneous linear equations, and variables are combined 15 (Ia, Ib, twelve three and I _i ~I _xii of Ic 1
Since there are only 12 equations for (5), it is not possible to solve the simultaneous equations of equation 12 as it is.

However, the 12-phase AC waveform for the inner motor, which is determined by the second term on the right-hand side of Equation 12, has a characteristic in how a sine wave collapses, and can be replaced with a 6-phase AC (see FIG. 10). ). At this time, Equation 12 is expressed as follows.

[0085]

(13) I ₁ = Ia + I _i (13-1) I ₂ = -Ic + I _ii (13-2) I ₃ = Ib + I _iii (13-3) _{I 4 = -Ia + I iv ···} (13-4) I 5 = Ic + I v ··· (13-5) I 6 = -Ib + I vi ··· (13-6) I 7 = Ia-I _i・ ・ ・ (13-7) I ₈ ＝ -Ic-I _ii・ ・ ・ (13-8) I ₉ ＝ Ib-I _iii・ ・ ・ (13-9) I ₁₀ ＝ -Ia-I _iv・ ・ ・ (13-10) I ₁₁ ＝ Ic-I _v・ ・ ・ (13-11) I ₁₂ ＝ -Ib-I _vi・ ・ ・ (13-12) variable 9 (Ia, Ib, 3 pieces of Ic and I _i ~I 9 or six together in _vi), and the number of equations (1
2) Since it has become smaller, the simultaneous linear equations of Formula 13 can be solved. For example, from equation (13)

[0086]

Equation (13-1)-Equation (13-7): I ₁ -I ₇ = 2I _i ∴I _i = (1/2) (I ₁ -I ₇ ) (13-2) Equation-( Equation (13-8): I ₂ -I ₈ = 2I _ii ∴I _ii = (1/2) (I ₂ -I ₈ ) Equation (13-3)-Equation (13-9): I ₃ -I ₉ = 2I _iii ∴I _iii = (1/2) (I ₃ -I ₉ ) Equation (13-4)-Equation (13-10): I ₄ -I ₁₀ = 2I _iv ∴I _iv = (1/2) ( I ₄ -I ₁₀ ) (13-5) formula-(13-11 formula: I ₅ -I ₁₁ = 2I _v 2I _v = (1/2) (I ₅ -I ₁₁ ) (13-6) formula- Equation (13-12): I ₆ −I ₁₂ = 2I _vi ∴I _vi = (1/2) (I ₆ −I ₁₂ ), and the detected composite currents I _{1 to} I ₁₂ are calculated by this number. by substituting the equation (14), it is possible to separate the inner motor current I _i ~I _vi.

Further, the inner motor current I _i obtained by equation (14)
~ I _vi into Equation 13 to obtain the outer motor current I
a, Ib, Ic can be separated.

The inner motor current thus obtained
I _{i to} I _vi are coordinate conversion units 91, and the magnetic pole position θ ₂ of the inner motor is
Is used to convert the current into an excitation component current I ₂ d and a torque component current I ₂ q.

Returning to FIG. 7, in the second embodiment, a phase adjuster
71 and 72 are newly added.

FIG. 7 mainly explains the difference from the first embodiment. The phase adjuster 71 adjusts the phase of the outer motor command voltage value V1 (t) (Va, Vb, Vc). Accordingly, Figure 8 twelve command voltage value V1 ₁ ~V1 ₁₂ shown on the left side is generated. For example, when used as a Va to the command voltage value V1 _1, to generate a command voltage value V1 ₇ may be delayed by sentence half the Va used in V1 _1.

Another phase adjuster 72 adjusts the phase with respect to the inner motor command voltage value V2 (t) (Vd, Ve, Vf), thereby obtaining the twelve command voltage values shown on the right side of FIG. V2 ₁
To V2 _{1 2} is generated. Furthermore, the outer motor command voltage value V1
Since (t) and the inner motor command voltage value V2 (t) may be out of phase with each other, the phase adjuster 72 adjusts the phase so as to eliminate the phase shift.

The PWM control device 73 adds the outputs of the two phase adjusters 71 and 72 to obtain twelve command voltage values V ₁ corresponding to the composite currents I _{1 to} I ₁₂ of the above equation (3). ~ V ₁₂
But

[0093]

V ₁ = V1 ₁ + V2 ₁ = Va + V _i V ₂ = V1 ₂ + V2 ₂ = Vc + V _ii V ₃ = V1 ₃ + V2 ₃ = Vb + V _iii V ₄ = V1 ₄ + V2 _{4 = Va + V iv V 5} = V1 5 + V2 5 = Vc + V v V 6 = V1 6 + V2 6 = Vb + V vi V 7 = V1 7 + V2 7 = Va + V vii V 8 = V1 8 _{+ V2 8 = Vc + V viii} V 9 = V1 9 + V2 9 = Vb + V ix V 10 = V1 10 + V2 10 = Va + V x V 11 = V1 11 + V2 11 = Vc + V xi V 12 = V1 ₁₂ + V2 ₁₂ = Vb + V _xii , and these command voltage values V _{1 to} V ₁₂ are compared with the triangular wave carrier et (t) output from the triangular wave generator by a comparator, so that 12 PWM signal P ₁ to P ₁₂ of is generated.

The currents Id (t), Ie (t) and If (t) flowing according to the command voltage value input to the phase adjuster 72 are

[0095]

Id (t) = Ic ₂ (t) sin (ω ₂ t−β) Ie (t) = Ic ₂ (t) sin (ω ₂ t−β−2π / 3) If (t) = Ic ₂ (t) sin (ω ₂ t-β-4π / 3) where Ic ₂ (t): amplitude β: inside current phase difference, and given as command voltage value V2 ₁ which is the output of phase adjuster 72
To V2 12 pieces of the current I2 ₁ ~I2 ₁₂ flowing by ₁₂

[0096]

## EQU11 ## I2 ₁ = Ic ₂ (t) sin (ω ₂ t-β) I2 ₂ = Ic ₂ (t) sin (ω ₂ t-β-2π / 12) I2 ₃ = Ic ₂ (t) sin ( ω ₂ t-β-4π / 12) I2 ₄ = Ic ₂ (t) sin (ω ₂ t-β-6π / 12) I2 ₅ = Ic ₂ (t) sin (ω ₂ t-β-8π / 12) I2 ₆ = Ic ₂ (t) sin (ω ₂ t-β-10π / 12) I2 ₇ = Ic ₂ (t) sin (ω ₂ t-β-12π / 12) I2 ₈ = Ic ₂ (t) sin ( ω ₂ t-β-14π / 12) I2 ₉ = Ic ₂ (t) sin (ω ₂ t-β-16π / 12) I2 ₁₀ = Ic ₂ (t) sin (ω ₂ t-β-18π / 12) I2 ₁₁ = Ic ₂ (t) sin (ω ₂ t−β−20π / 12) I2 ₁₂ = Ic ₂ (t) sin (ω ₂ t−β−22π / 12)

As described above, also in the second embodiment in which the 12-phase current flows through the inner motor, the current separation calculation unit 81 shown in FIG. detection composite current I ₁ ~I ₁₂ inside the motor current from the Id, Ie, enables separation into If, by this,
As in the first embodiment, vector control for each of the outer and inner motors can be performed.

Incidentally, in the first embodiment, the current obtained separately from the detected composite current (also a detected value)
Are three-phase alternating currents, but do not trace accurate sine waves because they are currents that actually flow. In other words, since the current curve swinging to the plus side and the current curve swinging to the minus side are not the same even if the current curve is folded with reference to the zero line, the current curve can be obtained by using the above formulas 6, 7 and 8. The data of the inner motor currents Id, Ie, If may differ from each other.

Therefore, the inner motor currents Id and I obtained by using any two of the equations (6), (7) and (8)
The two data of e and If are averaged for each phase current, and the average value is used. The three data of the inner motor current Id, Ie, and If obtained by Expression 6, Expression 7, and Expression 8 are obtained. It is conceivable to stabilize data by averaging for each phase current and using the average value. Since the average value calculation here is a kind of filter processing, a weighted average may be considered.

In the embodiment, the configuration shown in FIG. 1, that is, the case where the ratio of the number of pole pairs of the outer rotor and the inner rotor is 2: 1 has been described. However, the present invention is not limited to this case. The same applies to a configuration in which the number of poles of the rotor is different or the number of coils is different, and when the ratio of the number of pole pairs of the outer rotor and the inner rotor is other than the combination of 2: 1.

In the embodiment, the configuration shown in FIG. 1, that is, the synchronous motor type has been described. However, the present invention can be applied to an induction motor type that has been filed almost simultaneously with the present invention. Can be.

[Brief description of the drawings]

FIG. 1 is a schematic sectional view of a rotary electric machine main body according to a first embodiment.

FIG. 2 is a schematic cross-sectional view of a rotating electric machine main body in which dedicated coils are arranged on an inner peripheral side and an outer peripheral side of a stator 2.

FIG. 3 is a control system diagram.

FIG. 4 is a block diagram of current controllers 23 and 24.

FIG. 5 is a schematic configuration diagram of a PWM control device 25.

FIG. 6 is a waveform chart showing the operation of the PWM control device.

FIG. 7 is a control system diagram of a second embodiment.

FIG. 8 is a table showing the operation of the phase adjusters 71 and 72.

FIG. 9 is a block diagram of a current controller 24 according to the second embodiment.

FIG. 10 is a waveform diagram showing a distribution of 12-phase AC and 6-phase AC.

FIG. 11 is a diagram corresponding to claims of the first invention.

FIG. 12 is a diagram corresponding to claims of the second invention. Reference Signs List 2 stator 3 outer rotor 4 inner rotor 6 coil 23, 24 current controller 25 PWM controller 31 current separation calculator 81 current separation calculator

Claims (6)

[Claims] The present invention comprises two rotors and one stator having a three-layer structure on the same axis, a single coil formed on the stator, and the single coil having the same number as the number of rotors. A rotating electric machine through which a composite current flows so as to generate a rotating magnetic field; an inverter that supplies the composite current to the single coil; and a unit that detects a composite current flowing through the single coil; Means for separately calculating the current into the current for each rotor, means for performing vector control for each rotor based on the separately calculated current for each rotor, a command voltage value and a triangular wave carrier obtained by this vector control. Means for generating a PWM signal by the comparison of the above, and outputting the generated PWM signal to the inverter. 2. A three-layer structure and at least one rotor having at least one induction coil formed on a same axis, wherein a single coil is formed on said stator, and said single coil is formed on said stator. A rotating electric machine through which a composite current flows so as to generate the same number of rotating magnetic fields as the number of rotors; an inverter supplying the composite current to the single coil; and detecting a composite current flowing through the single coil. Means for separating and calculating the detected composite current into currents for the respective rotors; means for performing vector control for each rotor based on the separated and calculated currents for the respective rotors; Means for generating a PWM signal by comparing the command voltage value and the triangular wave carrier, and outputting the generated PWM signal to the inverter. Control device. 3. An equation used for setting the composite current is simultaneously set,
3. The control device for a rotating electric machine according to claim 1, wherein a calculation formula obtained by solving the simultaneous linear equation for the current of each rotor is used for the separation calculation of the composite current. 4. 4. The control device for a rotating electric machine according to claim 3, wherein when the current for at least one of the rotors is a 12-phase alternating current, the composite current is set instead of the 6-phase alternating current. . 5. A plurality of formulas for calculating the current for each rotor obtained by solving the simultaneous linear equations, which are different in the method of calculating the current for each rotor, are prepared. 4. The control device for a rotating electric machine according to claim 3, wherein a filter process is performed on a plurality of data obtained by the calculation formula. 6. The control device for a rotating electric machine according to claim 5, wherein said filter processing is an average value calculation.