Device for controlling AC rotary machine and device for controlling electric power steering
When an AC rotary machine having a rotor structure for generating saliency, and including first three-phase windings and second three-phase windings is controlled, a first position estimation command to be superimposed on a voltage command or a current command directed to each of the first three-phase windings and a second position estimation command to be superimposed on a voltage command or a current command directed to each of the second three-phase windings are set to have the same frequency, and caused to have a phase difference, thereby increasing an estimation accuracy of a rotation position of the AC rotary machine.
1. A control device for a rotary machine, comprising:
an AC rotary machine having a rotor structure for generating saliency, and including first three-phase windings and second three-phase windings;
a first current detector configured to detect a current flowing through each of the first three-phase windings as a first winding current;
a second current detector configured to detect a current flowing through each of the second three-phase windings as a second winding current;
a controller configured to calculate a first voltage command so that the first winding current detected by the first current detector matches a first current command, which is a command value directed to the first winding current, and to calculate a second voltage command so that the second winding current detected by the second current detector matches a second current command, which is a command value directed to the second winding current;
a first power converter configured to apply a voltage to each phase of the first three-phase windings based on the first voltage command;
a second power converter configured to apply a voltage to each phase of the second three-phase windings based on the second voltage command;
a first position estimation command generator configured to generate a first position estimation command having a first frequency;
a second position estimation command generator configured to generate a second position estimation command having the first frequency; and
a rotation position estimator configured to extract an amplitude value of a component of the first frequency based on at least one of the first winding current or the second winding current, to thereby estimate a rotation position of the AC rotary machine based on a magnitude of the amplitude value, wherein:
the first position estimation command generator and the second position estimation command generator are configured to output the first position estimation command and the second position estimation command, respectively, while providing a phase difference between the first position estimation command and the second position estimation command; and
the controller is configured to superimpose the first position estimation command on the first voltage command to output a result of superimposition to the first power converter, and to superimpose the second position estimation command on the second voltage command to output a result of superimposition to the second power converter.
2. A control device for a rotary machine according to claim 1 , wherein the rotation position estimator is configured to estimate the rotation position of the AC rotary machine based on a value obtained by subtracting the second winding current from the first winding current.
3. A control device for a rotary machine according to claim 2 , wherein:
the first three-phase windings and the second three-phase windings of the AC rotary machine have a phase difference of a real value being X degrees;
the controller is configured to carry out superimposition of the first position estimation command and the second position estimation command on stationary coordinates; and
the first position estimation command generator and the second position estimation command generator are configured to output the first position estimation command and the second position estimation command, respectively, so that the phase difference δ has a value of X+30 degrees≤δ≤X+300 degrees.
4. A control device for a rotary machine according to claim 1 , wherein:
the first three-phase windings and the second three-phase windings of the AC rotary machine have a phase difference of a real value being X degrees;
the controller is configured to carry out superimposition of the first position estimation command and the second position estimation command on stationary coordinates; and
the first position estimation command generator and the second position estimation command generator are configured to output the first position estimation command and the second position estimation command, respectively, so that the phase difference δ has a value of X+60 degrees≤δ≤X+270 degrees.
5. A control device for a rotary machine according to claim 1 , wherein:
the controller is configured to carry out superimposition of a component of the first position estimation command and a component of the second position estimation command that are respectively parallel with an estimated magnetic flux direction on rotational two-axis coordinates; and
the first position estimation command generator and the second position estimation command generator are configured to output the first position estimation command and the second position estimation command, respectively, so that the phase difference δ has a value of 30 degrees≤δ≤270 degrees.
6. A control device for a rotary machine according to claim 1 , wherein:
the controller is configured to carry out superimposition of the first position estimation command and the second position estimation command on a component perpendicular to an estimated magnetic flux direction on rotational two-axis coordinates; and
the first position estimation command generator and the second position estimation command generator are configured to output the first position estimation command and the second position estimation command, respectively, so that the phase difference δ has a value of 90 degrees≤δ≤330 degrees.
7. A control device for an electric power steering, comprising the control device for an rotary machine of claim 1 ,
wherein the controller is configured to calculate the first voltage command and the second voltage command so that the AC rotary machine generates a torque for assisting a steering torque of a steering system.
8. A control device for a rotary machine, comprising:
an AC rotary machine having a rotor structure for generating saliency, and including first three-phase windings and second three-phase windings;
a first current detector configured to detect a current flowing through each of the first three-phase windings as a first winding current;
a second current detector configured to detect a current flowing through each of the second three-phase windings as a second winding current;
a controller configured to calculate a first voltage command so that the first winding current detected by the first current detector matches a first current command, which is a command value directed to the first winding current, and to calculate a second voltage command so that the second winding current detected by the second current detector matches a second current command, which is a command value directed to the second winding current;
a first power converter configured to apply a voltage to each phase of the first three-phase windings based on the first voltage command;
a second power converter configured to apply a voltage to each phase of the second three-phase windings based on the second voltage command;
a first position estimation command generator configured to generate a first position estimation command having a first frequency;
a second position estimation command generator configured to generate a second position estimation command having the first frequency; and
a rotation position estimator configured to extract an amplitude value of a component of the first frequency based on at least one of the first voltage command or the second voltage command, to thereby estimate a rotation position of the AC rotary machine based on a magnitude of the amplitude value, wherein:
the first position estimation command generator and the second position estimation command generator are configured to output the first position estimation command and the second position estimation command, respectively, while providing a phase difference between the first position estimation command and the second position estimation command; and
the controller is configured to calculate the first voltage command while setting a value obtained by superimposing the first position estimation command on the first current command to a new first current command, and to calculate the second voltage command while setting a value obtained by superimposing the second position estimation command on the second current command to a new second current command.
9. A control device for a rotary machine according to claim 8 , wherein the rotation position estimator is configured to estimate the rotation position of the AC rotary machine based on a value obtained by subtracting the second voltage command from the first voltage command.