Controller for AC rotary electric machine

1. A controller for AC rotary electric machine that controls an AC rotary electric machine which is provided with armature windings of n phases (n is a natural number greater than or equal to two) via an inverter, the controller for AC rotary electric machine comprising at least one processor configured to:

detect or estimate an electrical angle and an electrical angle speed of a rotor of the AC rotary electric machine;

calculate interlinkage flux command values of a first-axis and a second-axis on a two-axis rotating coordinate system consisting of the first-axis and the second-axis which rotates synchronizing with rotation of the electrical angle of the rotor;

calculate interlinkage flux model response values of the first-axis and the second-axis by performing a response delay processing of a model response to the interlinkage flux command values of the first-axis and the second-axis;

calculate voltage command values of the first-axis and the second-axis which make interlinkage fluxes of the first-axis and the second-axis change to the interlinkage flux model response values of the first-axis and the second-axis in a feedforward manner, based on the interlinkage flux model response values of the first-axis and the second-axis, and the electrical angle speed;

calculate AC voltage command values of n phases which are voltage command values applied to the armature windings of n phases, based on the voltage command values of the first-axis and the second-axis, and the electrical angle; and

control on/off plural switching devices provided in the inverter, based on the AC voltage command values of n phases.

2. The controller for AC rotary electric machine according to claim 1 ,

wherein the processor is further configured to calculate the voltage command value of the first-axis, by totaling at least a time differential value of the interlinkage flux model response value of the first-axis, and a value obtained by multiplying the electrical angle speed and −1 to the interlinkage flux model response value of the second-axis; and

calculate the voltage command value of the second-axis, by totaling at least a time differential value of the interlinkage flux model response value of the second-axis, and a value obtained by multiplying the electrical angle speed to the interlinkage flux model response value of the first-axis.

3. The controller for AC rotary electric machine according to claim 2 ,

wherein the processor is further configured to calculate the time differential values of the interlinkage flux model response values of the first-axis and the second-axis, by performing a calculation which combined a time differential and the response delay processing of the model response, to the interlinkage flux command values of the first-axis and the second-axis.

4. The controller for AC rotary electric machine according to claim 2 ,

wherein the processor further calculates the time differential value of the interlinkage flux model response value of the first-axis, by dividing a value obtained by subtracting the interlinkage flux model response value of the first-axis from the interlinkage flux command value of the first-axis, by a time constant of the response delay processing of the model response; and

calculate the time differential value of the interlinkage flux model response value of the second-axis, by dividing a value obtained by subtracting the interlinkage flux model response value of the second-axis from the interlinkage flux command value of the second-axis, by the time constant of the response delay processing of the model response.

5. The controller for AC rotary electric machine according to claim 1 ,

wherein the processor is further configured to calculate the voltage command value of the first-axis, by totaling a time differential value of the interlinkage flux model response value of the first-axis, a value obtained by multiplying the electrical angle speed and −1 to the interlinkage flux model response value of the second-axis, and a value obtained by multiplied a winding resistance value to a current value corresponding to model response of the first-axis which is a current value of the first-axis corresponding to the interlinkage flux model response values of the first-axis and the second-axis;

calculate the voltage command value of the second-axis, by totaling a time differential value of the interlinkage flux model response value of the second-axis, a value obtained by multiplying the electrical angle speed to the interlinkage flux model response value of the first-axis, and a value obtained by multiplying the winding resistance value to a current value corresponding to model response of the second-axis which is a current value of the second-axis corresponding to the interlinkage flux model response values of the first-axis and the second-axis; and

using a current-interlinkage flux conversion characteristic data of the first-axis whose input values are set to the current values of the first-axis and the second-axis and whose output value is set to the interlinkage flux of the first-axis, and a current-interlinkage flux conversion characteristic data of the second-axis whose input values are set to the current values of the first-axis and the second-axis and whose output value is set to the interlinkage flux of the second-axis, search the current values corresponding to model response of the first-axis and the second-axis corresponding to the interlinkage flux model response values of the first-axis and the second-axis by iterative calculation.

6. The controller for AC rotary electric machine according to claim 5 , wherein the processor is further configured to calculate performs the iterative calculation which does not use a slope information of an interlinkage flux with respect a current value.

7. The controller for AC rotary electric machine according to claim 5 , wherein the processor is further configured to calculate sets initial values of the current values corresponding to model response of the first-axis and the second-axis for this time search, to the current values corresponding to model response of the first-axis and the second-axis which were searched last time.

8. The controller for AC rotary electric machine according to claim 1 ,

wherein the processor is further configured to calculate the voltage command value of the first-axis, by totaling a time differential value of the interlinkage flux model response value of the first-axis, a value obtained by multiplying the electrical angle speed and −1 to the interlinkage flux model response value of the second-axis, and a value obtained by multiplied a winding resistance value to a current value corresponding to model response of the first-axis which is a current value of the first-axis corresponding to the interlinkage flux model response values of the first-axis and the second-axis;

calculate the voltage command value of the second-axis, by totaling a time differential value of the interlinkage flux model response value of the second-axis, a value obtained by multiplying the electrical angle speed to the interlinkage flux model response value of the first-axis, and a value obtained by multiplying the winding resistance value to a current value corresponding to model response of the second-axis which is a current value of the second-axis corresponding to the interlinkage flux model response values of the first-axis and the second-axis; and

referring to an interlinkage flux-current conversion characteristic data of the first-axis whose input values are set to interlinkage fluxes of the first-axis and the second-axis and whose output value is set to a current value of the first-axis, and an interlinkage flux-current conversion characteristic data of the second-axis whose input values are set to interlinkage fluxes of the first-axis and the second-axis and whose output value is set to a current value of the second-axis, calculate the current values corresponding to model response of the first-axis and the second-axis corresponding to the interlinkage flux model response values of the first-axis and the second-axis.

9. The controller for AC rotary electric machine according to claim 1 , wherein the processor is further configured to use a filter processing as the response delay processing of the model response.

10. A controller for AC rotary electric machine that controls an AC rotary electric machine which is provided with armature windings of n phases (n is a natural number greater than or equal to two) via an inverter, the controller for AC rotary electric machine comprising at least one processor configured to:

detect or estimate an electrical angle and an electrical angle speed of a rotor of the AC rotary electric machine;

calculate current command values of a first-axis and a second-axis on a two-axis rotating coordinate system consisting of the first-axis and the second-axis which rotate synchronizing with rotation of the electrical angle of the rotor;

calculate current model response values of the first-axis and the second-axis by performing a response delay processing of a model response to the current command values of the first-axis and the second-axis;

calculate interlinkage fluxes corresponding to model response of the first-axis and the second-axis based on the current model response values of the first-axis and the second-axis, and calculates voltage command values of the first-axis and the second-axis on the two-axis rotating coordinate system which make currents of the first-axis and the second-axis change to the current model response values of the first-axis and the second-axis in a feedforward manner, based on the current model response values of the first-axis and the second-axis, the interlinkage fluxes corresponding to model response of the first-axis and the second-axis, and the electrical angle speed; and

calculate AC voltage command values of n phases which are voltage command values applied to the armature windings of n phases, based on the voltage command values of the first-axis and the second-axis, and the electrical angle; and

control on/off plural switching devices provided in the inverter, based on the AC voltage command values of n phases; and

wherein the processor is further configured to calculate the voltage command value of the first-axis, by totaling at least a value obtained by multiplying a time differential value of the current model response value of the first-axis to a first-axis current differential first-axis inductance obtained by partially differentiating an interlinkage flux of the first-axis with respect to a current of the first-axis, a value obtained by multiplying a time differential value of the current model response value of the second-axis to a second-axis current differential first-axis inductance obtained by partially differentiating an interlinkage flux of the first-axis with respect to a current of the second-axis, and a value obtained by multiplying the electrical angle speed and −1 to the interlinkage flux corresponding to model response of the second-axis; and

calculate the voltage command value of the second-axis, by totaling at least a value obtained by multiplying a time differential value of the current model response value of the first-axis to a first-axis current differential second-axis inductance obtained by partially differentiating an interlinkage flux of the second-axis with respect to a current of the first-axis, a value obtained by multiplying a time differential value of the current model response value of the second-axis to a second-axis current differential second-axis inductance obtained by partially differentiating an interlinkage flux of the second-axis with respect to a current of the second-axis, and a value obtained by multiplying the electrical angle speed to the interlinkage flux corresponding to model response of the first-axis.

11. The controller for AC rotary electric machine according to claim 10 ,

wherein, referring to a first-axis current differential first-axis inductance characteristic data whose input values are set to the current values of the first-axis and the second-axis and whose output value is set to the first-axis current differential first-axis inductance, a second-axis current differential first-axis inductance characteristic data whose input values are set to the current values of the first-axis and the second-axis and whose output value is set to the second-axis current differential first-axis inductance, a first-axis current differential second-axis inductance characteristic data whose input values are set to the current values of the first-axis and the second-axis and whose output value is set to the first-axis current differential second-axis inductance, and a second-axis current differential second-axis inductance characteristic data whose input values are set to the current values of the first-axis and the second-axis and whose output value is set to the second-axis current differential second-axis inductance, the processor is further configured to calculate the first-axis current differential first-axis inductance, the second-axis current differential first-axis inductance, the first-axis current differential second-axis inductance, and the second-axis current differential second-axis inductance, corresponding to the current model response values of the first-axis and the second-axis.

12. The controller for AC rotary electric machine according to claim 10 , wherein the processor is further configured to calculate time differential values of the current model response values of the first-axis and the second-axis, by performing a calculation which combined a time differential and the response delay processing of the model response, to the current command values of the first-axis and the second-axis.

13. The controller for AC rotary electric machine according to claim 10 ,

wherein the processor is further configured to calculate time differential value of the current model response value of the first-axis, by dividing a value obtained by subtracting the current model response value of the first-axis from the current command value of the first-axis, by a time constant of the response delay processing of the model response; and

calculate the time differential value of the current model response value of the second-axis, by dividing a value obtained by subtracting the current model response value of the second-axis from the current command value of the second-axis, by the time constant of the response delay processing of the model response.

14. A controller for AC rotary electric machine that controls an AC rotary electric machine which is provided with armature windings of n phases (n is a natural number greater than or equal to two) via an inverter, the controller for AC rotary electric machine comprising at least one processor configured to:

detect or estimate an electrical angle and an electrical angle speed of a rotor of the AC rotary electric machine;

calculate current command values of a first-axis and a second-axis on a two-axis rotating coordinate system consisting of the first-axis and the second-axis which rotate synchronizing with rotation of the electrical angle of the rotor;

calculate current model response values of the first-axis and the second-axis by performing a response delay processing of a model response to the current command values of the first-axis and the second-axis;

calculate interlinkage fluxes corresponding to model response of the first-axis and the second-axis based on the current model response values of the first-axis and the second-axis, and calculates voltage command values of the first-axis and the second-axis on the two-axis rotating coordinate system which make currents of the first-axis and the second-axis change to the current model response values of the first-axis and the second-axis in a feedforward manner, based on the current model response values of the first-axis and the second-axis, the interlinkage fluxes corresponding to model response of the first-axis and the second-axis, and the electrical angle speed; and

calculate AC voltage command values of n phases which are voltage command values applied to the armature windings of n phases, based on the voltage command values of the first-axis and the second-axis, and the electrical angle; and

control on/off plural switching devices provided in the inverter, based on the AC voltage command values of n phases;

wherein, referring to a current-interlinkage flux conversion characteristic data of the first-axis whose input values are set to the current values of the first-axis and the second-axis and whose output value is set to the interlinkage flux of the first-axis, and a current-interlinkage flux conversion characteristic data of the second-axis whose input values are set to the current values of the first-axis and the second-axis and whose output value is set to the interlinkage flux of the second-axis, the processor is further configured to calculate the interlinkage fluxes corresponding to model response of the first-axis and the second-axis which are the interlinkage fluxes of the first-axis and the second-axis corresponding to the current model response values of the first-axis and the second-axis.

15. The controller for AC rotary electric machine according to claim 10 , wherein the processor is further configured to use a filter processing as the response delay processing of the model response.