Control device
A control device for a rotating electrical machine, which is able to reduce a tracking delay of an actual output torque and actual currents with respect to a fluctuating torque command and fluctuating current commands and to reduce steady state deviations, is obtained. The control device includes a torque current computing unit; an actual current computing unit; a current feedback control unit; and a voltage control unit that controls voltages on the basis of the two-phase voltage commands. The torque command includes a fluctuation cancellation torque command for cancelling transmission torque fluctuations transmitted from the internal combustion engine, and the current feedback control unit includes a harmonic controller that calculates the two-phase voltage commands by using a characteristic of a transfer function corresponding to a periodic function of a frequency of the transmission torque fluctuations.
1. A control device used to control a rotating electrical machine that is drivably coupled to an internal combustion engine and that is drivably coupled to a wheel, comprising:
a torque current computing unit that uses a two-axis rotating coordinate system that is a rotating coordinate system having two axes that rotate in synchronization with rotation of the rotating electrical machine, and that computes two-phase current commands, which express current commands to be flowed through the rotating electrical machine in the two-axis rotating coordinate system, on the basis of a torque command that the rotating electrical machine is caused to output;
an actual current computing unit that computes two-phase actual currents expressed in the two-axis rotating coordinate system on the basis of actual currents flowing through the rotating electrical machine;
a current feedback control unit that varies two-phase voltage commands, which express voltage commands to be applied to the rotating electrical machine in the two-axis rotation coordinate system, such that the two-phase actual currents approach the two-phase current commands; and
a voltage control unit that controls voltages to be applied to the rotating electrical machine on the basis of the two-phase voltage commands, wherein
the torque command includes a fluctuation cancellation torque command that is a torque command for cancelling transmission torque fluctuations that are torque fluctuations transmitted from the internal combustion engine to the rotating electrical machine, and
the current feedback control unit includes a harmonic controller that calculates the two-phase voltage commands by using a characteristic of a transfer function corresponding to a periodic function of a torque fluctuation frequency that is a frequency of the transmission torque fluctuations.
2. The control device according to claim 1 , wherein
the harmonic controller calculates the two-phase voltage commands by using an operator having a characteristic of a transfer function corresponding to a sinusoidal wave or cosinusoidal wave of the torque fluctuation frequency.
3. The control device according to claim 1 , wherein
the harmonic controller calculates the two-phase voltage commands by using a characteristic in which characteristics of transfer functions corresponding to respective periodic functions of frequencies that are natural number multiples of 1 to n (n is a natural number larger than or equal to 2) of the torque fluctuation frequency are arranged in parallel with each other.
4. The control device according to claim 1 , wherein
the current feedback control unit includes: a proportional-plus-integral controller that calculates fundamental voltage commands through proportional computation and integral computation on the basis of deviations between the two-phase actual currents and the two-phase current commands; and the harmonic controller that calculates harmonic voltage commands through computation using the characteristic of the transfer function corresponding to the periodic function of the torque fluctuation frequency on the basis of the deviations, and the current feedback control unit calculates the two-phase voltage commands by adding the fundamental voltage commands to the harmonic voltage commands.
5. The control device according to claim 1 , wherein
the fluctuation cancellation torque command includes a sinusoidal component or cosinusoidal component of the frequency of the transmission torque fluctuations.