Rotating machine control device and electric power steering control device
A control unit includes: control command generation means for generating a first control command and a second control command that specifies currents to flow through a first winding set and second winding set respectively; voltage calculation means for calculating a first voltage command from the first control command and calculating a second voltage command from the second control command; and first voltage application means and second voltage application means for applying voltages to the first winding set and the second winding set of a rotating machine on the basis of the first voltage command and the second voltage command, wherein discharge control for electric charge of a smoothing capacitor is performed while torque generated by current flowing from the smoothing capacitor to the first winding set and torque generated by current flowing from the capacitor to the second winding set are cancelled out with each other.
1. A control device for a rotating machine having a stator including a first winding set and a second winding set, the control device comprising:
a relay for supplying or interrupting current from a DC power supply;
a capacitor for suppressing variation in current supplied from the DC power supply;
control command generator for generating a first control command that specifies current to flow through the first winding set, and a second control command that specifies current to flow through the second winding set;
voltage calculator for calculating a first voltage command from the first control command and calculating a second voltage command from the second control command;
first voltage energizer for applying voltage to the first winding set on the basis of the first voltage command; and
second voltage energizer for applying voltage to the second winding set on the basis of the second voltage command, wherein
electric discharge control for electric charge of the capacitor is performed while torque generated by current flowing from the capacitor to the first winding set and torque generated by current flowing from the capacitor to the second winding set are cancelled out with each other,
wherein the first control command and the second control command are a first current command and a second current command in a rotating two-axis coordinate system, respectively, and the first current command and the second current command have phases opposite to each other.
2. The control device for the rotating machine according to claim 1 , wherein
d-axis current commands and q-axis current commands in the first current command and the second current command are not zero.
3. The control device for the rotating machine according to claim 1 , wherein
in the first current command and the second current command, d-axis current commands are zero and q-axis current commands are not zero.
4. The control device for the rotating machine according to claim 1 , wherein
in the first current command and the second current command, d-axis current commands are not zero and q-axis current commands are zero.
5. The control device for the rotating machine according to claim 1 , wherein
while the rotating machine is rotating, the voltage calculator performs electric discharge control for the capacitor when copper loss due to current flowing through the winding set that generates torque in a direction opposite to the rotation is greater than regenerative power due to the rotation of the rotating machine.
6. The control device for the rotating machine according to claim 1 , further comprising rotation speed detector for detecting a rotation speed of the rotating machine, wherein
electric discharge control is performed when the rotation speed of the rotating machine is smaller than such a rotation speed that decrease in electrostatic energy of the capacitor due to copper loss during the electric discharge control is equal to increase in electrostatic energy of the capacitor due to regeneration.
7. The control device for the rotating machine according to claim 1 , wherein
while the rotating machine is rotating, the control command generator switches phases of the first current command and the second current command therebetween during electric discharge of the capacitor.
8. The control device for the rotating machine according to claim 1 , wherein
the capacitor comprises a first capacitor corresponding to the first winding set and a second capacitor corresponding to the second winding set,
the first capacitor is connected in parallel to the first voltage energizer and is subjected to electric discharge control by current flowing to the first winding set, and
the second capacitor is connected in parallel to the second voltage energizer and is subjected to electric discharge control by current flowing to the second winding set.
9. The control device for the rotating machine according to claim 1 , wherein
when one of the first winding set and the second winding set is abnormal, a d-axis current command in the current command for the normal winding set is set to be not zero, and a q-axis current command in the current command for the normal winding set is set to zero.
10. The control device for the rotating machine according to claim 9 , wherein
when one of the first winding set and the second winding set is abnormal, the d-axis current command in the current command for the normal winding set is set to a positive value.
11. The control device for the rotating machine according to claim 9 , wherein
the control command generator sets the d-axis current command in the current command for the normal winding set so as to cause torque generated by current flowing through the normal winding set to be equal to or smaller than mechanical loss in the rotating machine and a mechanism that connects the rotating machine.
12. The control device for the rotating machine according to claim 1 , wherein
the voltage calculator performs the calculation with an angle of the rotating machine set to be constant during execution of the electric discharge control.
13. A control device for a rotating machine having a stator including a first winding set and a second winding set, the control device comprising:
a relay for supplying or interrupting current from a DC power supply;
a capacitor for suppressing variation in current supplied from the DC power supply;
control command generator for generating a first control command that specifies current to flow through the first winding set, and a second control command that specifies current to flow through the second winding set;
voltage calculator for calculating a first voltage command from the first control command and calculating a second voltage command from the second control command;
first voltage energizer for applying voltage to the first winding set on the basis of the first voltage command; and
second voltage energizer for applying voltage to the second winding set on the basis of the second voltage command, wherein
electric discharge control for electric charge of the capacitor is performed while torque generated by current flowing from the capacitor to the first winding set and torque generated by current flowing from the capacitor to the second winding set are cancelled out with each other, wherein
the first voltage command and the second voltage command are voltage commands in a rotating two-axis coordinate system and have phases opposite to each other.
14. The control device for the rotating machine according to claim 13 , wherein
in a case where a phase difference between current flowing through the first winding set and current flowing through the second winding set is nπ/3, n being an integer not less than 0, if
a voltage command for A phase in the first voltage command is Va,
a voltage command for B phase in the first voltage command is −Va,
a voltage command for C phase in the second voltage command is −Va, and
a voltage command for D phase in the second voltage command is Va.
15. The control device for the rotating machine according to claim 13 , wherein
in a case where a phase difference between current flowing through the first winding set and current flowing through the second winding set is (π/6+nπ/3), n being an integer not less than 0, if a voltage command for A phase in the first voltage command is Va and a voltage command for B phase in the first voltage command is −Va,
a voltage command for C phase, in the second voltage command, which coincides with a synthetic vector of the voltage command for A phase and the voltage command for B phase in the first voltage command is −2Va/√3, and
voltage command values for D phase and E phase in the second voltage command are Va/√3.
16. The control device for the rotating machine according to claim 13 , wherein
in a case where a phase difference between current flowing through the first winding set and current flowing through the second winding set is (π/6+nπ/3), n being an integer not less than 0, if a voltage command for A phase in the first voltage command is Va and a voltage command for B phase in the first voltage command is −Va,
a voltage command for C phase, in the second voltage command, which coincides with a synthetic vector of the voltage command for A phase and the voltage command for B phase in the first voltage command is 2Va/√3, and
voltage commands for D phase and E phase in the second voltage command are −Va/√3.
17. The control device for the rotating machine according to claim 14 , wherein
the first voltage energizer turns on a switching element for A phase among switching elements of upper arms thereof, turns on a switching element for B phase among switching elements of lower arms thereof, and turns off switching elements other than A phase of the switching elements of the upper arms and B phase of the switching elements of the lower arms, and
the second voltage energizer turns on or off switching elements thereof so as to obtain a voltage vector having a phase opposite to that of a voltage vector obtained by the first voltage energizer.
18. The control device for the rotating machine according to claim 17 , wherein
in a case where the first voltage energizer or the second voltage energizer has a phase in which open-circuit failure occurs in at least one of switching elements of an upper arm and a lower arm thereof, the first voltage energizer or the second voltage energizer turns off the switching element of the arm that has the same phase as and is located on a side opposite to the arm having the switching element in which the open-circuit failure occurs.
19. The control device for the rotating machine according to claim 1 , further comprising relay controller for controlling opening and closing of the relay, wherein
the electric discharge control is performed in a state in which the relay is opened.
20. The control device for the rotating machine according to claim 1 , further comprising relay failure determinator for performing determination as to failure of the relay on the basis of voltage of a load-side contact of the relay.
21. The control device for the rotating machine according to claim 20 , wherein
the relay failure determinator performs determination as to failure of the relay after electric discharge control for the capacitor.
22. The control device for the rotating machine according to claim 1 , wherein
the voltage calculator performs electric discharge control for the capacitor intermittently at predetermined time intervals.
23. The control device for the rotating machine according to claim 1 , wherein
the voltage calculator performs electric discharge control for the capacitor at a time of shutting down.
24. The control device for the rotating machine according to claim 1 , further comprising:
first switching signal generator for generating a first switching signal on the basis of the first voltage command and outputting the first switching signal to the first voltage energizer; and
second switching signal generator for generating a second switching signal on the basis of the second voltage command and outputting the second switching signal to the second voltage energizer.
25. An electric power steering control device comprising:
the control device for the rotating machine according to claim 1 ;
torque detector for detecting steering torque of a vehicle and transmitting a torque detection signal to the control device for the rotating machine; and
a rotating machine which is controlled by the control device for the rotating machine and generates assist torque for assisting the steering torque.