JP4155155B2 - Magnetic noise reduction method for AC rotating electrical machine and motor control apparatus using the same - Google Patents

Description

  The present invention relates to a magnetic noise reduction method for an AC rotating electrical machine and a motor control device using the same.

  In recent years, electric vehicles, hybrid vehicles, fuel cell vehicles, and the like have become practical or development levels. In these automobiles, a high-output AC rotating electric machine is a main element for generating driving power, but such a high-output AC rotating electric machine has a problem that its magnetic noise is large. In addition, silent AC motors are desired in various applications, and various techniques for reducing magnetic noise in AC rotating electrical machines have been proposed. For example, Patent Document 1 proposes to reduce torque pulsation and noise caused by superimposing a voltage component that cancels a harmonic component included in an induced voltage of an electric motor on an output voltage of an inverter.

In addition, for example, Patent Document 2 proposes to reduce torque pulsation by actively superimposing the harmonic component on the fundamental frequency component of the energization current.
Japanese Patent No. 2928594 Japanese Patent Laid-Open No. 11-55986

  However, in spite of the conventional harmonic superposition type magnetic noise reduction technology described above, it has not been said that the reduction in noise of the AC rotating electric machine has reached a satisfactory level. The reason for this will be described below.

  Since noise is generated by mechanical vibration of a vibrating body (here, the core of an AC rotating electrical machine), vibration energy having the same frequency, opposite phase, and equal amplitude as the vibration energy of the frequency to be damped by adding some vibration means. Should be able to cancel the vibration of the vibrating body at this frequency. In addition, as described above, various knowledge has been asserted for a long time as the magnetic noise can be reduced by adding some harmonic component to the fundamental frequency component of the armature current.

  However, in these prior art documents, in order to reduce magnetic noise (acoustic energy) of a predetermined frequency of an AC rotating electric machine, what frequency, phase and amplitude should be superimposed on the armature coil, that is, reduce it. The quantitative relationship between power sound (vibration energy) and energization current is not specifically described, and it was unclear what current should be passed to reduce magnetic noise at a specific frequency. Practical application has been difficult. Furthermore, the relationship between this magnetic noise and the current for suppressing it should vary depending on the structure of the AC rotating electrical machine and its usage. As a result, the above harmonic superposition type magnetic noise reduction technology is the philosophy. Although it was known as, nothing was put into practical use yet.

  In view of the above problems, an object of the present invention is to provide a magnetic noise reduction method for an AC rotary electric machine that can easily and reliably reduce magnetic noise of various AC rotary electric machines and a motor control device using the same.

The magnetic noise reduction method for an AC rotating electrical machine according to claim 1 is based on a fundamental frequency component of a multiphase AC current that is passed through an armature of a multiphase AC rotating electrical machine, where n is a natural number + 1 time (next) By superimposing a harmonic current for reducing radial vibration of a frequency of the above-mentioned multi-phase alternating current, the alternating current rotating electrical machine generates the alternating current rotating electrical machine or the externally input alternating current to the alternating current rotating electrical machine. A harmonic component of the fundamental frequency component of n (times) of the fundamental frequency component of the radial vibration that is radially generated around the axis of the rotation axis is attenuated, and the frequency, amplitude, or phase of the fundamental frequency component is reduced . The calculation is performed using the following Equation 13, Equation 14, or Equation 15 .
This ensures that various sizes, to satisfactorily reduce the magnetic noise of the AC rotary electric machine any output state becomes possible for the first time. The phase and amplitude of the radial vibration reducing harmonic current by open control may be a predetermined value, or the radial vibration reducing harmonic current detected by feedback control may be a predetermined value. . However, these predetermined values can be changed according to the operating state based on a map of the fundamental wave current amplitude and the rotational speed and the phase and amplitude stored in advance.

  This will be described in more detail below.

  The magnetic noise is caused by vibration (also referred to as magnetic vibration) formed by the magnetic force (magnetic excitation force) of the iron core of the AC rotating electric machine, and this magnetic vibration is a combined vibration of the circumferential vibration and the radial vibration.

  The circumferential vibration of the iron core causes torque ripple, but the stator core or rotor core has a substantially cylindrical or columnar shape. Therefore, even if these iron cores vibrate periodically in the circumferential direction, The vibration or noise of the air in contact with the air is small. On the other hand, the radial vibration of the iron core causes the radial vibration of the outer peripheral surface or inner peripheral surface of the stator core or rotor core, but the outer peripheral surface or inner peripheral surface is in contact with air, so the stator core Alternatively, the outer peripheral surface or the inner peripheral surface vibrates in the radial direction due to the radial vibration of the rotor iron core, generating a large noise.

  That is, torque pulsation is reduced by reducing the circumferential component of the magnetic excitation force, and magnetic noise is reduced by reducing the radial component of the magnetic excitation force.

  In the present invention, a harmonic component of a predetermined order of a radial component (also referred to as a radial magnetic excitation force) of a magnetic excitation force that is normally formed by a rotor magnetomotive force and a stator current (fundamental frequency component) is reduced. Therefore, in order to add a magnetic excitation force of a predetermined order having a phase and amplitude such that the amplitude of the vector sum with the harmonic component becomes small, a harmonic for reducing radial vibration of an order larger than this order by 1 is added. A wave current is superimposed on the stator current (multiphase alternating current). As a result, it has been found that magnetic noise can be satisfactorily reduced. In addition, by superimposing the above-described harmonic current for reducing radial vibration, the other components of the AC rotating electrical machine are similar to the radial component of the magnetic excitation force formed by the rotor magnetomotive force and the stator current (fundamental frequency component). Radial vibration, for example, radial vibration input from the outside can also be reduced.

  That is, according to the present invention, the radial vibration reducing harmonic current having a frequency n + 1 times the fundamental frequency is superimposed on the energizing current for torque formation. Thereby, it turned out that the harmonic component of radial vibration of the frequency of n times the fundamental frequency of an energization current can be reduced. The reason for this will be described later.

  In a preferred aspect (Claim 2), the radial vibration reducing harmonic current having a frequency 6k + 1 (k is a natural number) times the fundamental frequency component of the stator current of the three-phase AC rotating electric machine as the AC rotating electric machine. Is superimposed on the stator current to reduce the radial vibration of the AC rotating electric machine having a frequency 6k times the fundamental frequency component as compared with the case where the superposition is not performed. Thereby, it is possible to satisfactorily reduce or cancel the 6k-order harmonic component of the magnetic noise constituting the main magnetic noise in the three-phase AC rotating electric machine.

  In a preferred aspect (Claim 3), by superimposing the seventh-order radial vibration reducing harmonic current, the sixth-order harmonic component of the radial vibration is attenuated more than when the superposition is not performed. . As a result, it is possible to satisfactorily reduce the sixth-order harmonic component of radial vibration, which has conventionally been the magnetic noise component having the largest amplitude.

  In a preferred aspect (Claim 4), by superimposing the 13th-order radial vibration reducing harmonic current, the 12th-order harmonic component of the radial vibration is attenuated more than when the superposition is not performed. . Thus, it has been found that the 12th harmonic component of radial vibration, which was the second most disturbing magnetic noise component in the past, can be satisfactorily reduced.

  In a preferred aspect (Claim 5), the harmonic component of the radial vibration having the sixth and twelfth frequencies is obtained by superimposing the seventh and thirteenth radial vibration reducing harmonic currents. Attenuate at the same time than when no superposition is performed. As a result, it has been found that the 6th and 12th harmonic components of radial vibration, which were the first and second most disturbing magnetic noise components, can be reduced satisfactorily.

  In a preferred aspect (Claim 6), the harmonic components of the sixth-order and twelfth-order radial vibrations and the sixth-order and twelfth-order harmonic waves due to the harmonic currents for reducing the fundamental vibration, the seventh-order, and the thirteenth-order radial vibrations. The phase and amplitude of the seventh-order and thirteenth-order radial vibration reducing harmonic currents are set so that the amplitude of the vector sum with the harmonic component of the radial vibration is equal to or less than a predetermined value. The phase and amplitude of the seventh-order and thirteenth-order radial vibration reducing harmonic currents may be obtained by mathematical calculation, may be calculated by a finite element method, or the like, and are determined experimentally. May be. As a result, it has been found that the 6th and 12th harmonic components of radial vibration, which were the first and second most disturbing magnetic noise components, can be reduced satisfactorily.

  In a preferred aspect (Claim 7), by superimposing the 19th-order radial vibration reducing harmonic current, the harmonic component of the radial vibration having an 18th-order frequency is not performed. Also attenuate. Thereby, a quiet operation of the rotating electrical machine is possible.

  In a preferred aspect (Claim 8), by superimposing the 25th-order radial vibration reducing harmonic current, the harmonic component of the radial vibration having a 24th-order frequency is not performed in the superimposition. Also attenuate. Thereby, a quiet operation of the rotating electrical machine is possible.

  In a preferred aspect (Claim 9), when I1 is the amplitude of the fundamental frequency, Im is the amplitude of the harmonic current, and t, x, and y are predetermined phase angles, the basis of the multiphase alternating current The wave frequency component includes a first phase fundamental frequency component Iu1 (= I1sin (θ)), a second phase fundamental frequency component Iv1 (= I1sin (θ−x)), and a third phase fundamental frequency component Iw1 (= I1sin (θ−)). y)) at least, and the harmonic current for radial vibration reduction of m (= n + 1) times the frequency is a first phase harmonic component Ium (= Imsin {m (θ + t)}), a second phase fundamental frequency component Ivm (= Imsin {m (θ + t) −x}), a third phase fundamental frequency component Iwm (= Imsin {m (θ + t) −y}), and the first phase harmonic component Ium is the first fundamental In the frequency component Iu1, the second-phase harmonic component Ivm is in front of the second fundamental frequency component Iv1. The third phase harmonic component Iwm is superposed on the third fundamental frequency component Iw1.

  In this way, the rotation order of the fundamental frequency component of each phase, that is, the phase order and the rotation order of the (n + 1) th order harmonic component for reducing vibration of each phase coincide with each other. Can be reduced. In the above description, in order to reduce radial vibration of m-1 times the frequency of the fundamental frequency component of the stator current, the harmonic phase current for the frequency of m times the phase current of the fundamental frequency component. It was explained that is superimposed. Of course, in order to reduce the radial vibration of a different order, a higher harmonic current having a higher order may be superimposed.

The motor control device according to the present invention (Claim 10) includes a rotational position detecting means for detecting a rotational position of a synchronous AC rotating electrical machine for vehicles of M (M is a positive integer of 3 or more) phase, and the detected rotational position. A motor control device comprising: motor current control means for individually applying a predetermined phase current having a predetermined fundamental frequency and amplitude to each phase winding of the armature of the AC rotating electric machine based on
When the motor current control unit superimposes a radial vibration reducing harmonic current having a frequency of (n + 1) times (next) on the basis of the fundamental frequency component of the phase current on the multiphase AC current, N (n) of the fundamental frequency component of radial vibration, which is vibration that is generated or is radially generated around the axis of the rotating shaft of the AC rotating electric machine due to an excitation force that is generated or externally input to the AC rotating electric machine. The second harmonic component is attenuated, and the frequency, amplitude, or phase of the fundamental frequency component is calculated using the following Equation 13, Equation 14, or Equation 15 .
This ensures that it is possible to realize a quiet AC rotating electric machine by using a magnetic noise reduction method of the present invention.

  As the rotation detection means, a rotation angle sensor such as a resolver for detecting the rotation angle of the rotor is usually adopted. However, the rotation of the rotor is determined based on the phase of the motor current or the motor voltage known as a so-called sensorless method. A circuit for estimating the rotation angle may be employed.

  In a preferred aspect (claim 11), the motor current control means is configured to superimpose at least one of the seventh-order harmonic component and the thirteenth-order harmonic component on the phase current, thereby The 6th and 12th harmonic components of the radial vibration generated in the three-phase AC rotating electric machine are attenuated as compared with the case where the superposition is not performed. According to this aspect, since the motor control using the above-described magnetic noise reduction method is performed, the magnetic noise can be reduced satisfactorily and reliably.

  In a preferred aspect (Claim 12), the motor current control means superimposes the 19th-order radial vibration reducing harmonic current to thereby generate a harmonic component of the radial vibration having an 18th-order frequency. It attenuates more than the case where the superposition is not performed. Thereby, a quiet operation of the rotating electrical machine is possible.

  In a preferred aspect (Claim 13), the motor current control means is configured such that the motor current control means superimposes the 25th-order harmonic vibration reducing radial current to have the 24th-order frequency. The harmonic component of the directional vibration is attenuated as compared with the case where the superposition is not performed. Thereby, a quiet operation of the rotating electrical machine is possible.

  In a preferred aspect (Claim 14), the AC rotating electrical machine is connected to a vehicle engine and / or a wheel shaft, and the motor current control means is configured to reduce the radial vibration reduction harmonic when the vehicle engine is stopped. A wave current is superimposed on the multiphase alternating current. Thereby, the comfort with respect to the vehicle noise at the time of the engine stop which the magnetic noise of a rotary electric machine is conspicuous can be improved.

  In a preferred aspect (Claim 15), the AC rotating electric machine is connected to a vehicle engine and / or a wheel shaft so as to be capable of regenerative braking, and the motor current control means is provided when the vehicle engine is stopped and during regenerative braking. At least one of the harmonic vibration reducing radial currents is superimposed on the multiphase alternating current. As a result, it is possible to improve the comfort with respect to the vehicle noise when the engine is stopped and the regenerative braking with low engine noise, where magnetic noise of the rotating electrical machine is conspicuous.

  In a preferred aspect (Claim 16), the motor current control means includes the phase current (radial vibration reduction referred to in the present invention) including at least a fundamental frequency component and a harmonic current having a frequency n + 1 times the fundamental frequency component. The harmonic current for reducing radial vibration having a frequency of n + 1 times that reduces or minimizes the radial vibration of the n times frequency of the fundamental frequency component due to (not including the harmonic current for use) is obtained, and the radial vibration reduction is obtained. A harmonic current for use is superimposed on the phase current. The radial vibration reducing harmonic current may be obtained from a map stored in advance and calculated from a calculation formula. The important point is that the phase current includes not only the fundamental frequency component but also a harmonic current of n + 1 times the frequency. Therefore, in order to reduce the radial vibration having a frequency n times the fundamental frequency component of the phase current, the radial vibration is generated by a harmonic component having a frequency n + 1 times in addition to the fundamental frequency component of the phase current. That is, the phase current includes one or a plurality of harmonic currents of a predetermined order in addition to the fundamental frequency component. Therefore, in this aspect, the harmonic current for minimizing or reducing the radial vibration reduction by the phase current including the harmonic current (actual phase current), that is, the harmonic current for reducing radial vibration is superimposed on the phase current. . The phase and amplitude of the predetermined number of radial vibration reducing harmonic currents to be superimposed vary depending on the frequency, amplitude, etc. of the fundamental frequency component, so they can be determined experimentally in advance or in advance by the finite element method. It can be stored as a map, and the frequency and amplitude of the fundamental frequency component can be detected and substituted into this map for reading or calculation. Thereby, the radial vibration by the actual phase current including harmonics can be satisfactorily reduced.

  In addition, it is assumed that the armature current does not have n + 1-order harmonic current, and n + 1-th radial vibration is reduced or minimized with respect to the fundamental frequency component of the armature current detected or obtained. Calculate the next harmonic current for magnetic noise reduction, and then subtract the current harmonic current contained in the armature current from the harmonic current for magnetic noise reduction to obtain the armature current. You may superimpose. For example, in open control, a harmonic current for reducing the (n + 1) th order magnetic noise for minimizing the nth order magnetic noise generated with respect to the fundamental frequency component of the armature current to be energized is obtained. Further, the n + 1-order harmonic current that should be generated by the fundamental frequency component of the armature current is obtained from a map or calculation formula that is stored in advance as a mixed harmonic current, and the mixed harmonic is calculated from the harmonic current for reducing magnetic noise. The value obtained by subtracting the current may be superimposed on the fundamental frequency component of the armature current to be energized to obtain the target value for armature current control.

  In a preferred aspect (Claim 17), the motor current control means detects a harmonic current having a frequency n + 1 times the fundamental frequency component included in the phase current as a mixed harmonic current, and the phase current is detected as the mixed current. Feedback control of the n + 1-order harmonic vibration reducing radial current for reducing or minimizing the n-order harmonic component of the radial vibration when only the fundamental frequency component is not included. As a target value, feedback control is performed to converge the difference between the mixed harmonic current and the target value to zero. In this way, the circuit processing for reducing magnetic noise can be further simplified.

  More specifically, a harmonic current for magnetic noise reduction that achieves magnetic noise minimization when the detected armature current is only the fundamental frequency component is obtained. Next, feedback control may be performed so that the difference obtained by subtracting the detected harmonic current of the armature current from the harmonic current for reducing magnetic noise becomes zero.

Similarly, a harmonic current excluding the fundamental frequency component (referred to as mixed harmonic current) is extracted from the detected phase current. Next, one or more predetermined order radial vibration reducing harmonic currents for minimizing one or more predetermined order radial vibrations when the phase current is only the fundamental frequency component are obtained. This is the feedback target value. Next, feedback control is performed to converge the difference between the mixed harmonic current and the feedback target value to zero. In this way, since the detected phase current finally has only the fundamental frequency component of the phase current and the harmonic current for reducing radial vibration, the radial vibration is minimized with a simple configuration. Can be
(Modification)
1. N + 1, which is the order of the harmonic current for reducing radial vibration described above (that is, the magnification of the frequency of the harmonic current for reducing radial vibration with respect to the frequency of the fundamental frequency component) is the manufacturing tolerance of the harmonic current generating circuit. Of course it can be included. For example, n + 1 may be in the range of (n + 1) −0.1 to (n + 1) +0.1.
2. In each of the above-described configurations, reduction of radial vibration has been described, but at the same time, a harmonic current for reducing circumferential magnetic excitation force (torque ripple) can be further superimposed.
3. As the AC rotating electric machine, it is preferable to employ various types of synchronous machines, and the operation mode may be used in either the electric mode or the power generation mode. Further, the radial vibration reducing harmonic current may be superposed in all the rotational regions, and in particular, the radial vibration reducing harmonic current may be superposed only in the rotational region where magnetic noise is a problem. A predetermined one-order radial vibration reducing harmonic current may be reduced by superimposing a predetermined one-order radial vibration reducing harmonic current, or a plurality of orders of radial vibration reducing harmonic current may be superimposed. Thus, radial vibrations of a plurality of orders may be reduced. Depending on the rotation range, the superposition of the radial vibration reducing harmonic current and the superposition of the torque ripple reducing harmonic current may be switched.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
(Principle explanation)
Hereinafter, the principle when the present invention is applied to a multiphase AC rotating electrical machine will be described.

  FIG. 1 is a diagram schematically showing a magnetic circuit for one phase of an M-phase AC rotating electric machine, and FIG. 2 is an equivalent magnetic circuit diagram of FIG. In the synchronous machine, the magnetic flux φ is formed by the magnetic pole of the rotor (formed by a coil or a permanent magnet), the rotor magnetomotive force Fmag is the magnetomotive force of the magnetic pole of the rotor in the magnetic circuit, ie, the magnetic field strength, and the stator magnetomotive force Fcoil is This is the magnetomotive force, that is, the magnetic field strength formed in the magnetic circuit by the current. Rg is the magnetoresistance of the gap between the stator and the rotor.

  From FIG. 1 and FIG. 2, the magnetic flux φ, magnetic energy W, and radial magnetic excitation force f per phase are

Defined by That is, the magnetic excitation force f is defined as the sum of the square of the rotor magnetomotive force, the square of the stator magnetomotive force, and the product of the rotor magnetomotive force and the stator magnetomotive force.

  In the above figures and equations, Icoil is the stator current (phase current of the armature), x is the gap width, S is the gap facing area, μ0 is the air permeability, N is the number of turns of each phase coil of the armature, M Is the number of phases.

  The rotor magnetomotive force Fmag and stator current (phase current) Icoil of the first (U in three phases), second (V in three phases), and M (W in three phases) phases of this multiphase AC rotating electric machine The

Shown in The rotor magnetomotive force is described by a trigonometric function to represent the rotor rotation. Since those skilled in the art can easily understand, the description of the rotor magnetomotive force Fmag and the stator current Icoil of the remaining phases in the case of more than three phases is omitted. Of course, in the three phases, x is 360 / M = 120 degrees.

  Note that Fi (i is a subscript) is the amplitude of the i-order component of the rotor magnetomotive force, Ii is the amplitude of the i-order component of the stator current, θ is the rotor rotation angle, α, β, γ, δ, s, t, and u are phase angles, and j, k, L, m, and n are integer values.

  In these equations, the rotor magnetomotive force Fmag has only harmonic components of j, k and L as harmonics, and the stator current Icoil has only harmonic components of m and n as harmonics. Obviously, other harmonics may be present. For simplification, when limiting to a three-phase AC rotating electrical machine, Equations 4, 5, and 6 are as follows.

  The U-phase excitation force fu is obtained from Equation 10 obtained by substituting Equation 7 into Equation 3.

  The V-phase excitation force fv is obtained from Equation 11 obtained by substituting Equation 8 into Equation 3.

  The W-phase excitation force fw is obtained from Equation 12 obtained by substituting Equation 9 into Equation 3.

  In Equations 4 to 6, θ is the angle of the fundamental wave. Of course, θ is equal to ωt when the angular velocity of the fundamental wave is ω, and is equal to 2πft when the frequency (fundamental frequency) of the fundamental wave is f. Further, in the equations 4 to 6, the numerical values 360, 120, and 240 can be easily read as 2π, 2π / 3, and 4π / 3, respectively, in actual calculation.

  The magnetic sound has a positive correlation with the vector sum of each phase excitation force, but each phase excitation force is a linear function (sum) of a number of terms as shown in Equations 10, 11, and 12. Also, the difference formula). The sum of each phase excitation force is a linear function (sum or difference) of a term (hereinafter also referred to as a vector addition term) obtained by vector addition of each term of each phase separately for each same order (for each frequency). Formula). Magnetic sound is a problem when the terms constituting the vector addition term are strengthened in the same phase (similar phase) in each vector addition term, and when the phase of each term constituting each vector addition term is greatly different Since the amplitude of the vector addition term is small, there is little problem.

  That is, when Equation 10, Equation 11, and Equation 12 are added, the terms constituting the vector addition term are in phase, and the amplitude of the vector addition term is significantly larger than the amplitude of each term. (M-1) order, (n-1) order, and (nm) order.

  From Equations 10, 11, and 12, when the m-order harmonic current component and the n-order harmonic current component are superimposed on the stator current Icoil, the (m−1) th order, the (n−1) th order, (n− m) It can be seen that the following excitation force component is remarkably generated.

  This means that an (x-1) th order excitation force can be generated by superimposing an xth order harmonic current component having a certain phase.

  Therefore, in order to cancel the (x-1) th order component of the magnetic sound that causes the currently generated magnetic sound, an excitation having an opposite phase and equal amplitude to the (x-1) th order component of this magnetic sound. The magnetic sound can be canceled by superimposing the x-order harmonic current that generates a force. Further, even if the phases are not completely opposite to each other or the amplitudes are not completely equal, it is possible to significantly reduce the amplitude by summing up the vector-added sums.

  Further, in order to change (increase or decrease) the (x-1) order component of the magnetic sound that causes the currently generated magnetic sound, the phase opposite to the (x-1) order component of this magnetic sound, etc. The magnetic sound can be changed (increased or decreased) by superimposing an x-order harmonic current that generates an excitation force having an amplitude on the fundamental frequency component of the stator current. In other words, the amplitude of the sum of the vectors can be increased or decreased.

  In order to increase or decrease the (x-1) th order magnetic sound of an AC rotating electrical machine, the knowledge that the xth order harmonic current should be superimposed with a suitable phase and a suitable amplitude has not been known in the past. It is very important in the development of low noise motors in the future.

  Similarly, from (10), (11), and (12), the (m−1) th order and the (n−1) th order are obtained by superimposing the mth order harmonic current component and the nth order harmonic current component on the stator current Icoil. , (Nm) next magnetic excitation force components can be simultaneously changed (increased or decreased). However, in this case, the (m−1) th order, the (n−1) th order, the (n−m) order, and the phase and amplitude of the mth order harmonic current component to be superimposed and the phase and amplitude of the nth order harmonic current component. ) Since the next excitation force is generated, the order of these excitation forces and the (m−1) th order, (n−1) th order, and (nm) th order magnetic sound that originally exist are It is not easy for all vector sums to be zero. However, the phase and amplitude of the superimposed current can be adjusted so that the amplitude of the vector sum of the respective excitation forces becomes as small as possible or a desired magnitude.

  In order to simultaneously change (reduce or increase) the (m-1) th order, (n-1) th order, and (nm) th order magnetic sound of AC rotating electricity, the mth order and nth order harmonic currents are suitable. The knowledge that the phase and the preferred amplitude should be added has not been known so far, and is very important in the future development of a low noise motor.

  Of the terms represented by Equation 10, Equation 11, and Equation 12, the following simplified equations are obtained by eliminating the terms for which the vector sum is zero.

  As for the harmonics of the rotor magnetomotive force Fmag of a three-phase AC rotating electric machine, although it depends on the number of poles and the number of status lots, generally the third harmonic component, the fifth harmonic component and the seventh harmonic component are Since it is much more dominant than the harmonic component of the order, it has a fundamental component, a third harmonic component, a fifth harmonic component, and a seventh harmonic component of the rotor magnetomotive force Fmag, for changing the magnetic sound. The magnetic sound (magnetic sound) that occurs when the harmonic current is not superimposed will be described below.

  Since the integer values (order values) are j = 3, k = 5, and L = 7, when substituting these into Equations 7 to 9, the following equation is obtained.

  Substituting these Equations 16, 17, and 18 into Equation 3 and not superimposing harmonic currents, if m = 0 (Im = 0) and n = 0 (In = 0), the following equation is obtained. .

  In the equations (19), (20), and (21), the terms for which the vector sum is 0 are deleted, and the terms that strengthen each other in the same phase and the DC component terms are extracted to obtain the following equation.

  Therefore, the sum of each phase excitation force obtained by adding Expression 22, Expression 23, and Expression 24 is expressed by Expression 25 below.

  In Equation 25, if the number surrounded by ○ is a round numeral, the term indicated by the round numeral 1 is the direct current component term of the total excitation force, and the term indicated by the round numeral 2 is the third order of the rotor magnetomotive force Fmag. The sixth harmonic component generated by the harmonics, the term indicated by the round numeral 3 is the sixth harmonic component generated by the first and fifth harmonics of the rotor magnetomotive force Fmag, and the term indicated by the round numeral 4 is the rotor The sixth harmonic component generated by the first and seventh harmonics of the magnetomotive force Fmag, and the term indicated by the circled number 5 is the twelfth harmonic component generated by the fifth and seventh harmonics of the rotor magnetomotive force Fmag. The term indicated by the round numeral 6 is the sixth harmonic component generated by the fifth harmonic of the rotor magnetomotive force Fmag and the primary current component (fundamental wave) of the stator current, and the term indicated by the round numeral 7 is the rotor origin. 7th harmonic of the magnetic force Fmag and 1 of the stator current The sixth-order harmonic component generated by the current component (the fundamental wave).

  That is, the magnetic sound of the three-phase AC rotating electric machine is converted into sixth and twelfth magnetic sound components by the fundamental wave component, the third harmonic component, the fifth harmonic component, and the seventh harmonic component of the rotor magnetomotive force Fmag. It can be seen from Equation 25 that this is caused.

  Accordingly, a case where the seventh harmonic component and the thirteenth harmonic component are superimposed on the stator current Icoil for changing (reducing or increasing) the sixth and twelfth magnetic sound components will be described below.

  In this case, in Equations 7, 8, and 9, if j = 3, k = 5, L = 7, m = 7, and n = 13, the following equation is obtained.

  When Equations 10, 11, and 12 are calculated using Equations 26, 27, and 28, the following equations are obtained.

  In Equations 29, 30, and 31, the terms for which the vector sum is 0 are eliminated, and the terms that strengthen each other in the same phase and the DC component terms are extracted to obtain the following equation.

  If these formulas are arranged in the same manner as Equation 25, the sum of the respective phase excitation forces is as follows.

In this number 35,
The term indicated by the circled number 1 is a DC component term,
The term indicated by the round numeral 2 is a sixth harmonic component generated by the third harmonic of the rotor magnetomotive force Fmag,
The term indicated by the round numeral 3 is a sixth-order harmonic component generated by the first-order and fifth-order harmonics of the rotor magnetomotive force Fmag,
The term indicated by the circled number 4 is a sixth harmonic component generated by the first and seventh harmonics of the rotor magnetomotive force Fmag,
The term indicated by the circled number 5 is the 12th harmonic component generated by the 5th and 7th harmonics of the rotor magnetomotive force Fmag,
The term indicated by the round numeral 6 is the sixth harmonic component generated by the fifth harmonic of the rotor magnetomotive force Fmag and the primary current component (fundamental wave) of the stator current,
The term indicated by the round numeral 7 is a sixth harmonic component generated by the seventh harmonic of the rotor magnetomotive force Fmag and the primary current component (fundamental wave) of the stator current.

The term indicated by the circled number 8 is the first-order component (fundamental wave) of the rotor magnetomotive force Fmag and the sixth-order harmonic component generated by the seventh-order harmonic of the stator current,
The term indicated by the round numeral 9 is the 12th-order harmonic component generated by the first-order component (fundamental wave) of the rotor magnetomotive force Fmag and the 13th-order harmonic of the stator current,
The term indicated by the round numeral 10 is the 12th harmonic component generated by the 5th harmonic of the rotor magnetomotive force Fmag and the 7th harmonic of the stator current,
The term indicated by the round numeral 11 is the 18th harmonic component generated by the 5th harmonic of the rotor magnetomotive force Fmag and the 13th harmonic of the stator current,
The term indicated by the round numeral 12 is the sixth harmonic component generated by the seventh harmonic of the rotor magnetomotive force Fmag and the 13th harmonic of the stator current,
The term indicated by the circled number 13 is a sixth-order harmonic component generated by the first-order component (fundamental wave) and the seventh-order component of the stator current,
The term indicated by the round numeral 14 is a 12th-order harmonic component generated by the first-order component (fundamental wave) and the 13th-order component of the stator current,
The term indicated by the circled numeral 15 is a sixth-order harmonic component generated by the seventh-order component and the thirteenth-order component of the stator current.

  Eventually, the sum of the respective phase excitation forces shown in Equation 35 becomes the sixth and twelfth harmonics, so the terms of the circled numbers 2, 3, 4, 6, 7, 8, 12, 13, 15 above. If the phase angle and each amplitude are set, the vector sum of the above-mentioned circle numbers 2, 3, 4, 6, 7, 8, 12, 13, and 15 is reduced to 0, increased, or increased. It is possible to cancel or reduce (or increase) the sixth-order magnetic noise.

  Similarly, if the phase angle and each amplitude of the term of the round numbers 5, 9, 10, 14 are set, the vector sum of the terms of the round numbers 5, 9, 10, 14 is reduced to 0 or smaller, Alternatively, it can be increased, and the 12th order noise of the magnetic sound can be canceled or reduced (or increased).

  In other words, by adjusting the phase and amplitude of the seventh-order harmonic current component and the thirteenth-order harmonic current component in Equation 35, the sum of terms other than the DC term shown in Equation 35 is set to 0 to achieve three-phase AC rotation. It is possible to cancel or reduce (or increase) the sixth-order harmonic component and the twelfth-order harmonic component of the magnetic sound that are most important in an electric machine.

  The cancellation condition for the sixth harmonic of the magnetic sound is shown in the following equation.

  In Equation 36, the sum or difference of each term indicated by a broken line represents the vector sum of the sixth harmonics of the radial magnetic excitation force serving as the magnetic sound component, and the sum or difference of each term indicated by the solid line is for cancellation. The vector sum of the 6th harmonic of the exciting force by the harmonic current of is shown. Therefore, in Equation 36, the phase angle and the amplitude may be determined so that the vector sum of these two becomes zero. The cancellation condition for the 12th harmonic of the magnetic sound is shown in the following equation.

  In Expression 37, the sum or difference of each term indicated by a broken line represents the vector sum of the 12th harmonics serving as a magnetic sound component, and the sum or difference of each term indicated by a solid line represents excitation by a harmonic current for cancellation. The vector sum of the 12th harmonic of the force is shown. Therefore, in Equation 37, the phase angle and the amplitude may be determined so that the vector sum of these two becomes zero.

  Since θ as a function of the number of rotations changes every moment in the above Equations 35, 36, and 37, the total sum of the magnetic sounds shown in Equation 35 as the rotational speed, phase, and amplitude of the fundamental wave change with time. The amplitude and phase of the harmonic current for setting the current to a predetermined level changes every moment. Similarly, the amplitude and phase of the harmonic current that satisfies Equations 36 and 37 also change every moment. For this reason, the amplitude and phase of the superimposed harmonic current are calculated every predetermined time according to the frequency, phase and amplitude of the fundamental current.

(Circuit configuration example 1)
FIG. 3 shows a circuit example for superimposing the above harmonic current. This motor control circuit is an embodiment that performs feedback control of the motor current.

  Reference numeral 10 denotes motor current control means for controlling the motor current of the three-phase synchronous machine 107, which has the following configuration.

  Reference numeral 100 denotes an amplitude / phase command circuit block that indicates the amplitude and phase of a current command value (three-phase AC coordinate system) corresponding to the fundamental wave. Reference numeral 101 denotes an amplitude / phase command circuit block that indicates the amplitude and phase of a harmonic current (three-phase AC coordinate system) of a predetermined order.

  The amplitude / phase command circuit block 100 determines the amplitude and phase based on a current command (fundamental wave) received from an external control device such as a vehicle control ECU. Moreover, the circuit block 100 may be comprised by this vehicle control ECU. This external control device calculates the current command value as the fundamental wave based on the rotation angle signal (rotation position signal) of the three-phase synchronous machine 107 and the torque command.

  The circuit block 101 inputs and calculates the frequency, amplitude, and phase of the current command (fundamental wave) current in the above-mentioned equation 13, 14 or 15, and thereby calculates a harmonic current of a predetermined order. The frequency, amplitude, and phase are determined, and an amplitude / phase command that indicates them is output. Other constants of these mathematical expressions are set in advance according to the purpose.

  For example, in the case of reducing or canceling the 6th and 12th magnetic sounds, the 7th and / or 13th harmonic current is reduced so that the calculated value of the formulas 36 and 37 is not more than a predetermined value or 0. Determine amplitude and phase. The other constants are preset as numerical values specific to the AC rotating electric machine.

  Accordingly, when canceling only the sixth-order magnetic sound, the amplitude and phase of the harmonic current are determined so that the calculated value of Expression 36 is equal to or less than a predetermined value or zero. In the case of canceling only the 12th-order magnetic sound, the amplitude and phase of the harmonic current are determined so that the calculated value of Expression 37 is equal to or less than a predetermined value or 0. In any case, in these equations, by adjusting the phase and / or amplitude of the superimposed 7th and / or 13th harmonic currents, the 6th / 12th magnetic sound, that is, the majority of the magnetic sound is amplified. Can be reduced, reduced or canceled.

  Instead of calculating the above formulas, the frequency, phase, and amplitude of the fundamental frequency component are substituted in advance in a map or table corresponding to these formulas, and the phase of the seventh and / or thirteenth harmonic currents, The amplitude value may be searched. Further, the circuit block 100 calculates and outputs the current value based on the calculated amplitude and phase of the fundamental frequency component of the stator current, and the circuit block 101 based on the calculated amplitude and phase of the harmonic current. Thus, the current value of the harmonic current can be calculated and output.

  Commands relating to the fundamental current and the harmonic current are input to the circuit block 102. The circuit block 102 adds the fundamental wave current value and the harmonic current value of each phase determined based on the input information for each phase, and periodically calculates a combined three-phase alternating current value.

  The calculated combined three-phase alternating current value is coordinate-converted into the dq axis system by the coordinate axis conversion circuit block 103 and is compared with the detected value (dq axis) by the subtractor 104, and the difference between them is calculated. After the gain is adjusted by the current amplifier 400, the three-phase alternating current value is output by the coordinate axis conversion circuit block 104A.

  The circuit block 104A generates a PWM control voltage for each phase that eliminates the difference in the circuit block 105, and intermittently controls the switching element of the three-phase inverter 106 by this three-phase PWM control voltage. The output voltage is controlled to be applied to the stator coil of the three-phase synchronous machine 107 which is a generator motor, and the three-phase alternating current flowing through the three-phase synchronous machine 107 has the frequency, amplitude and phase specified by the circuit blocks 100 and 101. The sum of the fundamental current and the harmonic current. Since this type of PWM feedback control itself is already well known, detailed description thereof is omitted.

  The three-phase synchronous machine 107 has a built-in rotation angle sensor 108, and a speed / position signal processing circuit block 109 extracts a speed signal and a position signal from the rotation position signal output from the rotation angle sensor 108, and outputs them. Is input to the circuit block 104A. The stator coil current of the three-phase synchronous machine 107 is detected by the current sensor 110, converted into a d-axis current detection value and a q-axis current detection value by the coordinate axis conversion circuit block 111, and input to the subtractor 104. Is done.

(Circuit configuration example 2)
FIG. 4 shows a circuit example for superimposing the above harmonic current.

  Reference numeral 100 denotes an amplitude / phase command circuit block that indicates the amplitude and phase as a current command value (three-phase AC coordinate system) corresponding to the fundamental wave. The command value output from the circuit block 100 is output to the subtractor 104a via the circuit block 300 that converts the three-phase AC coordinate system to the dq axis system, as in the circuit configuration example 1. The FFT 111 extracts a detection value of the fundamental wave component (three-phase AC coordinate system) from the phase current output from the current detection. The detected value is coordinate-converted by a circuit block 403 that converts a three-phase AC coordinate system to a dq axis system, and then compared with the current command value by a subtractor 104a, and the difference between them is used for gain adjustment. It outputs to the circuit block 104B for coordinate axis conversion through the current controller 401. The circuit block 104B outputs a three-phase alternating current command value that eliminates the difference to the adder 112.

  Reference numeral 101 denotes an amplitude / phase command circuit block that indicates an amplitude and a phase as a current command value (three-phase AC coordinate system) corresponding to a harmonic of a predetermined order. The command value output from the circuit block 100 is output to the subtractor 104a via the circuit block 300 that converts the three-phase AC coordinate system to the dq axis system, as in the circuit configuration example 1. The FFT 111 extracts a detection value of the harmonic component (three-phase AC coordinate system) of the predetermined order from the motor current. The detected value is coordinate-converted by a circuit block 404 that converts a three-phase AC coordinate system to a dq axis system, and then compared with the current command value by a subtractor 104b, and the difference between them is used for gain adjustment. It outputs to the circuit block 104C for coordinate axis conversion through the current controller 402. The circuit block 104B outputs a three-phase alternating current command value that eliminates the difference to the adder 112.

  The circuit block 104C outputs a three-phase alternating current command value that eliminates the difference to the adder 112. A position signal and a speed signal are extracted from the rotational position signal detected by the circuit block 109 and output to the circuit blocks 104B, 104C, 300, and 301 for performing the coordinate conversion.

  The circuit block 105 generates a PWM control voltage for each phase corresponding to the combined three-phase alternating current command value added by the adder 112, and the switching element of the three-phase inverter 106 is intermittently connected by this three-phase PWM control voltage. And control to apply the output voltage of the three-phase inverter 106 to the stator coil of the three-phase synchronous machine 107, which is a generator motor, and specify the three-phase alternating current flowing in the three-phase synchronous machine 107 with the circuit blocks 100 and 101. The sum of the fundamental current and the harmonic current having the frequency, amplitude, and phase.

(Circuit configuration example 3)
FIG. 5 shows a circuit example for superimposing the above harmonic current. This circuit employs a filter 113 instead of the FFT 111 shown in FIG. 4 and extracts a detected fundamental wave current value and a detected harmonic current value.

  A detection value of the fundamental wave component (three-phase AC coordinate system) is extracted from the phase current signal detected by the current sensor 110. This detected value is subjected to coordinate conversion by the circuit block 403 that converts the three-phase AC coordinate system to the dq axis system, and then compared with the current command value for the fundamental wave by the subtractor 104a, and the difference is gained. The current is output to the coordinate axis conversion circuit block 104B through the adjustment current controller 401. The circuit block 104B outputs a three-phase alternating current command value that eliminates the difference to the adder 112.

  The subtractor 117 subtracts the fundamental wave component (three-phase AC coordinate system) from the phase current signal (three-phase AC coordinate system) detected by the current sensor 110, and extracts the harmonic component. The detected harmonic components are coordinate-converted by a circuit block 404 that converts a three-phase alternating current coordinate system into a dq axis system, and then compared with harmonic current command values by a subtractor 104b. The difference is output to the coordinate axis conversion circuit block 104C through the current controller 402 for gain adjustment. The circuit block 104C outputs a three-phase alternating current command value that eliminates the difference to the adder 112.

  As a result, the same operation as in the circuit configuration example 2 can be performed.

(Circuit configuration example 4)
A circuit example for superimposing the above harmonic current is shown in FIG. This motor control circuit is an embodiment that performs feedback control of motor current only in a three-phase AC coordinate system.

  Reference numeral 100 denotes an amplitude / phase command circuit block for instructing the amplitude and phase as a current command value (three-phase AC coordinate system) corresponding to the fundamental wave. Reference numeral 101 denotes an amplitude / phase command circuit block for instructing the amplitude and phase as a harmonic current (three-phase AC coordinate system) of a predetermined order. The functions of these circuit blocks are the same as those in FIG. 3, and the harmonic block 101 substitutes the frequency, phase, and amplitude output from the circuit block into the equations (13), (14), or (15). The amplitude and phase are determined, or substantially the same calculation processing is performed using a map or table.

  The amplitude / phase commands output from the circuit blocks 100 and 101 are input to the circuit block 102. The circuit block 102 determines the fundamental wave current command value (three-phase alternating current) based on the amplitude / phase command of the input fundamental wave current command value, the amplitude / phase command of the harmonic current command value, and the detected rotational position signal. Coordinate system) and harmonic current command value (three-phase AC coordinate system) are added for U-phase and V-phase, respectively, and U-phase composite current command value (three-phase AC coordinate system) iu, V-phase composite current command value (Three-phase AC coordinate system) Output as iv.

  The subtractor 300 calculates a difference between the detected U-phase current detection value iu ′ and the U-phase combined current command value iu, and outputs this difference to the circuit block 302 that forms a current controller. The subtractor 301 calculates a difference between the detected V-phase current detection value iv ′ and the V-phase combined current command value iv, and outputs this difference to the circuit block 302 that forms a current controller. The circuit block 302 forms a U-phase voltage and a V-phase voltage that eliminate the difference, and the circuit block 105 calculates and outputs the U-phase and V-phase PWM voltages corresponding to the U-phase voltage and the V-phase voltage. Further, the subtracting and inverting circuit 303 calculates an analog inverted signal of the difference between the U phase voltage and the V phase voltage as the W phase voltage, and the circuit block 105 calculates and outputs the PWM voltage of the W phase voltage. The three-phase inverter 106 is intermittently controlled according to the duty corresponding to these three-phase PWM voltages.

(Circuit configuration example 5)
A circuit example for superimposing the above harmonic current is shown in FIG. This circuit is obtained by changing the circuit shown in FIG. 3 to open control.

  Commands regarding the fundamental current and the harmonic current output from the fundamental circuit block 100 and the harmonic circuit block 101 are input to the circuit block 102. The circuit block 102 adds the fundamental wave current value and the harmonic current value of each phase determined based on the input information for each phase, and periodically calculates a combined three-phase alternating current value.

  The calculated combined three-phase AC current value is coordinate-converted into the dq axis system by the coordinate axis conversion circuit block 103, and after the gain is adjusted by the current amplifier 400, the three-phase AC current is converted by the coordinate axis conversion circuit block 104A. Output to value.

  The circuit block 104A generates a PWM control voltage for each phase in the circuit block 105, intermittently controls the switching element of the three-phase inverter 106 by this three-phase PWM control voltage, and outputs the output voltage of the three-phase inverter 106 to the generator motor. Is applied to the stator coil of the three-phase synchronous machine 107, and the three-phase alternating current flowing through the three-phase synchronous machine 107 is converted into a fundamental wave current and a harmonic having the frequency, amplitude and phase specified by the circuit blocks 100 and 101. Total with wave current.

  The three-phase synchronous machine 107 has a built-in rotation angle sensor 108, and the speed / position signal processing circuit block 109 extracts a speed signal and a position signal from the rotation position signal output from the rotation angle sensor 108, and coordinates They are input to the circuit blocks 103 and 104A for conversion.

(Experimental example)
The experiment for reducing the magnetic noise was conducted using a three-phase synchronous machine (8 poles, 24 slots, IPM) shown in FIG. The fundamental current was 43 A, and the rotor phase angle was controlled to a value that maximized the torque.

  FIG. 9 shows a three-phase current waveform when the motor is driven without superimposing a harmonic current for reducing magnetic noise on the stator current of the synchronous machine. Each phase current includes a relatively small harmonic component in addition to its fundamental frequency component. FIG. 10 shows a three-phase current waveform when the motor is driven by superimposing a harmonic current for reducing magnetic noise on the stator current shown in FIG. 9 and 10, the rotation speed was 1700 rpm. The harmonic current for magnetic noise reduction was superimposed by a feedback method using the circuit of FIG.

  FIG. 11 shows the frequency spectrum A of the U-phase current shown in FIG. 9 and the frequency spectrum B of the harmonic component superimposed U-phase current for reducing magnetic noise shown in FIG. In FIG. 11, the left side (displayed in light gray) of the pair of bars shown for each order shows the spectrum A of the U-phase current shown in FIG. 9, and the pair of bars shown for each order The right side (displayed in dark gray) shows the spectrum B of the U-phase current shown in FIG. In FIG. 9, the seventh current (seventh harmonic component) has an amplitude that is 3% of the amplitude of the primary current (fundamental frequency component). In FIG. 10, the seventh current (seventh harmonic component) has an amplitude of 12% of the amplitude of the primary current (fundamental frequency component).

  The three adjacent teeth of the stator when the current of FIG. 9 is applied (hereinafter referred to as a magnetic noise non-reduction mode) and when the current of FIG. 10 is applied (hereinafter referred to as a magnetic noise reduction mode). FIG. 12 shows changes in the applied radial direction (radial direction) excitation force depending on the rotor rotation angle. The larger period change waveform C of the two period change waveforms shown in FIG. 12 shows the change in the radial excitation force in the magnetic noise non-reduction mode shown in FIG. 9, and the smaller period change waveform D shows the change in the period change waveform D in FIG. Changes in the radial excitation force in the magnetic noise non-reduction mode shown in FIG. E represents the average value of the radial excitation force in the magnetic noise non-reduction mode. The radial excitation force has a direct current component due to the attraction of the permanent magnet of the rotor.

  In FIG. 13, F indicates the frequency spectrum of the radial excitation force (large periodic variation waveform) C when magnetic noise is not reduced, and G indicates the radial excitation force (small periodic variation waveform) D when magnetic noise is reduced. The frequency spectrum of is shown. The frequency spectrum F is indicated by a bar on the left side (displayed in light gray) among a pair of bars indicated for each order. The frequency spectrum G is indicated by a bar on the right side (displayed in dark gray) of a pair of bars indicated for each order.

  FIG. 14 shows the measurement result (during electric operation) of the sixth-order magnetic sound (frequency 6θ) when the rotation speed in the experimental machine is changed. From FIG. 14, it can be seen that the 6th-order component of magnetic noise can be satisfactorily reduced in a high rotation range (about 1500 rpm or more) in which magnetic noise is annoying. FIG. 15 shows the measurement results (during power generation) of the sixth-order magnetic sound (frequency 6θ) when the rotation speed in the experimental machine is changed. FIG. 15 shows that the sixth-order component of magnetic noise can be reduced over almost the entire rotation range. It can also be seen that the sixth-order magnetic noise can be reduced by 20 db by superimposing the harmonic current for reducing the magnetic noise in the rotation region where the magnetic noise is maximum. 14 and 15, the sixth-order magnetic noise increases in some rotation regions due to the superposition of the seventh-order component of the harmonic current for magnetic noise reduction. This is because it is not realized, and is not essential. Further, the reversal of the magnetic noise occurs at a level where the sixth-order magnetic noise level is small, and the absolute value thereof is small, so that there is no problem. Of course, in this synchronous machine, the superimposition of the seventh harmonic current for magnetic noise reduction can be stopped in the rotation range where the reduction in magnetic noise cannot be expected so much.

(Modification)
In addition, by using the harmonic superposition technique by the circuit of the above embodiment, that is, by superimposing a harmonic current having a higher order than the circumferential vibration on the fundamental frequency component, the magnetic noise reduction is stopped and the torque is adjusted as necessary. It can also be switched to reduce ripple. Specifically, the amplitude and phase angle of the harmonic current may be changed.

(Modification)
Modifications of the above circuit examples will be described below. The harmonic circuit block in each circuit example incorporates a temperature compensation circuit block that compensates for the temperature characteristics of the permanent magnet provided in the rotor. This temperature compensation circuit block reads the output of the temperature sensor built in the AC rotating electric machine 107, and changes the constant in the equation 35, the equation 36 or the equation 37 in order to compensate the temperature change of the residual magnetic flux of the permanent magnet.

  A temperature compensation control operation routine when the temperature compensation circuit block has a microcomputer configuration will be described with reference to a flowchart shown in FIG. This routine is performed periodically.

  First, the rotor temperature is read from the output signal of the temperature sensor built in the AC rotating electric machine 107 (not shown) (S100), and this rotor temperature is stored in advance in a map showing the relationship between the rotor temperature and the constant to obtain the constant (S102). ) And output it (S104). Instead of the temperature sensor built in the AC rotating electric machine 107, an existing temperature sensor mounted on the vehicle may be used.

  As a result, the constants of the above equation that are changed by the change of the rotor magnetic flux φ as a function of the permanent magnet temperature are known, and the phase and the amplitude of the harmonic current are set by calculating the above equation using this constant.

(Modification)
Modifications of the above circuit examples will be described below. In this modification, the level of the magnetic sound is changed based on the change of the operation mode of the AC rotating electric machine.

  A routine when the circuit block for changing the level of the magnetic sound has a microcomputer configuration will be described with reference to a flowchart shown in FIG. This routine is performed periodically.

  First, the operation mode of the AC rotating electrical machine 107 or the rotational speed of the AC rotating electrical machine 107 input from the outside is read (S200), and these data (that is, the operation mode of the AC rotating electrical machine 107) are stored in advance. A constant is obtained by substituting it into a map showing the relationship (S202), and it is output (S204). Thus, the amplitude of the magnetic sound can be changed according to the operation mode of the AC rotating electric machine 107 by calculating the above mathematical formula based on the obtained constant and determining the amplitude and phase of the harmonic current of a predetermined order. it can.

  As the operation mode, a low rotation range and a high rotation range can be set. In this case, the constant may be set so as to mainly reduce the 12th order magnetic sound in the low rotation range, and the constant may be set mainly to reduce the 6th order magnetic sound in the high rotation range, and vice versa. Good. That is, the order of the main magnetic sound may be changed instead of changing the amplitude of the magnetic sound according to the change of the operation mode. In each of the above drawings, the circuit block excluding the inverter 106 constitutes an inverter control circuit.

(Modification)
Equations 35, 36, or 37 show examples in which the harmonic component of the rotor magnetomotive force Fmag is canceled or changed by superimposing the harmonic current on the fundamental current of the stator current. In the PWM control of an electric machine, harmonics are inevitably superimposed on the fundamental current due to switching of the inverter, resulting in magnetic noise. In order to further reduce this magnetic noise, the harmonic current obtained by subtracting the harmonic current inevitably superimposed on the stator current by switching of this inverter from the harmonic current for changing the magnetic sound obtained by the above formula is fundamental. A calculation to be superimposed on the current may be performed.

(Modification)
A control operation for reducing the magnetic noise inherent in the three-phase AC rotating electric machine and generating a magnetic noise of a predetermined frequency will be described with reference to the flowchart shown in FIG.
First, a command is read from an external vehicle electronic control device (S300), and the read command generates a desired predetermined magnetic sound that is different from the original magnetic sound currently generated by the three-phase AC rotating electrical machine. (S302), if so, the above harmonic circuit block is operated. In the embodiment, this harmonic circuit block is a circuit block that superimposes seventh-order harmonic currents with a predetermined phase and a predetermined amplitude, respectively. The phase and amplitude of the seventh-order harmonic current cancels the sixth-order harmonic component of the original radial magnetic excitation force (magnetic sound) of the three-phase AC rotating electric machine based on the above formula. Set to size.

(Modification)
A control operation when the magnetic noise reduction type rotating electrical machine is mounted on an engine traveling vehicle will be described with reference to a flowchart shown in FIG. In addition, this kind of rotary electric machine is widely used as, for example, a generator motor or an electric air conditioner for a hybrid vehicle or a torque assist vehicle, and is well known.

  First, in step S400, it is checked whether the engine is stopped and electric operation is being performed, or whether power generation is being performed by regenerative braking. If so, the above-described harmonic circuit block is operated (S402). This harmonic circuit block is not operated (S402). This harmonic circuit block is a circuit block that superimposes a seventh-order harmonic current with a predetermined phase and a predetermined amplitude. The phase and amplitude of the seventh-order harmonic current cancels the sixth-order harmonic component of the original radial magnetic excitation force (magnetic sound) of the three-phase AC rotating electric machine based on the above formula. Set to size. As a result, there is no engine noise and the magnetic noise of the generator motor, which is likely to be annoying, the magnetic noise during motor running (electric) and regenerative braking (power generation) while the engine is stopped can be reduced to improve vehicle quietness. it can. Further, during other operations, the harmonic current superimposing control circuit can be suspended.

(Circuit configuration example 6)
Another superposition control of the above harmonic current will be described with reference to FIGS. FIG. 20 is a block circuit diagram showing the motor control device of this embodiment, FIG. 21 is a block circuit diagram showing an example of the coordinate conversion circuit 2, and FIG. 22 is a waveform diagram showing signal waveforms (rotation coordinate system display) of each part of the circuit. FIG. 23 is a waveform diagram showing signal waveforms (stationary coordinate system display) of each part of the circuit.

  This motor control device is an embodiment for performing feedback control of motor current, wherein 1 is a fundamental wave command value generation circuit, 2 is a harmonic command value generation circuit, 3 and 4 are adders, 5 and 6 are subtractors, 7 and 8 are PI amplifiers (proportional-integral circuits), 9 is a coordinate conversion circuit, 10 is a PWM voltage generation circuit, 11 is a three-phase inverter, 12 is two current sensors (phase current detection elements), and 13 is three-phase synchronous. A motor generator (synchronous AC rotating machine for vehicles), 14 is a resolver (rotation angle detecting element), 15 is a position signal processing circuit, 16 is a delay compensation circuit, and 17 is a coordinate conversion circuit.

  Of the above components 1 to 17, the components other than the three-phase synchronous motor generator 13 constitute a motor control device according to the present invention, and among the components 1 to 17, a current sensor (phase current detection). The component (circuit) except for the element 12, the three-phase synchronous motor generator (synchronous AC rotating electric machine for vehicle) 13 and the resolver (rotation angle detecting element) constitutes a motor current control element or motor control means in the present invention. is doing.

  The component (circuit) 17 constitutes a phase current detection value coordinate system conversion element referred to in the present invention, and the component (circuit) 1 constitutes a fundamental wave command value output element referred to in the present invention. ) 2 constitutes a harmonic command value output element referred to in the present invention, components (circuits) 3 to 6 constitute current deviation calculation elements referred to in the present invention, and components (circuits) 7 to 11 represent the present invention. This constitutes the phase voltage control element. Needless to say, the three-phase inverter 11 is fed from a DC power source to generate a three-phase AC voltage.

  A fundamental wave command value generation circuit (fundamental wave command value output element) 1 sets a target value of a fundamental wave current corresponding to an input torque command value and a rotational speed command value, and a d-axis fundamental wave that is a d-axis current component. This is a known circuit that converts the command value Id1 * and the q-axis fundamental wave command value Iq1 * that is the q-axis current component thereof. The torque command value is input from, for example, an external control device such as a vehicle control ECU, and the fundamental wave command value generation circuit 1 generates a d-axis fundamental wave command value Id1 * and a q-axis fundamental wave command value Iq1 * based on the torque command value. decide. If necessary in determining the d-axis fundamental wave command value Id1 * and the q-axis fundamental wave command value Iq1 *, in addition to the torque command value, the voltage of the three-phase inverter 11, the output signal of the resolver 14 and the like are further used as the fundamental wave command value. Input to the generation circuit 1.

  The harmonic command value generation circuit 2 (harmonic command value output element) is set to a preset target value of 6k + 1 (k is an integer, k of the fundamental frequency component is 0) and the d-axis current component. Is a d-axis harmonic command value Id6k + 1 * and a q-axis harmonic command value Iq6k + 1 * which is the q-axis current component. Furthermore, the harmonic command value generation circuit 2 is a circuit for generating a harmonic current command value that reduces the radial vibration of the three-phase synchronous motor generator 13.

  A specific example of the harmonic command value generation circuit 2 will be described with reference to a block diagram shown in FIG. In FIG. 21, 21 is a seventh current command value generation circuit, 22 is a 13th current command value generation circuit, 24 and 25 are coordinate conversion circuits, and 27 and 28 are adders. However, in this embodiment, the harmonic command value generation circuit 2 generates only the 7th and 13th harmonic command values to reduce the 6th and 12th radial vibrations. A value may be generated and superimposed in the adders 27 and 28 in the same manner.

  The seventh-order current command value generation circuit 21 receives the d-axis command value Id * and q-axis command value Iq * input from the fundamental wave command value generation circuit 1, and the seventh-order harmonic command value for canceling the sixth-order radial vibration. Is a table describing the relationship between the amplitude I7 * and the phase angle β7 *. That is, the amplitude I7 * and the phase angle β7 * of the seventh harmonic command value are function values having the d-axis command value Id * and the q-axis command value Iq * on the fundamental wave rotation coordinate system as variables. Here, the amplitude I7 * and the phase angle β7 * of the seventh harmonic command value are values on the fundamental wave rotation coordinate system, but are also the same values on the stationary coordinate system.

  Similarly, the 13th-order current command value generation circuit 22 includes the d-axis command value Id * and the q-axis command value Iq * input from the fundamental wave command value generation circuit 1 and the 13th-order harmonic for canceling the 12th-order radial vibration. It is a table which describes the relationship between the amplitude I13 * of the command value and the phase angle β13 *. That is, the amplitude I13 * and the phase angle β13 * of the 13th harmonic command value are function values having the d-axis command value Id * and the q-axis command value Iq * on the fundamental wave rotation coordinate system as variables. Here, the amplitude I13 * and the phase angle β13 * of the 13th harmonic command value are values on the fundamental wave rotation coordinate system, but are the same values on the stationary coordinate system. These data I7 *, β7 *, I13 *, β13 * are stored in ROM (not shown) of the seventh and thirteenth current command value generation circuits 21 and 22. These data I7 * and β7 * obtained by substituting the d-axis command value Id * and the q-axis command value Iq * into the circuits 21 and 22 are sent to the coordinate conversion circuit 24, and these data I13 * and β13 * are the coordinates. It is output to the conversion circuit 25.

  The coordinate conversion circuit 24 rotates the fundamental wave based on the amplitude I7 * of the seventh harmonic current input from the seventh current command value generation circuit 21 and the phase angle (determined based on the phase angle θ of the fundamental wave) β7 *. The d-axis harmonic command value Id7 *, which is the d-axis component of the seventh-order harmonic current command value displayed in the coordinate system (also referred to as the dq-axis coordinate system or the fundamental wave dq coordinate system), and its q-axis component The q-axis harmonic command value Iq7 * is calculated.

  The coordinate conversion circuit 25 rotates the fundamental wave based on the amplitude I13 * of the 13th harmonic current input from the 13th current command value generation circuit 22 and the phase angle (determined based on the phase angle θ of the fundamental wave) β13 *. The d-axis harmonic command value Id13 *, which is the d-axis component of the 13th harmonic current command value displayed in the coordinate system (also referred to as the dq-axis coordinate system or the fundamental wave dq coordinate system), and the q-axis component thereof The q-axis harmonic command value Iq13 * is calculated. This calculation is performed by the following calculation 38.

  In Equation 38, θv is a phase compensation rotation angle signal obtained by phase compensation of the motor rotation angle θ output from a delay compensation circuit (phase compensation circuit) 16 described later.

  However, in the above description, the circuits 21 and 22 store a table of the d-axis command value Id *, the q-axis command value Iq *, and the amplitude and phase angle of the harmonic command value to be output. Store a table of angle, voltage, and current, and the amplitude and phase angle of the harmonic command value to be output. Substitute the rotation angle, voltage, and current detection values into this table and output the harmonic command. The amplitude and phase angle of the value may be calculated.

  Next, the seventh-order d-axis harmonic command value Id7 * and the thirteenth-order d-axis harmonic command value Id13 * are added by the adder 27 to obtain the d-axis harmonic command value Id6n + 1 *, and the seventh-order q-axis harmonic is obtained. Command value Iq7 * and 13th-order q-axis harmonic command value Iq13 * are added by adder 28 to obtain q-axis harmonic command value Iq6n + 1 *. Of course, higher order harmonic command values such as the 19th order harmonic command value may be formed and added in the same way by the adders 27 and 28.

  The d-axis harmonic command value Id6n + 1 * thus obtained is added to the d-axis fundamental wave command value Id1 * by the adder 3 to obtain the d-axis command value Id *. Similarly, the q-axis harmonic command value Iq6n + 1 * Is added to the q-axis fundamental wave command value Iq1 * by the adder 4 to obtain the q-axis command value Iq *. Thereby, the noise cancellation current command value can be determined by a simple calculation. That is, each order harmonic command value is simplified because only a single frequency component needs to be calculated as shown in Equation 38.

The position signal processing circuit 15 calculates the rotation angle θ of the stationary coordinate system based on the rotation angle signal from the resolver 14 and outputs it to the delay compensation circuit 16 and the coordinate conversion circuit 17. The delay compensation circuit 16 is a phase compensation circuit, and outputs the phase-compensated rotation angle θv to the coordinate conversion circuits 24 and 25 and a coordinate conversion circuit 9 to be described later to compensate for calculation delays of these circuits. The coordinate conversion circuit 17 performs a coordinate conversion process on the U-phase current Iu and the V-phase current Iv detected by the current sensor 12, thereby detecting the d-axis detection value Id and the q-axis detection as current detection values in the rotating coordinate system display. The value Iq is output.

  The subtractor 5 subtracts the d-axis detected value Id from the d-axis command value Id * obtained by the above calculation to obtain a deviation ΔId, and the subtractor 6 calculates the q-axis detected value Iq from the q-axis command value Iq *. To obtain a deviation ΔIq. The PI amplifier 7 amplifies the deviation ΔId by PI (proportional-integral) to converge the deviation ΔId to 0 and outputs a corresponding d-axis voltage Vd, and the PI amplifier 8 performs the deviation ΔIq to converge the deviation ΔIq to 0. Is amplified by PI (proportional-integral) and the corresponding q-axis voltage Vq is output.

  The coordinate conversion circuit 9 converts these voltages Vd and Vq into the three-phase AC voltages Vu, Vv and Vw of the rotating coordinate system using the input phase compensation rotation angle signal θv, and the PWM voltage generation circuit 10 The AC voltages Vu, Vv, Vw are converted into PWM signal voltages Uu, Uv, Uw, and the three-phase inverter 11 intermittently controls the six built-in switching elements based on the input PWM signal voltages Uu, Uv, Uw. A three-phase AC voltage is created and applied to each phase terminal of the three-phase synchronous motor generator 13. The motor control circuit described above is the same as the normal motor control system except for the harmonic command value generation circuit 2, and this type of PWM feedback control itself is already well known, and thus detailed description thereof is omitted.

  Thereby, the level of the 6th and 12th harmonic noise, which is the main cause of noise in the motor, can be greatly reduced.

  The advantages of this embodiment will be described below.

  First, according to this embodiment, the components (circuits) 5 to 11 and 17 collectively perform feedback control of both the fundamental wave command value and the harmonic wave command value, so that the circuit system can be simplified. Therefore, the coordinate conversion circuit 17 can directly convert the detected three-phase alternating currents Iu and Iv into the fundamental frequency component and the harmonic component without frequency separation, and therefore a filter for this frequency separation. Can prevent the phase lag due to, and suppress the deterioration of the noise cancellation effect due to the calculation error and the control lag.

  Further, since the amplitude and phase angle tables of the harmonic command values are set corresponding to the d-axis fundamental wave command value Id1 * and the q-axis fundamental wave command value Iq1 * with little fluctuation, the reading frequency is reduced. be able to.

(Circuit configuration example 7)
Another embodiment will be described below with reference to FIG. This circuit configuration example includes a d-axis harmonic command value Id6k + 1 * generated by the harmonic command value generation circuit 2 of the feedback-type circuit configuration example 1 shown in FIG. 20 and a q-axis harmonic that is a q-axis current component. The command value Iq6k + 1 * is subtracted by the subtractors 20 and 21 from the d-axis detection value Id and the q-axis detection value Iq as the current detection value of the rotating coordinate system display generated by the coordinate conversion circuit 17, and is used as the current detection value. Id1 and Iq1 are generated. The subtractors 5 and 6 subtract Id1 and Iq1 generated by the above means to generate ΔId and ΔIq. Since the subsequent processing is the same as the circuit configuration of the circuit configuration example 1, description thereof is omitted.

(Circuit configuration example 8)
Another embodiment will be described below with reference to FIG. In this circuit configuration example, the current sensor 12 and the coordinate conversion circuit 17 are omitted from the feedback-type circuit configuration example 1 shown in FIG. 20, and the subtractors 5 and 6 and the PI amplifiers 7 and 8 are replaced with a current controller 18. The current controller 18 changes the d-axis command value Id * and the q-axis command value Iq * to a predetermined magnitude of the d-axis voltage command value and the q-axis voltage command value, respectively. The coordinate conversion circuit 9 converts the voltage command values of these rotating coordinate systems into voltage command values Vu, Vv, Vw of the stationary coordinate system.

(Circuit configuration example 9)
Another embodiment will be described below with reference to the flowchart shown in FIG.

  In this circuit configuration example, the fundamental wave command value generation circuit 1 and the harmonic wave command value generation circuit 2 shown in FIG. 21 are processed by software by a microcomputer, and the fundamental wave command value (rotation coordinate system display) is used as necessary. The harmonic command value (rotation coordinate system display) is superimposed according to specific conditions.

  First, after calculating a fundamental wave command value in step S100, it is determined whether or not harmonic superimposition for reducing radial vibration is performed based on a predetermined determination result calculated separately (S102). If it is determined that the harmonic superposition processing is not performed, the d-axis command value Id * is set as the d-axis command value Id1 * and the q-axis command value Iq * is set as the q-axis command value Iq1 * in step S103. The harmonic superimposition processing described is not performed. If it is determined that the harmonic superimposition process is to be performed, the process proceeds to step S104.

  In order to determine whether or not to implement this harmonic superimposition, for example, it is determined whether the rotational speed is less than a predetermined value, and if so, a command is given to superimpose the harmonic, and if not, the harmonic superimposition is not performed. Good. As a result, it is possible to achieve noise reduction by superimposing harmonics in a low rotational speed region where radial vibration noise is conspicuous, and to reduce power consumption in a rotational region beyond that. In addition, when the necessary generated torque is equal to or greater than a predetermined value, such as when the engine is started, harmonic superposition can be prohibited and the maximum torque of the motor can be increased.

  In step S104, the obtained fundamental wave command values (d-axis command value Id1 *, q-axis command value Iq1 *) are substituted into a table to determine the amplitude and phase angle of the seventh-order harmonic command value. Based on the amplitude and phase angle of the command value and the input correction rotation angle θv, the seventh harmonic command value based on the rotational coordinate system of the fundamental wave command value is obtained.

  The 13th harmonic command value is obtained by the same processing in step S108 and step S110, the 6k + 1st harmonic command value is obtained by the same processing in step S112 and step S114, and each of these harmonic commands is obtained in step S116. All the values are added to obtain a combined d-axis harmonic command value Id6n + 1 * and a combined q-axis harmonic command value Iq6n + 1 *.

Next, in step S118, the d-axis fundamental wave command value Id1 * is added to the synthesized d-axis harmonic command value Id6n + 1 *, and the q-axis fundamental wave command value Iq1 * is added to the synthesized q-axis harmonic command value Iq6n + 1 *. Then, the d-axis command value Id * and the q-axis command value Iq * are obtained. Note that step S116 and step S118 may be calculated in a lump or may be calculated with dedicated hardware. Further, steps S104 and S106 and steps S108 and S110 may be calculated in parallel by dedicated hardware or may be calculated by an analog circuit.
(Modification)
In the explanation using the above formula, the 6th and 12th magnetic sounds generated by the rotor magnetomotive force Fmag including the 3rd, 5th and 7th harmonics are canceled or reduced by superimposing the 7th and 13th harmonic current components. Shown when to do. As a result of the same calculation as described above, by superimposing a harmonic current of a certain order, magnetic noise having an order lower than this order by at least 1 or magnetic noise having an order lower than this order by 1 and other orders It was found that the magnetic noise can be reduced or canceled.

  For example, the 18th-order magnetic sound can be canceled or reduced by superimposing the 19th-order harmonic current component and the 24th-order magnetic sound can be canceled or reduced by superimposing the 25th-order harmonic current component by the same calculation as described above. In addition, in the above-described formula, only the 6th-order magnetic sound (magnetic sound) can be canceled or reduced, and only the 12th-order magnetic sound can be canceled or reduced. It can be easily implemented by setting 0 to 0. As a result, it is possible to satisfactorily reduce the 6th, 12th, 18th, and 24th order magnetic noise, which is the dominant magnetic noise in the three-phase rotating electric machine.

  Further, in the explanation using the above mathematical formulas, only the fundamental frequency component is assumed as the original stator (armature current) for easy understanding of the theoretical explanation, and m-order and n-order magnetic noise reduction is applied to this fundamental frequency component. It was thought that the harmonic current for use would be superimposed. However, in general (when the control of this embodiment is not performed), the actual stator current includes a harmonic component in the same manner as the rotor magnetomotive force. Therefore, the stator currents of Equations 16, 17, and 18 are examples. When the j-th order, the k-th order, and the L-th order are included, they are expressed as Equation 39, Equation 40, and Equation 41. Therefore, if this is expanded by the above-described mathematical formula, it is clear that the excitation force due to the harmonic current originally contained is generated in the same manner as the excitation force generated by the harmonic component of the rotor magnetomotive force. Therefore, it is natural that the harmonic current superimposed in the present invention can be reduced or canceled by determining the order, amplitude, and phase based on this. (These mathematical expressions are omitted because they can be applied to the above-mentioned expressions.)

  When the order of the harmonic current included in the original armature current is one order higher than the order of the harmonic component of the radial vibration to be reduced, the harmonic for magnetic noise reduction calculated by the above formula is used. It is preferable to subtract the harmonic current contained in the original armature current from the wave current and superimpose it on the fundamental frequency component of the original armature current.

  Moreover, even in a multi-phase AC rotating electrical machine different from a three-phase AC rotating electrical machine, it is possible to reduce magnetic noise (magnetic sound) of an order lower than this order by superimposing a harmonic current of a certain order. It will be understood that the above knowledge is established by changing each of the above equations in accordance with the phase change.

  Further, it is natural that this embodiment can be applied to a multi-slot configuration called distributed winding (for example, a configuration having two or more slots per pole per phase).

  In the above description, the stator current Icoil is described with reference to the stationary coordinate axis (angle θ). However, it is naturally possible to display the stator current Icoil with reference to the rotating coordinate system (d, q axes).

  In addition, instead of calculating the harmonic current for magnetic noise reduction to be superimposed on the armature current by the above formula, the set of the variable parameter of the above formula and the amplitude and phase of the harmonic current of the predetermined order for magnetic noise reduction Can be stored in a table, and the amplitude and phase of the harmonic current for magnetic noise reduction can be determined by substituting variable parameters into this table. Of course, the above-described processing for reducing magnetic noise can be obtained using software as well as dedicated hardware.

  Although preferred embodiments of the present invention have been described in detail above, various modifications and changes can be made by those skilled in the art, and the scope of the claims falls within the true spirit and scope of the present invention. It is to be understood by those skilled in the art that all such modifications and changes are included in the scope of the present invention.

It is the figure which illustrated typically the magnetic circuit for one phase of a polyphase alternating current rotating electrical machine. FIG. 2 is an equivalent magnetic circuit diagram of FIG. 1. It is a block circuit diagram which shows the example of the motor control circuit which employ | adopts the magnetic sound change method of this invention. It is a block circuit diagram which shows the example of the motor control circuit which employ | adopts the magnetic sound change method of this invention. It is a block circuit diagram which shows the example of the motor control circuit which employ | adopts the magnetic sound change method of this invention. It is a block circuit diagram which shows the example of the motor control circuit which employ | adopts the magnetic sound change method of this invention. It is a block circuit diagram which shows the example of the motor control circuit which employ | adopts the magnetic sound change method of this invention. It is a model radial direction cross section of the three-phase synchronous machine used for experiment. It is a wave form diagram (at the time of magnetic noise non-reduction) of each phase current of the three-phase synchronous machine of FIG. It is a wave form diagram (at the time of magnetic noise reduction) of each phase current of the three-phase synchronous machine of FIG. FIG. 9 is a frequency spectrum diagram of phase currents of the three-phase synchronous machine of FIG. 8 (when magnetic noise is not reduced and when magnetic noise is reduced). It is a wave form diagram (at the time of magnetic noise non-reduction and magnetic noise reduction) of the radial direction excitation force of the three-phase synchronous machine of FIG. FIG. 9 is a frequency spectrum diagram of radial excitation force of the three-phase synchronous machine of FIG. 8 (when magnetic noise is not reduced and when magnetic noise is reduced). It is a figure which shows the measurement result (at the time of electric drive) of the magnetic noise (magnetic sound) of the three-phase synchronous machine of FIG. It is a figure which shows the measurement result (at the time of electric power generation) of the magnetic noise (magnetic sound) of the three-phase synchronous machine of FIG. It is a flowchart for compensating the temperature change of the rotor magnetic flux. It is a flowchart which reduces the amplitude of a magnetic sound according to the operation mode of an AC rotating electrical machine. It is a flowchart which shows the control operation | movement which reduces the magnetic noise of a three-phase alternating current rotating electrical machine, and generates the magnetic sound of a predetermined frequency. It is a flowchart which shows the control operation | movement which reduces the magnetic noise intrinsic | native to the three-phase alternating current rotating electrical machine mounted in the engine traveling vehicle on suitable conditions. It is a block circuit diagram which shows another circuit example. FIG. 21 is a block circuit diagram showing an example of the circuit shown in FIG. 20. It is a wave form diagram which shows each part signal waveform (fundamental wave rotation coordinate system) in FIG. It is a wave form diagram which shows each part signal waveform (stationary coordinate system) in FIG. It is a block circuit diagram which shows another circuit example. It is a block circuit diagram which shows another circuit example. It is a flowchart which shows the other circuit example.

Explanation of symbols

10 Motor current control means 106 Inverter 107 Three-phase synchronous machine (AC rotating electric machine)
108 rotational position sensor 100 basic PWM signal generating means 101 harmonic PWM signal generating means

Claims (17)

A harmonic current for reducing radial vibration having a frequency n + 1 times (n is a natural number) with respect to the fundamental frequency component of the multiphase AC current energized in the armature of the multiphase AC rotating electric machine is superimposed on the multiphase AC current. Thus, radial vibration that is generated radially around the axis of the rotating shaft of the AC rotating electric machine by the excitation force generated by the AC rotating electric machine or input from the outside to the AC rotating electric machine. Attenuating a harmonic component of n (order) times of the fundamental frequency component , and
Calculating the frequency, amplitude and phase of the radial vibration reducing harmonic current by inputting the frequency, amplitude and phase of the current of the fundamental frequency component into the following equations (13), (14) and (15): Magnetic noise reduction method for AC rotating electrical machines.
In the magnetic noise reduction method of the AC rotating electric machine according to claim 1,
By superimposing a radial current reducing harmonic current having a frequency 6k + 1 (k is a natural number) times the stator current of the three-phase AC rotating electric machine as the AC rotating electric machine on the stator current, A magnetic noise reduction method characterized by reducing radial vibration of the AC rotating electric machine having a frequency 6k times the fundamental frequency component as compared with the case where the superposition is not performed. In the magnetic noise reduction method of the AC rotating electrical machine according to claim 2,
By superimposing the seventh harmonic current for reducing radial vibration, the sixth harmonic component of the radial vibration is attenuated more than when the superposition is not performed. Noise reduction method. In the magnetic noise reduction method of the AC rotating electrical machine according to claim 2,
By superimposing the thirteenth radial vibration reducing harmonic current, the twelfth harmonic component of the radial vibration is attenuated more than when the superposition is not performed. Noise reduction method. In the magnetic noise reduction method of the AC rotating electrical machine according to claim 2,
By superimposing the seventh-order and thirteenth-order radial vibration reducing harmonic currents, the harmonic components of the radial vibration having the sixth-order and twelfth-order frequencies are attenuated simultaneously than when the superposition is not performed. A magnetic noise reduction method for an AC rotating electrical machine. In the magnetic noise reduction method for an AC rotating electrical machine according to any one of claims 2 to 5,
Sixth-order and twelfth-order harmonic vibration components formed by the harmonic current for reducing radial vibration of the fundamental wave, seventh-order, and thirteenth-order, and sixth-order, 12 generated in the AC rotating electric machine The phase and amplitude of the seventh and thirteenth radial vibration reducing harmonic currents are set so that the amplitude of the vector sum with the next harmonic component of the radial vibration is not more than a predetermined value. A magnetic noise reduction method for an AC rotating electrical machine. In the magnetic noise reduction method for an AC rotating electrical machine according to any one of claims 2 to 6,
An AC rotation characterized in that a harmonic component of the radial vibration having an 18th-order frequency is attenuated by superimposing the 19th-order radial vibration reducing harmonic current than when the superposition is not performed. Magnetic noise reduction method for electric machines. In the magnetic noise reduction method of the AC rotating electrical machine according to any one of claims 2 to 7,
An AC rotation characterized in that by superimposing the 25th-order radial vibration reducing harmonic current, the harmonic component of the radial vibration having a 24th-order frequency is attenuated as compared with the case where the superposition is not performed. Magnetic noise reduction method for electric machines. In the magnetic noise reduction method of the AC rotating electrical machine according to any one of claims 1 to 8,
When I1 is the amplitude of the fundamental frequency, Im is the amplitude of the harmonic current, and t, x, and y are predetermined phase angles, the fundamental frequency component of the multiphase alternating current is the first phase fundamental frequency. A component Iu1 (= I1sin (θ)), a second phase fundamental frequency component Iv1 (= I1sin (θ−x)), and a third phase fundamental frequency component Iw1 (= I1sin (θ−y)),
A harmonic current for reducing radial vibration having a frequency of m (= n + 1) times is a first-phase harmonic component Ium (= Imsin {m (θ + t)}) and a second-phase fundamental frequency component Ivm (= Imsin {m ( θ + t) −x}) and at least a third phase fundamental frequency component Iwm (= Imsin {m (θ + t) −y})
The first phase harmonic component Ium is the first fundamental frequency component Iu1, the second phase harmonic component Ivm is the second fundamental frequency component Iv1, and the third phase harmonic component Iwm is the third fundamental frequency. A method for reducing magnetic noise of an AC rotating electrical machine, wherein the method is superimposed on a component Iw1. Rotational position detecting means for detecting the rotational position of a synchronous AC rotating electrical machine for vehicles of M (M is a positive integer of 3 or more) phase;
Motor current control means for individually applying a predetermined phase current having a predetermined fundamental frequency and amplitude to each phase winding of the armature of the AC rotating electric machine based on the detected rotational position;
In a motor control device comprising:
The motor current control means includes
The AC rotating electric machine generates or externally superimposes a radial vibration reducing harmonic current having a frequency n + 1 times (n is a natural number) on the basis of the fundamental frequency component of the phase current. A harmonic of n (next) times of the fundamental frequency component of radial vibration that is a vibration generated radially around the axis of the rotating shaft of the AC rotating electric machine due to the excitation force input to the AC rotating electric machine. Attenuates the wave component , and
Calculating the frequency, amplitude and phase of the radial vibration reducing harmonic current by inputting the frequency, amplitude and phase of the current of the fundamental frequency component into the following equations (13), (14) and (15): Magnetic noise reduction method for AC rotating electrical machines.
The motor control device according to claim 10,
The motor current control means includes
By superimposing the seventh-order harmonic component and the thirteenth-order harmonic component on the phase current, the sixth-order and twelfth-order of the radial vibration generated in the three-phase AC rotating electric machine as the AC rotating electric machine. A motor control device that attenuates higher harmonic components than when the superposition is not performed. The motor control device according to claim 11, wherein
The motor current control means includes
Motor control characterized in that by superimposing the 19th-order radial vibration reducing harmonic current, the harmonic component of the radial vibration having an 18th-order frequency is attenuated as compared with the case where the superposition is not performed. apparatus. The motor control device according to claim 11 or 12,
The motor current control means includes
Motor control characterized in that by superimposing the 25th-order radial vibration reducing harmonic current, the harmonic component of the radial vibration having a 24th-order frequency is attenuated as compared with the case where the superposition is not performed. apparatus. The motor control device according to any one of claims 10 to 13,
The AC rotating electrical machine is connected to a vehicle engine so as to be disengaged,
The motor control device, wherein the motor current control means superimposes the radial vibration reducing harmonic current on the polyphase alternating current when the vehicle engine is stopped. The motor control device according to any one of claims 10 to 13,
The AC rotating electrical machine is connected to a vehicle engine and / or axle so as to be capable of regenerative braking,
The motor control device, wherein the motor current control means superimposes the radial vibration reducing harmonic current on the polyphase AC current at least when the vehicle engine is stopped and during regenerative braking. The motor control device according to claim 10,
The motor current control means includes
The radial direction of n + 1 times that reduces or minimizes radial vibration of a frequency n times the fundamental frequency component due to the phase current including at least a fundamental frequency component and a harmonic current having a frequency n + 1 times the fundamental frequency component. Find harmonic current for vibration reduction,
A motor control device, wherein the harmonic vibration reducing radial current is superimposed on the phase current. The motor control device according to claim 10,
The motor current control means includes
A harmonic current having a frequency n + 1 times the fundamental frequency component included in the phase current is detected as a mixed harmonic current;
For reducing the n + 1-order radial vibration for reducing or minimizing the n-th harmonic component of the radial vibration when the phase current does not include the mixed harmonic current and is only the fundamental frequency component. Obtain harmonic current as feedback control target value,
A motor control device that performs feedback control for converging a difference between the mixed harmonic current and the target value to zero.