JP4754433B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device.

2. Description of the Related Art Conventionally, there is known a motor control device that adjusts the magnetic field of a permanent magnet by changing the relative phases of a plurality of rotors having permanent magnets using a hydraulic circuit (see, for example, Patent Document 1).
JP-A-55-153300

  By the way, the motor control device according to the above prior art example is configured to adjust the magnetic field of the permanent magnet by a hydraulic circuit, and supplies the working fluid to the rotor which is a rotating body. For this reason, there is a concern that hydraulic pressure due to centrifugal force may act on the hydraulic fluid when the rotor rotates at high speed. On the other hand, for example, there is a method to prevent the hydraulic pressure due to centrifugal force from being applied to the hydraulic circuit by providing a canceller. However, as the canceller is provided, the number of parts increases and the cost increases or the motor becomes large. There is a problem that it becomes.

  Therefore, the present invention has been made in view of the above circumstances, and provides a motor control device capable of reducing the influence on hydraulic fluid related to the phase change of the rotor due to centrifugal force without increasing the number of parts. To do.

In order to solve the above-described problem, the invention described in claim 1 includes a plurality of rotors each having a magnet piece (for example, the permanent magnet 9 in the embodiment) and capable of changing relative phases with each other. For example, the relative phases of the motor (for example, the motor 1 in the embodiment) including the outer peripheral rotor 5 and the inner peripheral rotor 6) in the embodiment and the plurality of rotors are determined by the fluid pressure of the working fluid. A motor control device having phase change means for changing (for example, phase change means 12 in the embodiment), wherein the phase change means is configured to control the working fluid in response to a control command related to a phase change request. An actuator for controlling the fluid pressure (for example, the hydraulic control device 13 in the embodiment) is provided, and a centrifugal fluid pressure acting on the working fluid is calculated by a centrifugal force generated when the rotor rotates. Means (e.g., step S01~ step S13 in the embodiment) and, on the basis of the centrifugal fluid pressure calculated by the said calculating means, the fluid pressure which the actuator is controlled, less pressure upper limit value determined by at least the rotational speed of the motor It is provided with the correction | amendment means (For example, step S20-step S23 in embodiment) which determines a control command value so that it may become .
With this configuration, a centrifugal force is generated by the rotation of the rotor, but the centrifugal fluid pressure acting on the working fluid by this centrifugal force can be calculated by the calculation means. The fluid pressure corresponding to the centrifugal fluid pressure can be generated by the actuator of the changing means.

According to a second aspect of the present invention, in the first aspect of the present invention, the plurality of rotors may be an inner peripheral side rotor (for example, an inner peripheral side rotor in the embodiment) in which the respective rotation axes are arranged coaxially. 6) and an outer peripheral side rotor (for example, the outer peripheral side rotor 5 in the embodiment), and the phase changing means is a first member provided so as to be integrally rotatable with respect to the outer peripheral side rotor ( For example, the partition wall 21) in the embodiment and the inner circumferential rotor are provided so as to be integrally rotatable, and the pressure chamber (for example, the introduction space 23 in the embodiment) is formed by the first member. A second member (for example, the vane 18 in the embodiment) defined inside the inner rotor, and the working fluid is supplied to the pressure chamber defined by the first member and the second member. Supply the inner circumference rotor and the outer circumference rotation And changes the relative phase between.
By comprising in this way, supply of the working fluid to the pressure chamber defined by the 1st member provided in the outer peripheral side rotor and the 2nd member provided in the inner peripheral side rotor is controlled. Thus, the relative phase between the inner circumferential rotor and the outer circumferential rotor can be changed.

According to a third aspect of the present invention, in the first or second aspect of the present invention, the correction means reduces the fluid pressure controlled by the actuator in accordance with an increase in the motor rotation speed.
With this configuration, when the centrifugal fluid pressure due to the centrifugal force of the rotor, which increases as the motor rotation speed increases, is generated in the actuator by the correction means, for example, by the increased amount of this centrifugal fluid pressure. It is possible to reduce the fluid pressure.

  According to the first aspect of the present invention, centrifugal force is generated by the rotation of the rotor, and the centrifugal fluid pressure acting on the working fluid by this centrifugal force can be calculated by the calculation means. Based on this, the fluid pressure corresponding to the centrifugal fluid pressure can be generated by the actuator of the phase changing means. Therefore, it is possible to control the rotor to an appropriate phase position by suppressing the influence of centrifugal fluid pressure without increasing the number of parts, and further, it is possible to reduce the size by the amount of the reduced number of parts. is there.

    According to the second aspect of the present invention, in addition to the effect of the first aspect, the first member provided on the outer peripheral side rotor and the second member provided on the inner peripheral side rotor are defined. By controlling the supply of the working fluid to the pressure chamber, the relative phase between the inner circumferential rotor and the outer circumferential rotor can be changed. Therefore, the first member and the second member define the image. There is an effect that the motor torque can be controlled to an appropriate value by suppressing the influence of the centrifugal fluid pressure generated in the hydraulic fluid in the formed pressure chamber.

  According to the third aspect of the present invention, in addition to the effect of the second aspect, when the centrifugal fluid pressure due to the centrifugal force of the rotor that increases as the motor rotation speed increases, the correction means, for example, this centrifugal force. Since the fluid pressure generated by the actuator can be reduced by the amount of increase in the fluid pressure, there is an effect that the energy consumed by the actuator can be reduced by the amount of reduction of the fluid pressure.

Hereinafter, an embodiment of a motor control device of the present invention will be described with reference to the accompanying drawings.
The motor 1 according to the present embodiment is an inner rotor type brushless motor in which a rotor unit 3 is arranged on the inner peripheral side of an annular stator 2 as shown in FIGS. Used as a driving source for electric vehicles and the like. The stator 2 has a multi-phase stator winding 2a, and the rotor unit 3 has a rotating shaft 4 at the shaft core. When used as a vehicle drive source, the rotational force of the motor 1 is transmitted to a wheel drive shaft (not shown) via a transmission T / M (see FIG. 7). In this case, if the motor 1 functions as a generator when the vehicle is decelerated, it can be recovered in the battery as regenerative energy. Further, in the hybrid vehicle, the rotation shaft 4 of the motor 1 can be further connected to a crankshaft (not shown) of the internal combustion engine so that it can be used for power generation by the internal combustion engine.

FIG. 7 shows an example of a control system of the motor 1 when the motor 1 is used as a traveling drive source of the vehicle. In this control system, the drive operation and regenerative operation of the motor 1 are performed by a power drive unit 41 (hereinafter referred to as “PDU41”) in response to a control command output from the controller 40.
The PDU 41 includes a PWM inverter that performs pulse width modulation (PWM) using a bridge circuit in which transistor switching elements are bridge-connected, and is connected to a high-voltage battery 42 that exchanges electric energy with the motor 1. .
The PDU 41 turns on / off each transistor paired in each phase in the PWM inverter based on a gate signal (that is, PWM signal) that is a switching command input from the controller 40 when the motor 1 is driven. By switching the (shutoff) state, the DC power supplied from the battery 42 is converted into three-phase AC power, and the energization to the stator winding 2a of the motor 1 is sequentially commutated, whereby the stator of each phase. AC winding U-phase current Iu, V-phase current Iv and W-phase current Iw are passed through winding 2a.

  As shown in FIGS. 1 to 4, the rotor unit 3 includes an annular outer circumferential rotor 5 and an annular inner circumferential rotor 6 disposed coaxially inside the outer circumferential rotor 5. The outer peripheral side rotor 5 and the inner peripheral side rotor 6 are rotatable within a set angle range.

  The outer rotor 5 and the inner rotor 6 are formed by, for example, sintered rotor cores 7 and 8 made of sintered metal, and are biased toward the outer periphery of the rotor cores 7 and 8. A plurality of magnet mounting slots 7a, 8a are formed at equal intervals in the circumferential direction. In each of the magnet mounting slots 7a and 8a, two flat plate-like permanent magnets 9 and 9 magnetized in the thickness direction are mounted in parallel. Two permanent magnets 9, 9 mounted in the same magnet mounting slot 7a, 8a are magnetized in the same direction, and a pair of permanent magnets 9 mounted in each adjacent magnet mounting slot 7a, 7a and 8a, 8a. The magnetic poles are set so that the directions of the magnetic poles are opposite to each other. That is, in each of the rotors 5 and 6, a pair of permanent magnets 9 whose outer peripheral side is an N pole and a pair of permanent magnets 9 that are an S pole are alternately arranged in the circumferential direction. A notch 10 for controlling the flow of magnetic flux of the permanent magnet 9 is rotated between the adjacent magnet mounting slots 7a, 7a and 8a, 8a on the outer peripheral surfaces of the rotors 5, 6. It is formed along the axial direction of the children 5 and 6.

  The same number of magnet mounting slots 7a, 8a of the outer rotor 5 and inner rotor 6 are provided, and the permanent magnets 9,..., 9 of the rotors 5, 6 correspond to each other on a one-to-one basis. ing. Therefore, by making the pair of permanent magnets 9 in each of the magnet mounting slots 7a and 8a of the outer peripheral rotor 5 and the inner peripheral rotor 6 face each other with the same polarity (with different polar arrangement), the rotor unit 3 is able to obtain a field weakening state (see FIGS. 4 and 5B) in which the field of the entire field is most weakened, and the magnet mounting slots 7a of the outer peripheral rotor 5 and the inner peripheral rotor 6. , 8a, the pair of permanent magnets 9 are opposed to each other with different polarities (with the same polarity arrangement), so that the field of the entire rotor unit 3 is most strongly strengthened (see FIGS. 2 and 5). (See (a)) can be obtained.

  The rotor unit 3 includes a rotation mechanism 11 for relatively rotating the outer peripheral rotor 5 and the inner peripheral rotor 6. The rotating mechanism 11 constitutes a part of phase changing means 12 for arbitrarily changing the relative phase between the rotors 5 and 6, and is a hydraulic fluid (transmission) that is an incompressible working fluid. It may be operated by the pressure of lubricating oil or engine oil. The phase changing means 12 is composed mainly of the turning mechanism 11 and the hydraulic control device 13 shown in FIG. 6 for controlling the pressure of the hydraulic fluid supplied to the turning mechanism 11.

  As shown in FIGS. 1 to 4, the rotating mechanism 11 includes a vane rotor 14 that is spline-fitted to the outer periphery of the rotating shaft 4 and an annular housing that is relatively rotatable on the outer peripheral side of the vane rotor 14. 15, and the annular housing 15 is integrally fitted and fixed to the inner peripheral surface of the inner peripheral rotor 6, and the vane rotor 14 is provided on both side end portions of the annular housing 15 and the inner peripheral rotor 6. Are integrally coupled to the outer circumferential rotor 5 via a pair of disk-shaped drive plates 16, 16 straddling each other. Therefore, the vane rotor 14 is integrated with the rotary shaft 4 and the outer peripheral rotor 5, and the annular housing 15 is integrated with the inner peripheral rotor 6.

  In the vane rotor 14, a plurality of vanes 18 projecting radially outward are provided at equal intervals in the circumferential direction on the outer periphery of a cylindrical boss portion 17 that is spline-fitted to the rotary shaft 4. On the other hand, the annular housing 15 is provided with a plurality of concave portions 19 on the inner peripheral surface at equal intervals in the circumferential direction, and the corresponding vanes 18 of the vane rotor 14 are accommodated in the concave portions 19. Each recess 19 is constituted by a bottom wall 20 having an arc surface that substantially matches the rotational trajectory of the tip of the vane 18 and a substantially triangular partition wall 21 that separates the adjacent recesses 19, 19. The vane 18 can be displaced between the one partition wall 21 and the other partition wall 21 during relative rotation of the annular housing 15. In the case of this embodiment, the partition wall 21 also functions as a stopper that restricts the relative rotation of the vane rotor 14 and the annular housing 15 by contacting the vane 18. A seal member 22 is provided along the axial direction at the tip of each vane 18 and the tip of the partition wall 21, and the vane 18, the bottom wall 20 of the recess 19, and the partition wall 21 are provided by these seal members 22. And the outer peripheral surface of the boss portion 17 are liquid-tightly sealed.

  Further, the base portion 15a of the annular housing 15 fixed to the inner peripheral rotor 6 is formed in a cylindrical shape having a constant thickness, and is also provided with respect to the inner peripheral rotor 6 and the partition wall 21 as shown in FIG. Projects outward in the axial direction. Each end projecting outward of the base portion 15a is slidably held in an annular guide groove 16a formed in the drive plate 16, and the annular housing 15 and the inner peripheral rotor 6 are connected to the outer peripheral rotor. 5 and the rotating shaft 4 are supported in a floating state.

  The drive plates 16 and 16 on both sides connecting the outer rotor 5 and the vane rotor 14 are slidably in close contact with both side surfaces (both end surfaces in the axial direction) of the annular housing 15, and the side of each recess 19 of the annular housing 15. Respectively. Therefore, each recessed part 19 forms the independent space part by the boss | hub part 17 of the vane rotor 14, and the drive plates 16 and 16 of both sides, and this space part is the introduction space 23 into which a hydraulic fluid is introduce | transduced. Each introduction space 23 is divided into two chambers by the corresponding vanes 18 of the vane rotor 14, and one room is an advance side working chamber 24 and the other room is a retard side working chamber 25. The advance side working chamber 24 rotates the inner circumferential side rotor 6 relative to the outer circumferential side rotor 5 in the advance direction by the pressure of the working fluid introduced inside, and the retard side working chamber 25 is The inner rotor 6 is rotated relative to the outer rotor 5 in the retard direction by the pressure of the working fluid introduced therein. In this case, the “advance angle” means that the inner rotor 6 is advanced in the rotation direction of the motor 1 indicated by the arrow R in FIGS. 2 and 4 with respect to the outer rotor 5. The term “angle” refers to advancing the inner rotor 6 to the opposite side of the rotation direction R of the motor 1 with respect to the outer rotor 5.

  Further, the supply and discharge of the hydraulic fluid to and from each of the advance side working chambers 24 and the retard side working chambers 25 is performed through the rotating shaft 4. Specifically, the advance side working chamber 24 is connected to the advance side supply / discharge passage 26 of the hydraulic control device 13 shown in FIG. 6, and the retard side working chamber 25 is connected to the retard side supply chamber 26 of the hydraulic control device 13. Although connected to the exhaust passage 27, a part of the advance side supply / exhaust passage 26 and the retard side supply / exhaust passage 27 are respectively formed on the rotary shaft 4 along the axial direction as shown in FIG. It is constituted by passage holes 26a and 27a. The end portions of the passage holes 26a and 27a are respectively connected to an annular groove 26b and an annular groove 27b formed at two positions offset in the axial direction of the outer peripheral surface of the rotary shaft 4, and the respective annular grooves 26b and 27b. Are connected to a plurality of conduction holes 26c, ..., 26c, 27c, ..., 27c formed in the boss portion 17 of the vane rotor 14 along the substantially radial direction. Each conduction hole 26c of the advance side supply / discharge passage 26 connects the annular groove 26b and each advance side working chamber 24, and each conduction hole 27c of the retard side supply / exhaust passage 27 connects to the annular groove 27b and each retard side. The working chamber 25 is connected.

Here, in the case of the motor 1 of this embodiment, when the inner circumferential rotor 6 is at the most retarded angle position with respect to the outer circumferential rotor 5, the outer circumferential rotor 5 and the inner circumferential rotor 6 are permanent. The magnets 9 are opposed to each other with different polarities and are in a strong field state (see FIGS. 2 and 5A), and the inner circumferential rotor 6 is at the most advanced position with respect to the outer circumferential rotor 5. Sometimes, the permanent magnets 9 of the outer circumferential rotor 5 and the inner circumferential rotor 6 are set so as to face each other with the same poles to form a field weakening state (see FIGS. 4 and 5B). Yes.
The motor 1 can arbitrarily change the state of the strong field and the state of the weak field by controlling the supply and discharge of the hydraulic fluid to the advance side working chamber 24 and the retard side working chamber 25. Thus, when the strength of the magnetic field is changed, the induced voltage constant Ke is changed accordingly, and as a result, the characteristics of the motor 1 are changed. That is, when the induced voltage constant Ke increases due to the strong field, the allowable rotational speed at which the motor 1 can be operated decreases, but the maximum torque that can be output increases, and conversely, the induced voltage constant Ke decreases due to the weak field. Then, although the maximum torque that can be output by the motor 1 decreases, the allowable rotational speed at which the motor 1 can operate increases.

On the other hand, as shown in FIG. 6, the hydraulic control device 13 sucks the hydraulic fluid from an oil tank (not shown) and discharges the hydraulic fluid to the passage, and the hydraulic pressure of the hydraulic fluid discharged from the oil pump 32. A regulator valve 35 that adjusts and introduces the hydraulic fluid into the high-pressure line passage 33 and flows the surplus hydraulic fluid into the low-pressure passage 34 for lubricating and cooling various devices, and the hydraulic fluid introduced into the line passage 33 is advanced. A flow switching valve 37 that distributes unnecessary hydraulic fluid to the drain passage 36 in the advance-side supply / discharge passage 26 and the retard-side supply / discharge passage 27, while distributing to the side supply / discharge passage 26 and the retard-side supply / discharge passage 27. It has.
The regulator valve 35 receives the pressure of the line passage 33 as a control pressure, and distributes the hydraulic fluid according to the balance with the reaction force spring 38.
Further, the flow path switching valve 37 has an electromagnetic solenoid 37 b that moves the control spool 37 a forward and backward, and the electromagnetic solenoid 37 b is controlled by the controller 40.

  As shown in FIG. 7, the controller 40 performs current feedback control on the dq coordinates forming the rotation orthogonal coordinates. For example, detection of an AP opening sensor that detects the accelerator opening related to the accelerator operation of the driver. The d-axis current command Idc and the q-axis current command Iqc are calculated based on the torque command Tq calculated based on the result, and the phase output voltages Vu, Vv, Vw are calculated based on the d-axis current command Idc and the q-axis current command Iqc. And a PWM signal as a gate signal is input to the PDU 41 according to each phase output voltage Vu, Vv, Vw, and any one of the phase currents Iu, Iv, Iw actually supplied from the PDU 41 to the motor 1 is calculated. Each deviation between the d-axis current Id and the q-axis current Iq obtained by converting the two phase currents into the current on the dq coordinate, and the d-axis current command Idc and the q-axis current command Iqc is zero. Performs control to so that.

  The controller 40 includes, for example, a target current setting unit 51, a current deviation calculation unit 52, a field control unit 53, a power control unit 54, a current control unit 55, a dq-3 phase conversion unit 56, and a PWM signal generation. Unit 57, filter processing unit 58, three-phase-dq conversion unit 59, rotation speed calculation unit 60, induced voltage constant calculation unit 61, centrifugal hydraulic pressure command calculation unit 62, induced voltage constant command output unit 63, The induced voltage constant difference calculation unit 64 and the phase control unit 65 are provided.

  The controller 40 includes current sensors 71 that detect a two-phase U-phase current Iu and a W-phase current Iw among the three-phase currents Iu, Iv, and Iw output from the PDU 41 to the motor 1. 71, detection signals Ius, Iws output from the battery 71, a detection signal output from the voltage sensor 72 that detects the terminal voltage (power supply voltage) VB of the battery 42, and the rotation angle θM of the rotor of the motor 1 (that is, a predetermined value) The detection signal output from the rotation sensor 73 that detects the rotation angle of the magnetic poles of the rotor from the reference rotation position) and the relative relationship between the inner circumferential rotor 6 and the outer circumferential rotor 5 that are variably controlled by the hydraulic control device 13. Detection signal output from a phase sensor 74 that detects a typical phase θ and output from a plurality of wheel speed sensors 75,..., 75 that detect the rotational speed (wheel speed NW) of each wheel of the vehicle 100. Detection signal to be input.

  The target current setting unit 51 causes the motor 1 to generate a torque command Tq input from an external control device (not shown), for example, a torque required according to the amount of depression of the accelerator pedal by the driver. Command value), the rotational speed NM of the motor 1 input from the rotational speed calculation unit 60, and an induced voltage constant Ke input from an induced voltage constant calculation unit 61 described later, and is supplied from the PDU 41 to the motor 1. Current command for designating each phase current Iu, Iv, Iw is calculated, and the current command is calculated as a current deviation calculation unit as a d-axis target current Idc and a q-axis target current Iqc on rotating orthogonal coordinates. 52 is output.

  The dq coordinates that form the rotation orthogonal coordinates are, for example, a field magnetic flux direction of a rotor permanent magnet as a d axis (field axis), and a direction orthogonal to the d axis as a q axis (torque axis). The rotor unit 3 rotates in synchronization with the rotation phase. As a result, the d-axis target current Idc and the q-axis target current Iqc, which are DC signals, are given as current commands for the AC signal supplied from the PDU 41 to each phase of the motor 1.

The current deviation calculation unit 52 includes a d-axis current deviation calculation unit 52a that calculates a deviation ΔId between the d-axis target current Idc input with the d-axis correction current input from the field control unit 53 and the d-axis current Id, The q-axis target current Iqc to which the q-axis correction current input from the control unit 54 is added, and a q-axis current deviation calculation unit 52b that calculates a deviation ΔIq from the q-axis current Iq are configured.
The field control unit 53 controls the current phase so that the field amount of the rotor unit 3 is equivalently weakened in order to suppress an increase in the counter electromotive voltage accompanying an increase in the rotational speed NM of the motor 1, for example. The target value for the field weakening current of the field control is output to the d-axis current deviation calculation unit 52a as the d-axis correction current.
In addition, the power control unit 54 outputs a q-axis correction current for correcting the q-axis target current Iqc to the q-axis current deviation calculation unit 52a according to appropriate power control according to the remaining capacity of the battery 42, for example. .

  The current control unit 55 controls and amplifies the deviation ΔId to calculate the d-axis voltage command value Vd by, for example, a PI (proportional integration) operation according to the rotation speed NM of the motor 1, and controls and amplifies the deviation ΔIq to q-axis. A voltage command value Vq is calculated.

  The dq-3 phase conversion unit 56 uses the rotation angle θM of the rotor unit 3 input from the rotation speed calculation unit 60 to convert the d-axis voltage command value Vd and the q-axis voltage command value Vq on the dq coordinate, The voltage is converted into a U-phase output voltage Vu, a V-phase output voltage Vv, and a W-phase output voltage Vw, which are voltage command values on the three-phase AC coordinates that are stationary coordinates.

  The PWM signal generator 57 turns on each switching element of the PWM inverter of the PDU 41 by pulse width modulation based on, for example, sinusoidal phase output voltages Vu, Vv, Vw, a triangular wave carrier signal, and a switching frequency. A gate signal (that is, a PWM signal) that is a switching command including each pulse to be driven off / off is generated.

  The filter processing unit 58 performs filter processing such as removal of high-frequency components on the detection signals Ius and Iws for the phase currents detected by the current sensors 71 and 71 to obtain the phase currents Iu and Iw as physical quantities. Extract.

  The three-phase-dq conversion unit 59 uses the phase currents Iu and Iw extracted by the filter processing unit 58 and the rotation angle θM of the rotor unit 3 input from the rotation number calculation unit 60 to rotate the rotation phase of the motor 1. The d-axis current Id and the q-axis current Iq on the rotation coordinates by dq, that is, the dq coordinates are calculated.

The rotation speed calculation unit 60 extracts the rotation angle θM of the rotor unit 3 of the motor 1 from the detection signal output from the rotation sensor 73, and calculates the rotation speed NM of the motor 1 based on the rotation angle θM.
The induced voltage constant calculation unit 61 calculates an induced voltage constant Ke corresponding to the relative phase θ between the inner circumferential rotor 6 and the outer circumferential rotor 5 based on the phase θ detection signal output from the phase sensor 74. calculate.

The induced voltage constant command output unit 63 outputs a command value (induced voltage constant command) Kec for the induced voltage constant Ke of the motor 1 based on, for example, the torque command Tq and the rotation speed NM of the motor 1.
The induced voltage constant difference calculation unit 64 subtracts the induced voltage constant Ke output from the induced voltage constant calculation unit 61 from the induced voltage constant command value Kec output from the induced voltage constant command output unit 63. A constant difference ΔKe is output.
For example, in response to the induced voltage constant difference ΔKe output from the induced voltage constant difference calculation unit 64, the phase control unit 65 gives a control command for controlling the phase θ so that the induced voltage constant difference ΔKe is zero. Output.

  By the way, in the rotor unit 3 of the motor 1 described above, a centrifugal force acts according to the rotation of the rotor unit 3, and the hydraulic fluid introduced into the introduction space 23 of the rotor unit 3 by this centrifugal force. Centrifugal oil pressure is generated. Therefore, the controller 40 is provided with a centrifugal hydraulic pressure command calculation unit 62 that outputs a control command to the hydraulic control device 13 so as to correct the centrifugal hydraulic pressure applied to the hydraulic pressure of the hydraulic fluid. In the following description, an example of hydraulic control for the advance side working chamber 24 of the introduction space 23 is shown.

  The centrifugal hydraulic pressure command calculation unit 62 determines the current traveling state from wheel speed data (traveling state) output from the wheel speed sensor 75 and information (traveling state) output from the BrkSW sensor. The relative phase θ of the outer rotor 5 and the inner rotor 6 output from the phase sensor 74, the oil temperature information output from the oil temperature sensor 76, and the rotation speed output from the rotation speed calculator 60 Based on the NM, the centrifugal hydraulic pressure PFr of the current hydraulic fluid introduced into the advance side working chamber (oil chamber) 24 is calculated.

  Further, the centrifugal hydraulic pressure command calculation unit 62 sets the allowable hydraulic pressure upper limit value PFmax, which is the upper limit value of the pressure in the advanced angle working chamber 24, based on the calculated centrifugal hydraulic pressure PFr. If it exceeds, a subtracted flow rate Qd for reducing the flow rate command value Qcmd for the hydraulic control device 13 is obtained, and the flow rate command value Qcmd reduced by the subtracted flow rate Qd from the flow rate command value Qcmd is output to the hydraulic control device 13. It is like that.

  The motor control device according to the above-described embodiment has the above-described configuration. Next, the operation of the controller 40, particularly, the centrifugal pressure calculation processing for calculating the centrifugal pressure of the motor 1 in the centrifugal hydraulic pressure command calculation unit 62 is illustrated. This will be described with reference to FIG.

First, in step S01, the rotational speed NM of the motor (Mot) 1 is read. That is, information on the rotational speed NM output from the rotational speed calculation unit 60 is acquired.
In step S02, the current phase position is read. That is, the phase θ output by the phase sensor 74 is acquired.

In step S03, a map of the phase position (X axis) and the oil chamber volume (Y axis) shown in FIG. 11 is searched to determine the oil chamber volume Ma. That is, the current volume of the advance side working chamber 24 is obtained. Here, according to the map shown in FIG. 11, the phase position and the oil chamber volume have a substantially proportional relationship.
In step S04, the current pressure command value Pcmd and the flow rate command value Qcmd are read from the phase control unit 65, for example.
In step S05, the estimated pressure value is calculated by adding the estimated value of the centrifugal pressure PFr to the pressure command value Pcmd.

In step S06, a map of the estimated pressure value (X axis), phase position (Y axis), and hydraulic fluid leakage amount M (Z axis) shown in FIG. Here, the leakage amount M means the amount of hydraulic fluid that leaks from the advance side working chamber 24 through, for example, the seal member 22. Further, according to the map shown in FIG. 12, when the estimated pressure value increases when the phase position is on the weak field side (advance side), the leakage amount M increases, and the phase position is on the strong field side (retard angle side). In the case of the side), the leakage amount M hardly increases from the minimum value regardless of the estimated pressure value.
In step S07, a correction term T is obtained by searching a map between the oil temperature (X axis) and the leakage amount correction term T (Y axis) shown in FIG. Here, according to the map shown in FIG. 13, when the oil temperature rises to some extent, the increase rate of the correction term T with respect to the oil temperature increases.
In step S08, the leak amount Mh obtained in step S06 and the correction term obtained in step S07 are integrated to calculate a corrected leak amount Mh.

In step S09, the oil amount Mo of the hydraulic fluid existing in the advance side working chamber 24 is calculated by subtracting the sum of the corrected leakage amount Mh calculated in step S08 from the sum of the flow rate command values Qcmd.
In step S10, the difference value (Ma-Mo; X axis) obtained by subtracting the current oil amount Mo calculated in step S09 from the oil chamber volume Ma calculated in step S03 shown in FIG. The pressure receiving area S is obtained by searching a map with the pressure receiving area S (Y axis) of the vane 18 in 24. Here, according to the map shown in FIG. 14, the pressure receiving area S decreases as the value of Ma-Mo increases. This is because, for example, when the centrifugal force illustrated in FIG. 17B is affected by the centrifugal force illustrated in FIG. 17A, the hydraulic fluid L is introduced into the introduction space 23. Thus, the pressure receiving area S is biased toward the radially outer side of the rotor unit 3.

In step S11, it is determined whether or not the current oil chamber oil amount Mo calculated in step S09 is larger than the oil chamber volume Ma obtained in step S03. If the determination result in step S11 is “YES” (Mo> Ma), the process proceeds to step S12. If the determination result is “NO” (Mo ≦ Ma), the process proceeds to step S13.
In step S12, the centrifugal pressure PFr is calculated using the following equation (1), and this process ends.

Centrifugal oil pressure PFr = (oil chamber volume Ma × r × ω ² ) / pressure receiving area S (1)

  In equation (1), “r” is the radius of the rotor unit 3, and “ω” is the angular velocity due to the rotation of the rotor unit 3.

  In step S13, the centrifugal hydraulic pressure PFr is calculated using the following equation (2), and this process is terminated.

Centrifugal oil pressure PFr = (current oil chamber oil amount Ma × r × ω ² ) / pressure-receiving area S (2)

  In the equation (2), as in the equation (1), r is the radius of the rotor unit 3, and ω is the angular velocity due to the rotation of the rotor unit 3.

  That is, in this centrifugal pressure calculation process, the leakage amount M of hydraulic fluid from the advance side working chamber 24 is taken into account in order to improve the accuracy of the estimated centrifugal hydraulic pressure obtained based on the sum of the flow rate command values Qcmd and the rotational speed NM. Since the centrifugal hydraulic pressure is calculated based on the amount of hydraulic fluid present in the actual advance side working chamber 24, the centrifugal hydraulic pressure can be calculated with high accuracy.

Next, a hydraulic pressure (flow rate) control process will be described with reference to FIG. This hydraulic pressure (flow rate) control process is a process of calculating a hydraulic control command value to the hydraulic control device 13 based on the centrifugal hydraulic pressure calculated by the above-described centrifugal pressure calculation process. When hydraulic control based on centrifugal hydraulic pressure is performed, the amount of hydraulic fluid present in the advance side working chamber 24 is controlled, so that it is substantially based on the flow rate command value Qcmd instead of the hydraulic pressure command value Pcmd. Take control.
First, in step S20, a map of the rotational speed (X axis), phase position (Y axis), and allowable pressure upper limit value PFmax (Z axis) shown in FIG. 15 is searched to obtain the allowable pressure upper limit value PFmax. Here, the allowable pressure upper limit value PFmax is an upper limit value of the hydraulic pressure for preventing the centrifugal hydraulic pressure from entering an area where hydraulic control is not possible. According to the map shown in FIG. 15, when the rotational speed NM is low, Since the centrifugal force is small, the allowable pressure upper limit value PFmax is low. On the other hand, since the centrifugal force increases in the region where the rotational speed NM is high, the allowable pressure upper limit value PFmax increases, and the allowable pressure upper limit value is increased in the region above the predetermined rotational speed. The increasing rate of PFmax is decreasing. The allowable pressure upper limit PFmax becomes the minimum value when the phase position is in the vicinity of the most advanced angle and the most retarded angle.

In step S21, it is determined whether or not a value obtained by adding the centrifugal hydraulic pressure calculated by the centrifugal pressure calculation process and the hydraulic pressure command value Pcmd is larger than the allowable pressure upper limit value PFmax. If the determination result in step S21 is “YES” (PFr + Pcmd> PFmax), the process proceeds to step S22. If the determination result is “NO” (PFr + Pcmd ≦ PFmax), this process ends.
In step S22, a map of the rotational speed (X axis), the current oil chamber oil amount Mo (Y axis), and the subtracted oil amount Qd (Z axis) shown in FIG. 16 is searched to obtain the subtracted oil amount Qd. Here, according to the map shown in FIG. 16, since the centrifugal force is small when the rotational speed NM is low, the subtracted oil amount Qd is small even if the current oil chamber oil amount Mo increases. On the other hand, since the centrifugal force increases as the rotational speed NM increases, the subtracted oil amount Qd with respect to the current oil chamber oil amount Mo increases.
In step S23, a value obtained by subtracting the subtracted oil amount Qd obtained in step S22 from the current flow rate command value Qcmd is set as the next flow rate command value Qcmd, and this process is terminated.

  That is, in this hydraulic pressure (flow rate) control process, when the current hydraulic pressure is higher than the allowable pressure upper limit value PFmax, which is the upper limit value of the controllable hydraulic pressure, the current hydraulic pressure is set to a value lower than the allowable pressure upper limit value PFmax. Thus, the flow rate command value Qcmd is controlled to be decreased by the subtracted flow rate Qd.

Next, the leakage amount term correction process will be described with reference to FIG. The leakage amount term correction processing is an example of calculating the correction of the hydraulic fluid leakage amount M in the above-described centrifugal pressure calculation processing of FIG. 8 based on the learning value ST. Here, the learning value ST is, for example, measured in advance in a factory or the like as the individual variation when the motor 1 is manufactured, and how much the actual leakage amount M deviates from the reference leakage amount. It is a value that represents whether or not has occurred as a ratio.
First, in step S30, it is determined whether or not the absolute value of the learning value ST is larger than zero. If the determination result in step S30 is “YES” (| learning value ST |> 0), the process proceeds to step S31. If the determination result is “NO” (| learning value ST | = 0), this process ends. To do. Here, when the absolute value of the learning value ST is larger than 0, it is a case where the actual leakage amount M is deviated from the reference leakage amount due to individual differences or the like, while when the learning value ST is 0. This is a case where the actual leakage amount M is equal to the reference leakage amount.

In step S31, the leakage amount M and the learning value ST are integrated to calculate a corrected leakage amount Mst, and this process is terminated.
That is, if the corrected leakage amount Mst obtained by the leakage amount term correction process is reflected on, for example, the map shown in FIG. 12, individual variations in leakage amount can be corrected.

  As described above, according to the motor control device according to the embodiment of the present invention, the centrifugal hydraulic pressure command calculation unit 62 can calculate the centrifugal hydraulic pressure acting on the working fluid by the centrifugal force of the rotor unit 3. Based on the calculation result, the hydraulic pressure control device 13 can generate a hydraulic pressure corresponding to the centrifugal hydraulic pressure. As a result, the influence of the centrifugal hydraulic pressure on the phase changing means 12 can be suppressed without increasing the number of parts, and an appropriate phase can be obtained. The relative phase between the outer circumferential rotor 5 and the inner circumferential rotor 6 can be controlled at the position, and the size can be reduced as the number of parts is reduced.

  Further, the supply of the working fluid to the advance side working chamber 24 defined by the partition wall 21 provided in the outer peripheral rotor 5 and the vane 18 provided in the inner peripheral rotor 6 is controlled. Thus, since the relative phase θ between the inner circumferential rotor 6 and the outer circumferential rotor 5 can be changed, the advance side working chamber 24 defined by the partition wall 21 and the vane 18 can be used. The torque of the motor 1 can be controlled to an appropriate value by suppressing the influence of the centrifugal hydraulic pressure generated in the hydraulic fluid.

  Then, when the centrifugal hydraulic pressure due to the centrifugal force of the rotor unit 3 that increases in accordance with the increase in the rotational speed NM of the motor 1 increases, the hydraulic control device 13 increases the centrifugal hydraulic pressure by, for example, an amount corresponding to the increased centrifugal hydraulic pressure. Since the hydraulic pressure to be generated can be reduced, the energy consumed by the hydraulic control device 13 can be reduced by an amount corresponding to the reduced hydraulic pressure.

In addition, this invention is not restricted to each embodiment mentioned above, For example, you may apply to an electric vehicle other than a hybrid vehicle.
In the embodiment described above, the hydraulic pressure in the advance side working chamber 24 is controlled. However, the retard side working chamber 25 can also be controlled in the same manner.

It is principal part sectional drawing of the motor which concerns on one Embodiment of this invention. The side view which abbreviate | omitted some components of the rotor unit currently controlled to the most retarded position of the motor which concerns on one Embodiment of this invention. It is a disassembled perspective view of the rotor unit of the motor which concerns on one Embodiment of this invention. It is the side view which abbreviate | omitted some components of the rotor unit currently controlled by the most advanced angle position of the motor which concerns on one Embodiment of this invention. The figure (a) which shows typically the strong magnetic field state by which the permanent magnet of the inner peripheral side rotor and the permanent magnet of the outer peripheral side rotor of the motor which concern on one Embodiment of this invention were arrange | positioned with the same polarity, It is the figure which described collectively the figure (b) which shows typically the field-weakening state by which the permanent magnet of the side rotor and the permanent magnet of the outer peripheral side rotor were arrange | positioned differently. It is a block diagram of the hydraulic control apparatus which concerns on one Embodiment of this invention. It is a block diagram of the control apparatus of the motor which concerns on one Embodiment of this invention. It is a flowchart of the centrifugal pressure calculation process which concerns on one Embodiment of this invention. It is a flowchart of the hydraulic pressure (flow rate) control process which concerns on one Embodiment of this invention. It is a flowchart of the correction | amendment processing of the leakage amount term which concerns on one Embodiment of this invention. It is a map of the phase position (X-axis) and oil chamber volume (Y-axis) which concern on one Embodiment of this invention. 4 is a map of an estimated pressure value (X axis), a phase position (Y axis), and a hydraulic fluid leakage amount M (Z axis) according to an embodiment of the present invention. It is a map with the oil temperature (X-axis) which concerns on one Embodiment of this invention, and the correction | amendment term T (Y-axis) of leakage amount. It is a map of Ma-Mo (X axis) and pressure receiving area S (Y axis) concerning one embodiment of the present invention. It is a map of the rotation speed (X-axis), phase position (Y-axis), and allowable pressure upper limit PFmax (Z-axis) according to an embodiment of the present invention. It is a map of the rotation speed (X axis), the current oil chamber oil amount Mo (Y axis), and the subtraction oil amount Qd (Z axis) according to an embodiment of the present invention. It is explanatory drawing of the pressure receiving area S which concerns on one Embodiment of this invention, (a) has shown the case where the centrifugal force is not acting, (b) has shown the case where it receives to the influence of the centrifugal force.

Explanation of symbols

1 Motor 5 Outer rotor (rotor)
6 Inner rotor (rotor)
9 Permanent magnet (magnet piece)
12 Phase change means 13 Hydraulic control device (actuator)
18 Vane (second member)
21 Partition wall (first member)
23 Introduction space (pressure chamber)
Step S01 to Step S13 Calculation means Step S20 to Step S23 Correction means

Claims (3)

A motor having a plurality of rotors each having a magnet piece and capable of changing the relative phase of each other, and phase changing means for changing the relative phase of the plurality of rotors by the fluid pressure of the working fluid A motor control device,
The phase change means includes an actuator that controls the fluid pressure of the working fluid in response to a control command related to a request for phase change,
A calculation means for calculating a centrifugal fluid pressure acting on the working fluid by a centrifugal force generated when the rotor rotates, and a fluid pressure controlled by the actuator based on the centrifugal fluid pressure calculated by the calculation means , A motor control apparatus comprising: a correction unit that determines a control command value so as to be equal to or less than a pressure upper limit value determined by at least the rotation speed of the motor. The plurality of rotors is composed of an inner peripheral rotor and an outer peripheral rotor in which the respective rotation axes are arranged coaxially,
The phase changing means is provided so as to be integrally rotatable with respect to the outer peripheral side rotor and integrally rotated with respect to the inner peripheral side rotor, and pressure is applied between the first member and the first member. A second member that defines a chamber on the inner side of the inner circumferential rotor, and supplies a working fluid to the pressure chamber defined by the first member and the second member to provide the inner circumferential side. The motor control device according to claim 1, wherein a relative phase between the rotor and the outer circumferential rotor is changed.   3. The motor control device according to claim 1, wherein the correction unit decreases a fluid pressure controlled by the actuator in accordance with an increase in the motor rotation speed. 4.

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