INFORMATION PROCESSING DEVICE, INFORMATION STORAGE DEVICE, AND CONTROL DEVICE OF ROTARY ELECTRIC MACHINE

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First Claim
1. An information processing device that calculates a current command value based on a torque command value of a rotary electric machine, whereinthe rotary electric machine comprises a first rotor in which a rotor winding is provided, a stator in which a stator winding is provided, and a second rotor that opposes the first rotor and the stator and that is rotatable relative to the first rotor,a torque acts between the first rotor and the second rotor according to a magnetic flux due to a current in the rotor winding acting on the second rotor, and a torque acts between the stator and the second rotor according to a magnetic flux due to a current in the stator winding acting on the second rotor,a linkage magnetic flux of the stator winding can be adjusted by the current in the rotor winding and a linkage magnetic flux of the rotor winding can be adjusted by the current in the stator winding,the information processing device comprises a current command value calculating unit that calculates a current command value for the rotor winding and a current command value for the stator winding with respect to a torque command value between the first rotor and the second rotor and a torque command value between the stator and the second rotor, based on an evaluation function representing a total copper loss of the rotor winding and the stator winding and using a first magnetic interference model and a second magnetic interference model,the first magnetic interference model represents a relationship of the linkage magnetic flux of the rotor winding with respect to the current in the rotor winding and the current in the stator winding, andthe second magnetic interference model represents a relationship of the linkage magnetic flux of the stator winding with respect to the current in the rotor winding and the current in the stator winding.
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Abstract
A current command value calculating unit (174) calculates current command values for a rotor winding (30) and current command values for a stator winding (20) with respect to a torque command value between a first rotor (28) and a second rotor (18) and a torque command value between a stator (16) and the second rotor (18) based on an evaluation function representing a total copper loss of the rotor winding (30) and the stator winding (20) and using first and second magnetic interference models. The first magnetic interference model represents a relationship of a linkage magnetic flux Φ_{in }of the rotor winding (30) with respect to a current I_{in }in the rotor winding (30) and a current I_{out }in the stator winding (20). The second magnetic interference model represents a relationship of a linkage magnetic flux Φ_{out }of the stator winding (20) with respect to the current I_{in}, I_{out}.
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METHOD FOR MEASURING A STATOR CORE OF AN ELECTRIC MACHINE AND MEASURING DEVICE  
Patent #
US 20160370324A1
Filed 06/13/2016

Current Assignee
Alstom Technology Ltd.

Sponsoring Entity
Alstom Technology Ltd.

Method for measuring a stator core of an electric machine and measuring device  
Patent #
US 10,458,949 B2
Filed 06/13/2016

Current Assignee
Alstom Technology Ltd.

Sponsoring Entity
General Electric Technology GmbH

CONTROLLERINTEGRATED ELECTRIC ROTATING MACHINE WITH A SHIFTED CONTROL CIRCUIT  
Patent #
US 20120181903A1
Filed 02/14/2012

Current Assignee
Mitsubishi Electric Corporation

Sponsoring Entity
Mitsubishi Electric Corporation

12 Claims
 1. An information processing device that calculates a current command value based on a torque command value of a rotary electric machine, wherein
the rotary electric machine comprises a first rotor in which a rotor winding is provided, a stator in which a stator winding is provided, and a second rotor that opposes the first rotor and the stator and that is rotatable relative to the first rotor, a torque acts between the first rotor and the second rotor according to a magnetic flux due to a current in the rotor winding acting on the second rotor, and a torque acts between the stator and the second rotor according to a magnetic flux due to a current in the stator winding acting on the second rotor, a linkage magnetic flux of the stator winding can be adjusted by the current in the rotor winding and a linkage magnetic flux of the rotor winding can be adjusted by the current in the stator winding, the information processing device comprises a current command value calculating unit that calculates a current command value for the rotor winding and a current command value for the stator winding with respect to a torque command value between the first rotor and the second rotor and a torque command value between the stator and the second rotor, based on an evaluation function representing a total copper loss of the rotor winding and the stator winding and using a first magnetic interference model and a second magnetic interference model, the first magnetic interference model represents a relationship of the linkage magnetic flux of the rotor winding with respect to the current in the rotor winding and the current in the stator winding, and the second magnetic interference model represents a relationship of the linkage magnetic flux of the stator winding with respect to the current in the rotor winding and the current in the stator winding.
1 Specification
The present invention relates to an information processing device that calculates a current command value of a rotary electric machine, an information storage device that stores a current command value of a rotary electric machine, and a control device that controls a current of a rotary electric machine.
A control device of a rotary electric machine according to the belowdescribed Patent Document 1 comprises a first rotor in which a winding is provided and which is mechanically connected to an engine, a second rotor in which a permanent magnet which is electromagnetically coupled with the winding of the first rotor is provided and which is mechanically connected to a drive shaft, a stator in which a winding which is electromagnetically coupled to the permanent magnet of the second rotor is provided, a slip ring which is electrically connected to the winding of the first rotor, a brush which electrically contacts the slip ring, a first inverter which applies a control to allow transmission and reception of electric power between a battery and the winding of the stator, and a second inverter which applies a control to allow transmission and reception of electric power between the battery and the winding of the first rotor through the slip ring and the brush. In Patent Document 1, because a motive power from the engine transmitted to the first rotor is transmitted to the second rotor by the electromagnetic coupling of the winding of the first rotor and the permanent magnet of the second rotor, the drive shaft can be driven by the motive power of the engine. During this process, the current in the winding of the first rotor may be controlled by a switching control of the second inverter, to control a torque acting between the first rotor and the second rotor. In addition, the drive shaft can also be driven by generating a motive power in the second rotor using electric power supplied through the first inverter to the winding of the stator by the electromagnetic coupling between the winding of the stator and the permanent magnet of the second rotor. In this process, the current in the winding of the stator may be controlled by a switching control of the first inverter, to control a torque acting between the stator and the second rotor.
In Patent Document 1, the current in the winding of the first rotor is controlled based on a torque command value between the first rotor and the second rotor, and a copper loss of the winding of the first rotor changes according to the current in the winding of the first rotor. Similarly, the current in the winding of the stator is controlled based on a torque command value between the stator and the second rotor, and a copper loss of the winding of the stator changes according to the current in the winding of the stator. Because of this, depending on the torque command value between the first rotor and the second rotor and the torque command value between the stator and the second rotor, a total copper loss of the winding of the first rotor and the winding of the stator may be increased.
Moreover, when currents are simultaneously applied to the winding of the first rotor and the winding of the stator, a magnetic interference phenomenon occurs where the current in the winding of the first rotor affects the torque between the stator and the second rotor and the current in the winding of the stator affects the torque between the first rotor and the second rotor. Because the mutual torques change due to the magnetic interference, the current command value for applying an accurate control according to the torque command values cannot be determined. Even if the torque is controlled according to the torque command value, the total copper loss of the winding of the first rotor and the winding of the stator may not be the minimum.
One advantage of the present invention is that, in a rotary electric machine in which torque can act between a first rotor and a second rotor and between a stator and a second rotor, a current command value for reducing the loss due to the copper loss is calculated while controlling the torques according to the torque command values even under magnetic interference. Another advantage of the present invention is that, in the abovedescribed rotary electric machine, the loss due to the copper loss is reduced while controlling the torques according to the torque command values even under magnetic interference.
In order to achieve at least a part of the advantages described above, an information processing device, an information storage device, and a control device of a rotary electric machine according to the present invention employ the following configurations.
According to one aspect of the present invention, there is provided an information processing device that calculates a current command value based on a torque command value of a rotary electric machine, wherein the rotary electric machine comprises a first rotor in which a rotor winding is provided, a stator in which a stator winding is provided, and a second rotor that opposes the first rotor and the stator and that is rotatable relative to the first rotor, a torque acts between the first rotor and the second rotor according to a magnetic flux due to a current in the rotor winding acting on the second rotor, and a torque acts between the stator and the second rotor according to a magnetic flux due to a current in the stator winding acting on the second rotor, a linkage magnetic flux of the stator winding can be adjusted by the current in the rotor winding and a linkage magnetic flux of the rotor winding can be adjusted by the current in the stator winding, the information processing device comprises a current command value calculating unit that calculates a current command value for the rotor winding and a current command value for the stator winding with respect to a torque command value between the first rotor and the second rotor and a torque command value between the stator and the second rotor, based on an evaluation function representing a total copper loss of the rotor winding and the stator winding and using a first magnetic interference model and a second magnetic interference model, the first magnetic interference model represents a relationship of the linkage magnetic flux of the rotor winding with respect to the current in the rotor winding and the current in the stator winding, and the second magnetic interference model represents a relationship of the linkage magnetic flux of the stator winding with respect to the current in the rotor winding and the current in the stator winding.
According to another aspect of the present invention, preferably, the first magnetic interference model and the second magnetic interference model include model equations related to a magnetomotive force, in which the current in the rotor winding and the current in the stator winding are combined with a setting ratio.
According to another aspect of the present invention, preferably, the setting ratio is 1:C, where C is a coefficient representing a degree of magnetic interference.
According to another aspect of the present invention, preferably, the first magnetic interference model and the second magnetic interference model further include model equations representing a degree of change of the linkage magnetic flux by magnetic saturation.
According to another aspect of the present invention, preferably, the first magnetic interference model and the second magnetic interference model have a model related to a daxis linkage magnetic flux and a model related to a qaxis linkage magnetic flux.
According to another aspect of the present invention, preferably, the current command value calculating unit calculates the current command value for the rotor winding and the current command value for the stator winding based on the evaluation function and a constraint condition including a condition that a voltage of the rotor winding is less than or equal to a first limit value and a voltage of the stator winding is less than or equal to a second limit value, and using the first magnetic interference model and the second magnetic interference model.
According to another aspect of the present invention, preferably, electric power can be converted between an electricity storage device and the stator winding by a first electric power conversion device, electric power can be converted between the electricity storage device and the rotor winding by a second electric power conversion device, and the first limit value and the second limit value are set to values smaller than a voltage of the electricity storage device.
According to another aspect of the present invention, preferably, the current command value calculating unit calculates the current command value for the rotor winding and the current command value for the stator winding based on the evaluation function and a constraint condition including a condition that the current in the rotor winding is less than or equal to a third limit value and the current in the stator winding is less than or equal to a fourth limit value, and using the first magnetic interference model and the second magnetic interference model.
According to another aspect of the present invention, preferably, electric power can be converted between an electricity storage device and the stator winding by a first electric power conversion device, electric power can be converted between the electricity storage device and the rotor winding by a second electric power conversion device, the third limit value is set to a value smaller than a capacity of the second electric power conversion device, and the fourth limit value is set to a value smaller than a capacity of the first electric power conversion device.
According to another aspect of the present invention, preferably, the current command value calculating unit calculates the current command value for the rotor winding and the current command value for the stator winding such that the evaluation function is approximately minimum.
According to another aspect of the present invention, there is provided an information storage device that stores the current command value for the rotor winding and the current command value for the stator winding calculated by the information processing device according to the present invention in correspondence to the torque command value between the first rotor and the second rotor and the torque command value between the stator and the second rotor.
According to another aspect of the present invention, there is provided a control device of a rotary electric machine, that controls the current in the rotor winding and the current in the stator winding based on the current command value for the rotor winding and the current command value for the stator winding calculated by the information processing device according to the present invention.
According to various aspects of the present invention, by calculating a current command value for a rotor winding and a current command value for a stator winding using a first magnetic interference model representing a relationship of a linkage magnetic flux of the rotor winding with respect to a current in the rotor winding and a current in the stator winding and a second magnetic interference model representing a relationship of a linkage magnetic flux of the stator winding with respect to the current in the rotor winding and the current in the stator winding and based on an evaluation function representing a total copper loss of the rotor winding and the stator winding, it is possible to calculate a current command value that reduces the loss due to the copper loss while controlling the torque between the first rotor and the second rotor and the torque between the stator and the second rotor according to the torque command values. Furthermore, by controlling the current in the rotor winding and the current in the stator winding based on the calculated current command values, it is possible to reduce the loss due to the copper loss of the rotary electric machine while controlling the torques according to the torque command values.
A preferred embodiment of the present invention (hereinafter referred to as “embodiment”) will now be described with reference to the drawings.
The rotary electric machine 10 comprises a stator 16 fixed on a stator case (not shown), a first rotor 28 that can rotate relative to the stator 16, and a second rotor 18 that opposes the stator 16 and the first rotor 28 with predetermined gaps therebetween in a radial direction orthogonal to a rotational axis of the rotor, and that can rotate relative to the stator 16 and the first rotor 28. In the example configuration shown in
The stator 16 includes a stator core 51 and stator windings 20 of a plurality of phases (for example, 3 phases), provided on the stator core 51 along a circumferential direction of the stator core 51. In the stator core 51, a plurality of teeth 51a protruding toward the inside in the radial direction (toward the outputside rotor 18) are placed along the circumferential direction of the stator with a space therebetween, and the stator winding 20 is wound around the teeth 51a to form the magnetic pole. An AC (alternating current) current of a plurality of phases (for example, 3 phases) flows in the stator windings 20 of the plurality of phases, so that the stator winding 20 generates a rotational magnetic field that rotates in the circumferential direction of the stator. In the example configuration of
The inputside rotor 28 includes a rotor core 52 and rotor windings 30 of a plurality of phases (for example, 3 phases), provided on the rotor core 52 along a circumferential direction of the rotor core 52. In the rotor core 52, a plurality of teeth 52a protruding toward the outside in the radial direction (toward the outputside rotor 18) are placed along the circumferential direction of the rotor with a space therebetween, and the rotor windings 30 are wound around the teeth 52a to form a magnetic pole. An AC current of a plurality of phases (for example, 3 phases) flows in the rotor windings 30 of the plurality of phases, so that the rotor winding 30 can generate a rotational magnetic field that rotates in the circumferential direction of the rotor. In the example configuration of
The outputside rotor 18 includes a plurality (16 in the example configuration of
In each soft magnetic member 53, the magnetic pole surface of the permanent magnet 33 faced by the side surface 63 and the magnetic pole surface of the permanent magnet 33 faced by the side surface 64 have the same polarity, and the same poles of the permanent magnets 33 adjacent in the circumferential direction of the rotor are connected via the soft magnetic member 53. For example, in the soft magnetic member 531, the magnetic pole surface of the permanent magnet 331 contacted by the side surface 631 is an N pole surface, and the magnetic pole surface of the permanent magnet 332 contacted by the side surface 641 is an N pole surface. On the other hand, in the soft magnetic member 532 adjacent to the soft magnetic member 531 in the circumferential direction of the rotor with the permanent magnet 332 therebetween, the magnetic pole surface of the permanent magnet 332 faced by the side surface 632 is an S pole surface, and the magnetic pole surface of the permanent magnet 333 contacted by the side surface 642 is an S pole surface. Because of this, in the soft magnetic members 53 adjacent in the circumferential direction of the rotor (for example, the soft magnetic members 531 and 532), the magnetic pole surfaces of the permanent magnets 33 faced by the side surfaces 63 and 64 are of opposite polarities from each other, and the soft magnetic member 53 in which the side surfaces 63 and 64 contact the N pole surfaces of the permanent magnets 33 and the soft magnetic member 53 in which the side surfaces 63 and 64 contact the S pole surfaces of the permanent magnets 33 are alternately placed along the circumferential direction of the rotor. In addition, between the soft magnetic members 53 adjacent in the circumferential direction of the rotor (for example, the soft magnetic members 531 and 532), in addition to the permanent magnets 33, a gap 54 for increasing the magnetic resistance is provided. Alternatively, a nonmagnetic material may be provided in place of the gap 54. Alternatively, the soft magnetic members 53 adjacent in the circumferential direction of the rotor (for example, soft magnetic members 531 and 532) may be connected to each other by a bridge.
An electricity storage device 42 which can be charged and discharged and which is provided as a DC (direct current) power supply can be formed by, for example, a secondary battery, and stores electric energy. An inverter 40 provided as the first electric power conversion device for converting electric power between the electricity storage device 42 and the stator winding 20 can be realized by a known structure having a switching element and a diode (rectifying element) connected inversely parallel with respect to the switching element, and can convert DC electric power from the electricity storage device 42 into AC power (for example, 3phase AC power) by a switching operation of the switching element and supply the converted power to each phase of the stator winding 20. In addition, the inverter 40 can also convert the electric power in a direction to convert the AC current flowing in each phase of the stator winding 20 into DC current and to recover the electric energy into the electricity storage device 42. As described, the inverter 40 can convert the electric power in both directions between the electricity storage device 42 and the stator winding 20.
A slip ring 95 is mechanically connected to the inputside rotor 28, and is electrically connected to each phase of the rotor winding 30. A brush 96 having its rotation fixed is pressed against the slip ring 95 and electrically contacts the slip ring 95. The slip ring 95 rotates along with the inputside rotor 28 while sliding with respect to the brush 96 (while maintaining electrical contact with the brush 96). The brush 96 is electrically connected to an inverter 41. The inverter 41 provided as a second electric power conversion device that converts electric power between at least one of the electricity storage device 42 and the inverter 40 and the rotor winding 30 can be realized by a known structure having a switching element and a diode (rectifying element) connected inversely parallel with respect to the switching element, and can convert DC electric power from the electricity storage device 42 into AC power (for example, 3phase AC power) by a switching operation of the switching element and supply the converted power to each phase of the rotor winding 30 through the brush 96 and the slip ring 95. In addition, the inverter 41 can also convert the electric power in a direction to convert the AC current flowing in each phase of the rotor winding 30 into DC current. In this process, the AC electric power of the rotor winding 30 is taken out by the slip ring 95 and the brush 96, and the takenout AC electric power is converted into DC power by the inverter 41. The electric power converted to DC by the inverter 41 may be converted into AC power by the inverter 40 and supplied to each phase of the stator winding 20. In other words, the inverter 40 can convert at least one of the DC electric power from the inverter 41 and the DC electric power from the electricity storage device 42 into AC power, and supply the converted power to each phase of the stator winding 20. In addition, the electric power converted into DC by the inverter 41 can be recovered into the electricity storage device 42. As described, the inverter 41 can convert electric power in both directions between one of the electricity storage device 42 and the inverter 40 and the rotor winding 30.
An electronic control unit 50 is formed as a microprocessor with a CPU as a core, and comprises a ROM that stores a processing program, a RAM that temporarily stores data, and an input/output port. The electronic control unit 50 controls the electric power conversion at the inverter 40 by controlling the switching operation of the switching element of the inverter 40, to control the AC current flowing in each phase of the stator winding 20. The electronic control unit 50 also controls the electric power conversion at the inverter 41 by controlling the switching operation of the switching element of the inverter 41, to control the AC current flowing in each phase of the rotor winding 30. Further, the electronic control unit 50 controls an operation state of the engine 36, and a gear ratio of the transmission 44.
With the switching operation of the inverter 40, an AC current of 3 phases flows in the stator winding 20 of 3 phases, the stator winding 20 generates a rotational magnetic flux that rotates in the circumferential direction of the stator, and a magnetic flux due to the current in the stator winding 20 acts on the outputside rotor 18. In response, by an electromagnetic interaction (attraction and repulsion) between the rotational magnetic flux generated by the AC current in the stator winding 20 and the field magnetic flux generated by the permanent magnet 33 flowing between the outer circumferential surface 62 and the 2D side surfaces 63 and 64 of the soft magnetic member 53, a torque T_{out }can be caused to act between the stator 16 and the outputside rotor 18, and the outputside rotor 18 can be rotationally driven. In other words, the electric power supplied from the electricity storage device 42 to the stator winding 20 through the inverter 40 can be converted into the motive power (mechanical motive power) of the outputside rotor 18, and the stator 16 and the outputside rotor 18 can function as a synchronous motor (PM motor unit). Moreover, the motive power of the outputside rotor 18 can be converted into the electric power of the stator winding 20, and the electric power can be recovered into the electricity storage device 42 through the inverter 40. The electronic control unit 50 can control the torque (PM motor torque) T_{out }acting between the stator 16 and the outputside rotor 18, by controlling, for example, at least one of an amplitude and a phase angle of the AC current flowing in the stator winding 20 by the switching operation of the inverter 40.
When the inputside rotor 28 rotates relative to the outputside rotor 18 and a rotation difference is caused between the inputside rotor 28 and the outputside rotor 18, an induced electromotive force is generated in the rotor winding 30, an induced current (AC current) flows in the rotor winding 30 due to the induced electromotive force, a rotational magnetic field is generated, and a magnetic flux due to the current in the rotor winding 30 acts on the outputside rotor 18. In response, by an electromagnetic interaction between the rotational magnetic field generated by the induced current in the rotor winding 30 and the field magnetic flux by the permanent magnet 33 flowing between the inner circumferential surface 61 and the side surfaces 63 and 64 of the soft magnetic member 53, a torque T_{in }can be caused to act between the inputside rotor 28 and the outputside rotor 18, and the outputside rotor 18 can be rotationally driven. Because of this, the motive power (mechanical motive power) can be transmitted between the inputside rotor 28 and the outputside rotor 18, and the inputside rotor 28 and the outputside rotor 18 can function as an induction electromagnetic coupling unit.
When the torque (electromagnetic coupling torque) T_{in }is to be generated between the inputside rotor 28 and the outputside rotor 18 by the induced current in the rotor winding 30, the electronic control unit 50 applies the switching operation of the inverter 41 to allow flow of the induced current in the rotor winding 30. In this process, the electronic control unit 50 can control the electromagnetic coupling torque T_{in }acting between the inputside rotor 28 and the outputside rotor 18 by controlling the AC current flowing in the rotor winding 30 by the switching operation of the inverter 41. On the other hand, when the electronic control unit 50 stops the switching operation by maintaining the switching element of the inverter 41 at the OFF state, the induced current does not flow in the rotor winding 30, and the torque T_{in }does not act between the inputside rotor 28 and the outputside rotor 18.
When the engine 36 is generating the motive power, the motive power of the engine 36 is transmitted to the inputside rotor 28, and the inputside rotor 28 is rotationally driven in the engine rotation direction. When a rotational speed of the inputside rotor 28 becomes higher than a rotational speed of the outputside rotor 18, the induced electromotive force is generated in the rotor winding 30. The electronic control unit 50 applies the switching operation of the inverter 41 to allow the flow of the induced current in the rotor winding 30. In response to the magnetic flux due to the current in the rotor winding 30 acting on the outputside rotor 18, the electromagnetic coupling torque T_{in }in the engine rotation direction acts from the inputside rotor 28 to the outputside rotor 18, and the outputside rotor 18 is rotationally driven in the engine rotation direction. In this manner, the motive power from the engine 36 transmitted to the inputside rotor 28 is transmitted to the outputside rotor 18 by the electromagnetic coupling between the rotor winding 30 of the inputside rotor 28 and the permanent magnet 33 of the outputside rotor 18. The motive power transmitted to the outputside rotor 18 is gearchanged by the transmission 44 and is transmitted to the drive shaft 37 (wheel 38), and is used for forward rotation driving of a load such as a forward travel driving of the vehicle. Therefore, the wheel 38 can be rotationally driven in the forward rotation direction using the motive power of the engine 36, and the vehicle can be driven in the forward traveling direction. In addition, because the rotational difference between the inputside rotor 28 and the outputside rotor 18 can be tolerated, even when the rotation of the wheel 38 is stopped, the engine 36 does not stall. Because of this, the rotary electric machine 10 can be caused to function as a travel starting device, obviating the need for separate provision of a travel starting device such as a frictional clutch and a torque converter.
Moreover, the AC electric power generated in the rotor winding 30 is taken out through the slip ring 95 and the brush 96. The takenout AC electric power is converted into DC power by the inverter 41. With the switching operation of the inverter 40, the DC electric power from the inverter 41 is converted into AC power by the inverter 40 and supplied to the stator winding 20, so that an AC current flows in the stator winding 20, and a rotational magnetic flux is formed in the stator 16. In response to the magnetic flux due to the current in the stator winding 20 acting on the outputside rotor 18, the torque T_{out }in the engine rotation direction can be caused to act from the stator 16 to the outputside rotor 18. With such a configuration, a torque amplification function for amplifying the torque in the engine rotation direction of the outputside rotor 18 can be realized. In addition, the DC electric power from the inverter 41 can be recovered into the electricity storage device 42.
Further, by controlling the switching operation of the inverter 40 to supply electric power from the electricity storage device 42 to the stator winding 20, it is possible to rotationally drive the wheel 38 in the forward rotation direction using the motive power of the engine 36, and to assist the rotational driving in the forward rotation direction of the wheel 38 by the motive power of the outputside rotor 18 generated using the supplied electric power to the stator winding 20. In addition, during a deceleration operation of the load, the electronic control unit 50 can control the switching operation of the inverter 40 to recover the electric power from the stator winding 20 to the electricity storage device 42, so that the motive power of the load can be converted into the electric power of the stator winding 20 by the electromagnetic coupling between the stator winding 20 and the permanent magnet 33, and the electric power can be recovered into the electricity storage device 42.
When EV (Electric Vehicle) travel is to be executed in which the load is driven (the wheel 38 is rotationally driven) without using the motive power of the engine 36, but using the motive power of the rotary electric machine 10, the electronic control unit 50 controls the switching operation of the inverter 40 to control the driving of the load. For example, the electronic control unit 50 controls the switching operation of the inverter 40 to convert the DC electric power from the electricity storage device 42 into AC power and supply the converted power to the stator winding 20. With such a configuration, the supplied electric power to the stator winding 20 is converted into the motive power of the outputside rotor 18 by the electromagnetic coupling between the stator winding 20 and the permanent magnet 33, and the drive shaft 37 (wheel 38) is rotationally driven. In this manner, even when the engine 36 is not generating the motive power, the wheel 38 can be rotationally driven by supplying electric power to the stator winding 20.
Here, in the stator 16 and the outputside rotor 18, the direction in which the magnetomotive force by the permanent magnet 33 acts on the stator 16; more specifically, a direction of the magnetic flux of the magnet passing through a center position of the outer circumferential surface 62 of the soft magnetic member 53 in the circumferential direction of the rotor, is set as a daxis (magnetic flux axis), and a position deviated from the daxis by 90° in the electric angle (position at an end of the outer circumferential surface 62 in the circumferential direction of the rotor) is set as a qaxis (torque axis). In the outer circumferential surface 62 of the soft magnetic member 53, a current in the stator winding 20 for maximizing the daxis magnetic flux passing through the center position in the circumferential direction of the rotor (minimizing the qaxis magnetic flux passing through the position of the end in the circumferential direction of the rotor) is set as a daxis current, and a current in the stator winding 20 for maximizing the qaxis magnetic flux passing through the position of the end in the circumferential direction of the rotor (minimizing the daxis magnetic flux passing through the center position in the circumferential direction of the rotor) is set as a qaxis current. Similarly, in the inputside rotor 28 and the outputside rotor 18, a direction in which the magnetomotive force by the permanent magnet 33 acts on the inputside rotor 28; more specifically, a direction of the magnetic flux of the magnet passing through a center position of the inner circumferential surface 61 of the soft magnetic member 53 in the circumferential direction of the rotor, is set as the daxis, and a position deviated from the daxis by 90° in the electric angle (position of the end of the inner circumferential surface 61 in the circumferential direction of the rotor) is set as the qaxis. In the inner circumferential surface 61 of the soft magnetic member 53, a current in the rotor winding 30 for maximizing a daxis magnetic flux passing through a center position in the circumferential direction of the rotor (minimizing a qaxis magnetic flux passing through the position of the end in the circumferential direction of the rotor) is set as the daxis current, and a current in the rotor winding 30 for maximizing the qaxis magnetic flux passing through the position of the end in the circumferential direction of the rotor (minimizing the daxis magnetic flux passing through the center position in the circumferential direction of the rotor) is set as the qaxis current.
Meanwhile,
On the other hand,
Thus, when the AC current is applied to the rotor winding 30 and the stator winding 20, the daxis magnetic flux component due to the daxis current component in the rotor winding 30 can weaken the field magnetic flux by the permanent magnet 33 acting on the inputside rotor 28, and strengthen the field magnetic flux by the permanent magnet 33 acting on the stator 16. In other words, the daxis magnetic flux component due to the daxis current component in the rotor winding 30 can be set as a weakening field magnetic flux for the rotor winding 30 itself, and also as a strengthening field magnetic flux for the stator winding 20. The strengthening field magnetic flux interacts with the qaxis current component in the stator winding 20, so that an additional torque separate from a magnet torque and a reluctance torque is generated between the stator 16 and the outputside rotor 18, and a torque amplification effect can be obtained. In this process, unlike the strengthening field control of the related art, because the weakening field for the rotor winding 30 itself is used, it is possible to amplify the torque T_{out }between the stator 16 and the outputside rotor 18 while inhibiting a counter electromotive force in the rotor winding 30.
Similarly, when the AC current is applied to the rotor winding 30 and the stator winding 20, the daxis magnetic flux component due to the daxis current component in the stator winding 20 can weaken the field magnetic flux by the permanent magnet 33 acting on the stator 16, and strengthen the field magnetic flux by the permanent magnet 33 acting on the inputside rotor 28. In other words, the daxis magnetic flux component due to the daxis current component in the stator winding 20 can be set as a weakening field magnetic flux for the stator winding 20 itself, and also as a strengthening field magnetic flux for the rotor winding 30. The strengthening field magnetic flux interacts with the qaxis current component in the rotor winding 30 so that an additional torque is also generated between the inputside rotor 28 and the outputside rotor 18, and a torque amplification effect can be obtained. In this process, unlike the strengthening field control of the related art, because the weakening field for the stator winding 20 itself is used, the torque T_{in }between the inputside rotor 28 and the outputside rotor 18 can be amplified while inhibiting the counter electromotive force in the stator winding 20. Therefore, a multiplier effect can be obtained in which the torque T_{in }between the inputside rotor 28 and the outputside rotor 18 and the torque T_{out }between the stator 16 and the outputside rotor 18 strengthen each other, while inhibiting the counter electromotive forces in the rotor winding 30 and the stator winding 20. As a result, the amount of permanent magnets 33 can be reduced.
In addition, when an AC current is applied to the rotor winding 30 and the stator winding 20, the daxis magnetic flux component due to the daxis current component in the rotor winding 30 can strengthen the field magnetic flux by the permanent magnet 33 acting on the inputside rotor 28, and weaken the field magnetic flux by the permanent magnet 33 acting on the stator 16. With this configuration, it is possible to amplify the torque T_{in }between the inputside rotor 28 and the outputside rotor 18 while inhibiting the counter electromotive force in the stator winding 20. Similarly, the daxis magnetic flux component due to the daxis current component in the stator winding 20 can strengthen the field magnetic flux by the permanent magnet 33 acting on the stator 16, and weaken the field magnetic flux by the permanent magnet 33 acting on the inputside rotor 28. With such a configuration, the torque T_{out }between the stator 16 and the outputside rotor 18 can be amplified while inhibiting the counter electromotive force in the rotor winding 30.
In this manner, in the rotary electric machine 10, because the magnetic flux due to the current in the rotor winding 30 and the magnetic flux due to the current in the stator winding 20 magnetically interferes with each other, the linkage magnetic flux to the stator winding 20 can be adjusted by the current in the rotor winding 30 and the linkage magnetic flux to the rotor winding 30 can be adjusted by the current in the stator winding 20. When the magnetic interference between the magnetic flux due to the current in the rotor winding 30 and the magnetic flux due to the current in the stator winding 20 is to be used, there are infinite combinations of a current I_{in }in the rotor winding 30 and a current I_{out }in the stator winding 20 for setting the torque T_{in }between the inputside rotor 28 and the outputside rotor 18 and the torque T_{out }between the stator 16 and the outputside rotor 18 to requested values. For example,
A current command value setting unit 136 sets a daxis current command value I_{in}_{_}_{d}_{_}_{ref }and a qaxis current command value I_{in}_{_}_{q}_{_}_{ref }of the rotor winding 30 and a daxis current command value I_{out}_{_}_{d}_{_}_{ref }and a qaxis current command value I_{out}_{_}_{q}_{_}_{ref }of the stator winding 20 based on the electromagnetic coupling torque command value T_{in}_{_}_{ref }calculated by the coupling torque command value calculating unit 135 and the MG torque command value T_{out}_{_}_{ref }calculated by the MG torque command value calculating unit 155. A torquecurrent characteristic storage unit 137 is formed as an information storage device, and stores a torquecurrent characteristic representing a relationship of a combination of the current command values (I_{in}_{_}_{d}_{_}_{ref}, I_{in}_{_}_{q}_{_}_{ref}, T_{out}_{_}_{ref}, and I_{out}_{_}_{q}_{_}_{ref}) with respect to a combination of the torque command values (T_{in}_{_}_{ref }and T_{out}_{_}_{ref}). The current command value setting unit 136 reads the torquecurrent characteristic stored in the torquecurrent characteristic storage unit 137, and sets, in the read torquecurrent characteristic, a combination of the current command values (I_{in}_{_}_{d}_{_}_{ref}, I_{in}_{_}_{q}_{_}_{ref}, I_{out}_{_}_{d}_{_}_{ref}, and I_{out}_{_}_{q}_{_}_{ref}) corresponding to a combination of the torque command values (T_{in}_{_}_{ref }and T_{out}_{_}_{ref}).
A rotor winding current controller 140 controls the switching operation of the inverter 41 (electric power conversion at the inverter 41) so that a daxis current I_{in}_{_}_{d }and a qaxis current I_{in}_{_}_{q }in the rotor winding 30 respectively match the daxis current command value I_{in}_{_}_{d}_{_}_{ref }and the qaxis current command value I_{in}_{_}_{q}_{_}_{ref }which are set by the current command value setting unit 136. A stator winding current controller 160 controls the switching operation of the inverter 40 (electric power conversion at the inverter 40) so that a daxis current I_{out}_{_}_{d }and a qaxis current I_{out}_{_}_{q }in the stator winding 20 respectively match the daxis current command value I_{out}_{_}_{d}_{_}_{ref }and the qaxis current command value I_{out}_{_}_{q}_{_}_{ref }which are set by the current command value setting unit 136. With this configuration, a control is applied such that the electromagnetic coupling torque T_{in }between the inputside rotor 28 and the outputside rotor 18 matches the torque command value T_{in}_{_}_{ref }and such that the MG torque T_{out }between the stator 16 and the outputside rotor 18 matches the torque command value T_{out}_{_}_{ref}.
Next, an information processing device 70 for calculating the combination of the current command values (I_{in}_{_}_{d}_{_}_{ref}, I_{in}_{_}_{q}_{_}_{ref}, I_{out}_{_}_{d}_{_}_{ref}, and I_{out}_{_}_{q}_{_}_{ref}) based on the combination of the torque command values (T_{in}_{_}_{ref }and T_{out}_{_}_{ref}) of the rotary electric machine 10 will be described. The information processing device 70 may be formed as a microprocessor with a CPU as a core, and comprises a ROM that stores a processing program, a RAM that temporarily stores data, and an input/output port.
In the rotary electric machine 10, the electromagnetic coupling torque T_{in }between the inputside rotor 28 and the outputside rotor 18 is represented by the following Equation (1), the MG torque T_{out }between the stator 16 and the outputside rotor 18 is represented by the following Equation (2), a voltage V_{in }of the rotor winding 30 is represented by the following Equation (3), a voltage V_{out }of the stator winding 20 is represented by the following Equation (4), the current I_{in }in the rotor winding 30 is represented by the following Equation (5), and the current I_{out }in the stator winding 20 is represented by the following Equation (6). The evaluation function f representing the total copper loss of the rotor winding 30 and the stator winding 20 is represented by the following Equation (7). In Equations (1)˜(7), I_{in}_{_}_{d }represents the daxis current in the rotor winding 30, I_{in}_{_}_{q }represents the qaxis current in the rotor winding 30, I_{out}_{_}_{d }represents the daxis current in the stator winding 20, I_{out}_{_}_{q }represents the qaxis current in the stator winding 20, Φ_{in}_{_}_{d }represents the daxis linkage magnetic flux of the rotor winding 30, Φ_{in}_{_}_{q }represents the qaxis linkage magnetic flux of the rotor winding 30, Φ_{out}_{_}_{d }represents the daxis linkage magnetic flux of the stator winding 20, Φ_{out}_{_}_{q }represents the qaxis linkage magnetic flux of the stator winding 20, R_{in }represents a phase resistance of the rotor winding 30, R_{out }represents a phase resistance of the stator winding 20, P_{in }represents a number of poles of an induction electromagnetic coupling unit by the inputside rotor 28 and the outputside rotor 18, P_{out }represents a number of poles of a PM motor unit by the stator 16 and the outputside rotor 18, ω_{in }represents a rotational angular speed of the inputside rotor 28, and ω_{out }represents a rotational angular speed of the outputside rotor 18.
In the first magnetic interference model, the daxis linkage magnetic flux Φ_{in}_{_}_{d }of the rotor winding 30 (model related to the daxis linkage magnetic flux) can be represented by the following Equation (8) which is a function of I_{in}_{_}_{d}, I_{in}_{_}_{q}, I_{out}_{_}_{d}, and T_{out}_{_}_{q}.
In the numerator on the right side of Equation (8), C_{d2 }represents a coefficient representing a degree of the magnetic interference of the daxis, and f_{m′2 }represents a daxis magnetomotive force by the magnetomotive force of the permanent magnet 33. The term (I_{in}_{_}_{d}−C_{d2}*I_{out}_{_}_{d}−f_{m′2}) is a model equation related to the daxis magnetomotive force in which I_{in}_{_}_{d }and I_{out}_{_}_{d }are combined with a setting ratio of 1:C_{d2}, and represents a total sum of magnetomotive forces of the daxis acting on the inputside rotor 28, taking into consideration the magnetic interference between the magnetomotive force due to I_{in}_{_}_{d }and the magnetomotive force due to I_{out}_{_}_{d}. The term L_{d }represents the daxis inductance I_{in}_{_}_{d}=I_{out}_{_}_{d}=0) of the induction electromagnetic coupling unit, L_{dd }represents a change rate of the daxis inductance of the induction electromagnetic coupling unit due to I_{out}_{_}_{d}, and (L_{d}+L_{dd}*I_{out}_{_}_{d}) represents the daxis inductance of the induction electromagnetic coupling unit at no load (I_{in}_{_}_{d}=0). Therefore, the numerator on the right side of Equation (8) corresponds to a product of the total sum of the magnetomotive forces of the daxis and the daxis inductance of the induction electromagnetic coupling unit at no load, and represents the daxis linkage magnetic flux of the rotor winding 30 in consideration of the magnetic interference between the magnetic flux due to I_{in}_{_}_{d }and the magnetic flux due to I_{out}_{_}_{d }in the case where magnetic saturation does not occur in the daxis magnetic circuit.
Meanwhile, in the denominator on the right side of Equation (8), C_{d1 }is a coefficient representing a degree of magnetic interference of the daxis, f_{m′1 }is the daxis magnetomotive force by the magnetomotive force of the permanent magnet 33, kdd is a constant unique to the induction electromagnetic coupling unit, and I_{in}_{_}_{d}−C_{d1}*I_{out}_{_}_{d}−f_{m′1} represents a magnitude of a total sum of the magnetomotive forces of the daxis. The term M_{dd }represents a saturation coefficient of the daxis magnetic circuit, M_{ddd }represents a change rate of the saturation coefficient of the daxis magnetic circuit by I_{out}_{_}_{d}, and (M_{dd}+M_{ddd}*I_{out}_{_}_{d}) corresponds to a coefficient representing the degree of magnetic saturation of the daxis by I_{out}_{_}_{d}. Therefore, the term (M_{dd}+M_{add}*I_{out}_{_}_{d})*I_{in}_{_}_{d}−C_{d1}*I_{out}_{_}_{d}−f_{m′1}^{kdd }is a model equation representing a degree of change of the daxis linkage magnetic flux by the magnetic saturation caused by the daxis magnetomotive force, and corresponds to a degree of magnetic saturation of the daxis by the daxis magnetomotive force. In addition, C_{q1 }is a coefficient representing a degree of the magnetic interference of the qaxis, kdq is a constant unique to the induction electromagnetic coupling unit, and I_{in}_{_}_{q}+C_{q1}*I_{out}_{_}_{q} represents a magnitude of a total sum of the magnetomotive forces of the qaxis taking into consideration the magnetic interference between the magnetomotive force due to I_{in}_{_}_{q }and the magnetomotive force due to I_{out}_{_}_{q}. The term M_{dq }represents a saturation coefficient of the qaxis magnetic circuit, M_{dqd }represents a change rate of the saturation coefficient of the qaxis magnetic circuit by I_{out}_{_}_{d}, and (M_{dq}+M_{dqd}*I_{out}_{_}_{d}) corresponds to a coefficient representing a degree of magnetic saturation of the qaxis. Therefore, (M_{dq}+M_{dqd}*I_{out}_{_}_{d})*I_{in}_{_}_{q}+C_{q1}*I_{out}_{_}_{q}^{kdq }is a model equation representing a degree of change of the daxis linkage magnetic flux by the magnetic saturation caused by the qaxis magnetomotive force, and corresponds to the degree of the magnetic saturation of the daxis by the qaxis magnetomotive force. The denominator on the right side of Equation (8) is a model equation representing a degree of change of the daxis linkage magnetic flux by the magnetic saturation, and corresponds to the degree of the magnetic saturation of the daxis by the daxis and qaxis magnetomotive forces. As a result, Equation (8) represents the daxis linkage magnetic flux of the rotor winding 30 taking into consideration the magnetic interference between the magnetic flux due to I_{in}_{_}_{d }and the magnetic flux due to I_{out}_{_}_{d }in a case where the magnetic saturation occurs in the daxis magnetic circuit.
The term f_{m′1 }in the denominator on the right side of Equation (8) can be represented by the following Equation (9) which is a function of the qaxis currents I_{in}_{_}_{q }and I_{out}_{_}_{q}, because the daxis magnetomotive force changes by the magnetic saturation of the daxis magnetic circuit by the magnetic flux due to the qaxis current. Similarly, f_{m′2 }in the numerator on the right side of Equation (8) can be represented by the following Equation (10), which is a function of the qaxis currents I_{in}_{_}_{q }and I_{out}_{_}_{q}. In Equations (9) and (10), C_{11}, C_{12}, C_{13}, C_{21}, C_{22}, and C_{23 }are coefficients representing the degree of magnetic interference, and f_{m′1 }and f_{m′2 }are exponential functions of (I_{in}_{_}_{q}+C_{q1}*I_{out}_{_}_{q}) representing the total sum of the magnetomotive forces of the qaxis.
[Equation 3]
f_{m′1}=C_{11}+C_{12}*exp{−(I_{in}_{_}_{q}+C_{q1}*I_{out}_{_}_{q})^{2}/C_{13}} (9)
f_{m′2}=C_{21}+C_{22}*exp{−(I_{in}_{_}_{q}+C_{q1}*I_{out}_{_}_{q})^{2}/C_{23}} (10)
In addition, in the first magnetic interference model, the qaxis linkage magnetic flux Φ_{in}_{_}_{q }of the rotor winding 30 (model related to the qaxis linkage magnetic flux) can be represented by the following Equation (11), which is a function of I_{in}_{_}_{d}, I_{in}_{_}_{q}, I_{out}_{_}_{d}, and I_{out}_{_}_{q}.
In the numerator on the right side of Equation (11), f_{m′3 }represents a degree of magnetic interference of the magnetomotive force due to I_{out}_{_}_{q }on the magnetomotive force due to I_{in}_{_}_{q}, and represents an influence by the magnetomotive force of the permanent magnet 33. The term (I_{in}_{_}_{q}−I_{out}_{_}_{q}*f_{m′3}) is a model equation related to the qaxis magnetomotive force in which I_{in}_{_}_{q }and I_{out}_{_}_{q }are combined with a setting ratio of 1:f_{m′3}, and represents a total sum of the magnetomotive forces of the qaxis acting on the inputside rotor 28 taking into consideration the magnetic interference between the magnetomotive force due to I_{in}_{_}_{q }and the magnetomotive force due to I_{out}_{_}_{q}. The term L_{q }represents a qaxis inductance (I_{in}_{_}_{q}=I_{out}_{_}_{q}=0) of the induction electromagnetic coupling unit, L_{qq }represents a change rate of the qaxis inductance of the induction electromagnetic coupling unit by I_{out}_{_}_{q}, and (L_{q}+L_{qq}*I_{out}_{_}_{q}) represents the qaxis inductance of the induction electromagnetic coupling unit at no load (I_{in}_{_}_{q}=0). Therefore, the numerator of the right side of Equation (11) corresponds to a product of the total sum of the magnetomotive forces of the qaxis and the qaxis inductance of the induction electromagnetic coupling unit at no load, and represents the qaxis linkage magnetic flux of the rotor winding 30 taking into consideration the magnetic interference between the magnetic flux due to I_{in}_{_}_{q }and the magnetic flux due to I_{out}_{_}_{q }in a case where the magnetic saturation does not occur in the qaxis magnetic circuit.
On the other hand, in the denominator on the right side of Equation (11), C_{d3 }is a coefficient representing a degree of magnetic interference of the daxis, f_{0 }represents the daxis magnetomotive force by the magnetomotive force of the permanent magnet 33, kqd is a constant unique to the induction electromagnetic coupling unit, and I_{in}_{_}_{d}+C_{d3}*I_{out}_{_}_{d}−f_{0} represents a magnitude of the total sum of the magnetomotive forces of the daxis. The term M_{qd }represents the saturation coefficient of the daxis magnetic circuit, M_{qdq }represents a change rate of the saturation coefficient of the daxis magnetic circuit by I_{out}_{_}_{q}, and (M_{qd}+M_{qdq}*I_{out}_{_}_{q}) corresponds to a coefficient representing the degree of the magnetic saturation of the daxis by I_{out}_{_}_{q}. Therefore, (M_{qd}+M_{qdq}*I_{out}_{_}_{q})*I_{in}_{_}_{d}+C_{d3}*I_{out}_{_}_{d}−f_{0}^{kqd }is a model equation representing the degree of change of the qaxis linkage magnetic flux by the magnetic saturation caused by the daxis magnetomotive force, and corresponds to the degree of magnetic saturation of the qaxis by the daxis magnetomotive force. In addition, C_{q3 }and C_{q30 }are coefficients representing the degree of magnetic interference of the qaxis, kqq is a constant unique to the induction electromagnetic coupling unit, and I_{in}_{_}_{q}+(C_{q30}+C_{q3}*I_{out}_{_}_{q})*I_{out}_{_}_{q} represents a magnitude of the total sum of the magnetomotive forces of the daxis. The term M_{qq }represents the saturation coefficient of the qaxis magnetic circuit, M_{qqq }represents a change rate of the saturation coefficient of the qaxis magnetic circuit by I_{out}_{_}_{q}, and (M_{qq}+M_{qqq}*I_{out}_{_}_{q}) corresponds to a coefficient representing the degree of magnetic saturation of the qaxis by I_{out}_{_}_{q}. Therefore, (M_{qq}+M_{qqq}*I_{out}_{_}_{q})*I_{in}_{_}_{q}+(C_{q30}+C_{q3}*I_{out}_{_}_{q})*I_{out}_{_}_{q}^{kqq }is a model equation representing a degree of change of the qaxis linkage magnetic flux by the magnetic saturation caused by the qaxis magnetomotive force, and corresponds to the degree of magnetic saturation of the qaxis by the qaxis magnetomotive force. The denominator on the right side of Equation (11) is a model equation representing a degree of change of the qaxis linkage magnetic flux by the magnetic saturation, and corresponds to the degree of magnetic saturation of the qaxis by the daxis and qaxis magnetomotive forces. As a result, Equation (11) represents the qaxis linkage magnetic flux of the rotor winding 30 taking into consideration the magnetic interference between the magnetic flux of I_{in}_{_}_{q }and the magnetic flux by I_{out}_{_}_{q }in a case where the magnetic saturation occurs in the qaxis magnetic circuit.
The term f_{0 }in the denominator on the right side of Equation (11) can be represented by the following Equation (12) which is a function of the qaxis currents I_{in}_{_}_{q }and I_{out}_{_}_{q}, because the daxis magnetomotive force changes by the magnetic saturation of the daxis magnetic circuit by the magnetic flux caused by the qaxis current. In Equation (12), C_{o10}, C_{o1}, C_{o20}, C_{o2}, C_{o30}, C_{o3}, C_{q40}, and C_{q4 }are coefficients representing the degree of magnetic interference. Similarly, f_{m′3 }in the numerator on the right side of Equation (11) can be represented by the following Equation (13) which is a function of the daxis currents I_{in}_{_}_{d }and I_{out}_{_}_{d}, because the qaxis magnetomotive force changes by the magnetic saturation of the qaxis magnetic circuit by the magnetic flux caused by the daxis current. In Equation (13), C_{31}, C_{32}, C_{33}, C_{34}, and C_{d4 }are coefficients representing the degree of the magnetic interference.
[Equation 5]
f_{0}=(C_{o10}+C_{o1}*I_{out}_{_}_{q})+(C_{o20}+C_{o2}I_{out}_{_}_{q})*exp{−(I_{in}_{_}_{q}+(C_{q40}+C_{q4}*I_{out}_{_}_{q})*I_{out}_{_}_{q})^{2}/(C_{o30}+C_{o3}*I_{out}_{_}_{q})} (12)
f_{m′3}=C_{31}+C_{32}*exp{−(I_{in}_{_}_{d}+C_{d4}*I_{out}_{_}_{d}+C_{34})^{2}/C_{33}} (13)
Similarly, in the second magnetic interference model, the daxis linkage magnetic flux Φ_{out}_{_}_{d }of the stator winding 20 (model related to the daxis linkage magnetic flux) can be represented by the following Equation (14), which is a function of I_{in}_{_}_{d}, I_{in}_{_}_{q}, I_{out}_{_}_{d}, and I_{out}_{_}_{q}.
In the numerator on the right side of Equation (14), (I_{out}_{_}_{d}−C_{d2}*I_{in}_{_}_{d}−f_{m′2}) is a model equation related to the daxis magnetomotive force in which I_{out}_{_}_{d }and I_{in}_{_}_{d }are combined with a setting ratio of 1:C_{d2}, and represents a total sum of the magnetomotive forces of the daxis acting on the stator 16, taking into consideration the magnetic interference between the magnetomotive force by I_{out}_{_}_{d }and the magnetomotive force by I_{in}_{_}_{d}. The term L_{d }represents a daxis inductance (I_{out}_{_}_{d}=I_{in}_{_}_{d}=0) of the PM motor unit, L_{dd }represents a change rate of the daxis inductance of the PM motor unit by I_{in}_{_}_{d}, and (L_{d}+L_{dd}*I_{in}_{_}_{d}) represents the daxis inductance of the PM motor unit at no load (I_{out}_{_}_{d}=0). Therefore, the numerator on the right side of Equation (14) represents the daxis linkage magnetic flux of the stator winding 20 taking into consideration the magnetic interference between the magnetic flux due to I_{out}_{_}_{d }and the magnetic flux due to I_{in}_{_}_{d }in a case where magnetic saturation does not occur in the daxis magnetic circuit.
On the other hand, in the denominator on the right side of Equation (14), kdd is a constant unique to the PM motor unit, and I_{out}_{_}_{d}−C_{d1}*I_{in}_{_}_{d}−f_{m′1} represents a magnitude of the total sum of the magnetomotive force of the daxis. The term M_{dd }represents a saturation coefficient of the daxis magnetic circuit, M_{ddd }represents a change rate of the saturation coefficient of the daxis magnetic circuit by I_{in}_{_}_{d}, and (M_{dd}+M_{ddd}*I_{in}_{_}_{d}) corresponds to a coefficient representing a degree of magnetic saturation of the daxis by I_{in}_{_}_{d}. Therefore, (M_{dd}+M_{ddd}*I_{in}_{_}_{d})*I_{out}_{_}_{d}−C_{d1}*I_{in}_{_}_{d}f_{m′1}^{kdd }is a model equation representing the degree of change of the daxis linkage magnetic flux by the magnetic saturation caused by the daxis magnetomotive force, and corresponds to the degree of magnetic saturation of the daxis by the daxis magnetomotive force. In addition, kdq is a constant unique to the PM motor unit, and I_{out}_{_}_{q}+C_{q1}*I_{in}_{_}_{q} represents the magnitude of the total sum of the magnetomotive forces of the qaxis taking into consideration the magnetic interference between the magnetomotive force due to I_{out}_{_}_{q }and the magnetomotive force due to I_{in}_{_}_{q}. The term M_{dq }represents a saturation coefficient of the qaxis magnetic circuit, M_{dqd }represents a change rate of the saturation coefficient of the qaxis magnetic circuit by I_{in}_{_}_{d}, and (M_{dq}+M_{dqd}*I_{in}_{_}_{d}) corresponds to a coefficient representing the degree of magnetic saturation of the qaxis by I_{in}_{_}_{d}. Therefore, (M_{dq}+M_{dqd}*I_{in}_{_}_{d})*I_{out}_{_}_{q}+C_{q1}*I_{in}_{_}_{q}^{kdq }is a model equation representing the degree of change of the daxis linkage magnetic flux by the magnetic saturation caused by the qaxis magnetomotive force, and corresponds to the degree of magnetic saturation of the daxis by the qaxis magnetomotive force. The denominator on the right side of Equation (14) is a model equation representing a degree of change of the daxis linkage magnetic flux by the magnetic saturation, and corresponds to the degree of magnetic saturation of the daxis by the daxis and qaxis magnetomotive forces. As a result, Equation (14) represents the daxis linkage magnetic flux of the stator winding 20 taking into consideration the magnetic interference between the magnetic flux due to I_{out}_{_}_{d }and the magnetic flux due to I_{in}_{_}_{d }in a case where the magnetic saturation occurs in the daxis magnetic circuit.
The term f_{m′1 }in the denominator on the right side of Equation (14) can be represented by the following Equation (15), which is a function of the qaxis currents I_{in}_{_}_{q }and I_{out}_{_}_{q}, because the daxis magnetomotive force changes by the magnetic saturation of the daxis magnetic circuit by the magnetic flux caused by the qaxis current. Similarly, f_{m′2 }in the numerator on the right side of Equation (14) can also be represented by the following Equation (16), which is a function of the qaxis currents I_{in}_{_}_{q }and I_{out}_{_}_{q}. In Equations (15) and (16), f_{m′1 }and f_{m′2 }are functions of (I_{out}_{_}_{q}+C_{q1}*I_{in}_{_}_{q}) which represents the total sum of the magnetomotive force of the qaxis.
[Equation 7]
f_{m′1}=C_{11}+C_{12}*exp{−(I_{out}_{_}_{q}+C_{q1}*I_{in}_{_}_{q})^{2}/C_{13}} (15)
f_{m′2}=C_{21}+C_{22}*exp{−(I_{out}_{_}_{q}+C_{q1}*I_{in}_{_}_{q})^{2}/C_{23}} (16)
Similarly, in the second magnetic interference model, the qaxis linkage magnetic flux Φ_{out}_{_}_{q }of the stator winding 20 (model related to the qaxis linkage magnetic flux) can be represented by the following Equation (17), which is a function of I_{in}_{_}_{d}, I_{in}_{_}_{q}, I_{out}_{_}_{d}, and I_{out}_{_}_{q}.
In the numerator on the right side in Equation (17), f_{m′3 }represents the degree of magnetic interference of the magnetomotive force due to I_{in}_{_}_{q }on the magnetomotive force due to I_{out}_{_}_{q}, and represents the influence by the magnetomotive force of the permanent magnet 33. The term (I_{out}_{_}_{q}−I_{in}_{_}_{q}*f_{m′3}) is a model equation related to the qaxis magnetomotive force in which I_{out}_{_}_{q }and I_{in}_{_}_{q }are combined with a setting ratio of 1:f_{m′3}, and represents the total sum of the magnetomotive forces of the qaxis acting on the stator 16, taking into consideration the magnetic interference between the magnetomotive force due to I_{out}_{_}_{q }and the magnetomotive force due to I_{in}_{_}_{q}. The term L_{q }represents the qaxis inductance (I_{out}_{_}_{q}=I_{in}_{_}_{q}=0) of the PM motor unit, L_{qq }represents a change rate of the qaxis inductance of the PM motor unit by I_{in}_{_}_{q}, and (L_{q}+L_{qq}*I_{in}_{_}_{q}) represents the qaxis inductance of the PM motor unit at no load (I_{out}_{_}_{q}=0). Therefore, the numerator on the right side of Equation (17) represents the qaxis linkage magnetic flux of the stator winding 20 taking into consideration the magnetic interference between the magnetic flux due to I_{out}_{_}_{q }and the magnetic flux due to I_{in}_{_}_{q }in a case where the magnetic saturation does not occur in the qaxis magnetic circuit.
Meanwhile, in the denominator of the right side of Equation (17), kqd is a constant unique to the PM motor unit, and I_{out}_{_}_{d}+C_{d3}*I_{in}_{_}_{d}−f_{0} represents a magnitude of a total sum of the magnetomotive forces of the daxis. The term M_{qd }represents a saturation coefficient of the daxis magnetic circuit, M_{qdq }represents a change rate of the saturation coefficient of the daxis magnetic circuit by I_{in}_{_}_{q}, and (M_{qd}+M_{qdq}*I_{in}_{_}_{q}) corresponds to a coefficient representing the degree of magnetic saturation of the daxis by I_{in}_{_}_{q}. Therefore, (M_{qd}+M_{qdq}*I_{in}_{_}_{q})*I_{out}_{_}_{d}+C_{d3}*I_{in}_{_}_{d}−f_{0}^{kqd }is a model equation representing the degree of change of the qaxis linkage magnetic flux by the magnetic saturation caused by the daxis magnetomotive force, and corresponds to the degree of magnetic saturation of the qaxis by the daxis magnetomotive force. In addition, kqq is a constant unique to the PM motor unit, and I_{out}_{_}_{q}+(C_{q30}+C_{q3}*I_{in}_{_}_{q})*I_{in}_{_}_{q} represents a magnitude of the total sum of the magnetomotive forces of the daxis. The term M_{qq }represents a saturation coefficient of the qaxis magnetic circuit, M_{qqq }represents a change rate of the saturation coefficient of the qaxis magnetic circuit by I_{in}_{_}_{q}, and (M_{qq}+M_{qqq}*I_{in}_{_}_{q}) corresponds to a coefficient representing the degree of magnetic saturation of the qaxis by I_{in}_{_}_{q}. Therefore, (M_{qq}+M_{qqq}*I_{in}_{_}_{q})*I_{out}_{_}_{q}+(C_{q30}+C_{q3}*I_{in}_{_}_{q})*I_{in}_{_}_{q}^{kqq }is a model equation representing a degree of change of the qaxis linkage magnetic flux by the magnetic saturation caused by the qaxis magnetomotive force, and corresponds to the degree of the magnetic saturation of the qaxis by the qaxis magnetomotive force. The denominator on the right side of Equation (17) is a model equation representing a degree of change of the qaxis linkage magnetic flux by the magnetic saturation, and corresponds to the degree of magnetic saturation of the qaxis by the daxis and qaxis magnetomotive forces. As a result, Equation (17) represents the qaxis linkage magnetic flux of the stator winding 20 taking into consideration the magnetic interference between the magnetic flux due to I_{out}_{_}_{q }and the magnetic flux due to I_{in}_{_}_{q }in a case where the magnetic saturation occurs in the qaxis magnetic circuit.
The term f_{0 }in the denominator on the right side of Equation (17) can be represented by the following Equation (18), which is a function of the qaxis currents I_{in}_{_}_{q }and I_{out}_{_}_{q}, because the daxis magnetomotive force changes by the magnetic saturation of the daxis magnetic circuit by the magnetic flux caused by the qaxis current. Similarly, f_{m′3 }in the numerator on the right side of Equation (17) can be represented by the following Equation (19), which is a function of the daxis currents I_{in}_{_}_{d }and I_{out}_{_}_{d}, because the qaxis magnetomotive force changes by the magnetic saturation of the qaxis magnetic circuit by the magnetic flux caused by the daxis current.
[Equation 9]
f_{0}=(C_{o10}+C_{o1}*I_{in}_{_}_{q})+(C_{o20}+C_{o2}*I_{in}_{_}_{q})*exp{−(I_{out}_{_}_{q}+(C_{q40}+C_{q4}*I_{in}_{_}_{q})^{2}/(C_{o30}+C_{o3}*I_{in}_{_}_{q})} (18)
f_{m′3}=C_{31}+C_{32}*exp{−(I_{out}_{_}_{d}+C_{d4}*I_{in}_{_}_{d}+C_{34})^{2}/C_{33}} (19)
In step S103, the current command value calculating unit 174 calculates a combination of the currents (I_{in}_{_}_{d}, I_{in}_{_}_{q}, I_{out}_{_}_{d}, and I_{out}_{_}_{q}) that minimizes the evaluation function f representing the total copper loss of the rotor winding 30 and the stator winding 20, within the range of the constraint condition which is set in step S102. The evaluation function f is represented by Equation (7) which is a function of I=(I_{in}_{_}_{d}, I_{in}_{_}_{q}, I_{out}_{_}_{d}, I_{out}_{_}_{q}), and a process to calculate the value of the evaluation function f is repeated while changing the values of I_{in}_{_}_{d}, I_{in}_{_}_{q}, I_{out}_{_}_{d}, and I_{out}_{_}_{q }within the range satisfying the constraint condition, to search for a combination of the currents (I_{in}_{_}_{d}, I_{in}_{_}_{q}, I_{out}_{_}_{d}, and I_{out}_{_}_{q}) that minimizes the evaluation function f. As an algorithm for searching the current that minimizes the evaluation function f in this process, a known technique may be employed, and thus, the algorithm will not be described in detail. For example,
As the current command values I_{in}_{_}_{d}_{_}_{ref}, I_{in}_{_}_{q}_{_}_{ref}, I_{out}_{_}_{d}_{_}_{ref}, and I_{out}_{_}_{q}_{_}_{ref }determined by the current command value calculating unit 174, it is not necessary to set the currents I_{in}_{_}_{d}, I_{in}_{_}_{q}, I_{out}_{_}_{d}, and I_{out}_{_}_{q }that minimize the evaluation function f. For example, values which are slightly larger (or slightly smaller) than the currents I_{in}_{_}_{d}, I_{in}_{_}_{q}, I_{out}_{_}_{d}, and I_{out}_{_}_{q }which result in the minimum evaluation function f may be set as the current command values I_{in}_{_}_{d}_{_}_{ref}, I_{in}_{_}_{q}_{_}_{ref}, I_{out}_{_}_{d}_{_}_{ref}, and I_{out}_{_}_{q}_{_}_{ref}.
The combination of the current command values (I_{in}_{_}_{d}_{_}_{ref}, I_{in}_{_}_{q}_{_}_{ref}, I_{out}_{_}_{d}_{_}_{ref}, and I_{out}_{_}_{q}_{_}_{ref}) calculated by the information processing device 70 (current command value calculating unit 174) is stored in correspondence to the combination of the torque command values (T_{in}_{_}_{ref }and T_{out}_{_}_{ref}) as the torquecurrent characteristic in the torquecurrent characteristic storage unit 137 of the electronic control unit 50. In other words, the torquecurrent characteristic that minimizes (or approximately minimizes) the evaluation function f is stored in the torquecurrent characteristic storage unit 137. In the rotor winding current controller 140 and the stator winding current controller 160 of the electronic control unit 50, the current I_{in }in the rotor winding 30 and the current I_{out }in the stator winding 20 are respectively controlled based on the relationship of the current command values I_{in}_{_}_{q}_{_}_{ref }and I_{in}_{_}_{q}_{_}_{ref }for the rotor winding 30 and the current command values I_{out}_{_}_{d}_{_}_{ref }and I_{out}_{_}_{q}_{_}_{ref }for the stator winding 20 with respect to the torque command values T_{in}_{_}_{ref }and T_{out}_{_}_{ref}, calculated by the information processing device 70 (current command value calculating unit 174). With this configuration, the torques T_{in }and T_{out }follow the torque command values T_{in}_{_}_{ref }and T_{out}_{_}_{ref}, respectively, and the current I_{in }in the rotor winding 30 and the current I_{out }in the stator winding 20 are controlled so that the total copper loss of the rotor winding 30 and the stator winding 20 is minimum (or approximately minimum).
As described, in the rotary electric machine 10, when the magnetic interference between the magnetic flux due to the current I_{in }in the rotor winding 30 and the magnetic flux due to the current I_{out }in the stator winding 20 is used, there are infinite combinations of the currents (I_{in }and I_{out}) for matching the torques T_{in }and T_{out }with the torque command values T_{in}_{_}_{ref }and T_{out}_{_}_{ref}, respectively. In this regard, in the present embodiment, from the infinite combinations, a combination of the current command values (I_{in}_{_}_{d}_{_}_{ref}, I_{in}_{_}_{q}_{_}_{ref}, I_{out}_{_}_{d}_{_}_{ref}; and I_{out}_{_}_{q}_{_}_{ref}) that minimizes (or approximately minimizes) the total copper loss of the rotor winding 30 and the stator winding 20 can be selected using the first and second magnetic interference models. By controlling the current I_{in }in the rotor winding 30 and the current I_{out }in the stator winding 20 based on the current command values I_{in}_{_}_{ref}, I_{out}_{_}_{d}_{_}_{ref}, and I_{out}_{_}_{q}_{_}_{ref}, it is possible to improve a power factor of the rotary electric machine 10 compared to the case where the magnetic interference is not used, and the loss by the copper loss of the rotary electric machine 10 can be reduced.
In the present embodiment, the electronic control unit 50 may also function as the information processing device 70, and the process in the flowchart of
As the constraint condition which is set in step S102 in the flowchart of
Alternatively, as the constraint condition, conditions may be added that the current I_{in }in the rotor winding 30 is less than or equal to a limit value (third limit value) I_{in}_{_}_{limit}≦I_{in}_{_}_{limit}) and that the current I_{out }in the stator winding 20 is less than or equal to a limit value (fourth limit value) I_{out}_{_}_{limit }(I_{out}≦I_{out}_{_}_{limit}). The current I_{in }is represented by Equation (5), which is a function of I_{in}_{_}_{d }and I_{in}_{_}_{q}, and the current I_{out }is represented by Equation (6) which is a function of I_{out}_{_}_{d }and I_{out}_{_}_{q}. The limit value I_{in}_{_}_{limit }is set, for example, to a value less than a capacity of the inverter 41, and the limit value I_{out}_{_}_{limit }is set, for example, to a value less than a capacity of the inverter 40. By adding the constraint conditions of I_{in}≦I_{in}_{_}_{limit }and I_{out}≦I_{out}_{_}_{limit}, it is possible to reduce the loss by the copper loss of the rotary electric machine 10 while inhibiting the current I_{in }in the rotor winding 30 and the current I_{out }in the stator winding 20.
Alternatively, as the constraint conditions, conditions may be added that V_{in}≦V_{in}_{_}_{limit }and I_{in}≦I_{in}_{_}_{limit}. With such a configuration, the loss by the copper loss of the rotary electric machine 10 can be reduced while inhibiting the counter electromotive force of the rotor winding 30 and the current I_{in}. Alternatively, as the constraint conditions, the conditions of V_{out}≦V_{out}_{_}_{limit }and I_{out}≦I_{out}_{_}_{limit }may be added. With such a configuration, the loss by the copper loss of the rotary electric machine 10 can be reduced while inhibiting the counter electromotive force of the stator winding 20 and the current I_{out}.
Alternatively, in the evaluation function f of Equation (7) representing the total copper loss of the rotor winding 30 and the stator winding 20, the phase resistance R_{out }of the rotor winding 30 and the phase resistance R_{out }of the stator winding 20 may be changed according to a temperature τ_{in }of the rotor winding 30 and the temperature T_{out }of the stator winding 20, respectively. In this case, as shown in
The first and second magnetic interference models are not limited to those described above, and various modifications and simplifications are possible. For example, the denominator on the right side of Equation (8) may be simplified by setting kdd=1 and kdq=1, and, the denominator on the right side of Equation (11) may be simplified by setting kqd=1 and kqq=1. Similarly, the denominator on the right side of Equation (14) may be simplified by setting kdd=1 and kdq=1, and the denominator on the right side of Equation (17) may be simplified by setting kqd=1 and kqq=1.
Moreover, in Equations (9), (10), (12), and (13), the part of the exponential function may be approximated by a polynomial equation. Alternatively, each of f_{m′1}, f_{m′2}, and f_{0 }may be simplified to a constant assuming that the daxis magnetomotive force by the magnetomotive force of the permanent magnet 33 is a constant, and f_{m′3 }may be simplified to a constant assuming that the degree of the magnetic interference of the magnetomotive force due to I_{out}_{_}_{q }on the magnetomotive force due to I_{in}_{_}_{q }is constant.
In addition, assuming that, from
Moreover, the numerator of the right side of Equation (8) may be simplified by setting L_{dd}=0 assuming that the daxis inductance of the induction electromagnetic coupling unit is constant, and the numerator on the right side of Equation (11) may be simplified by setting L_{qq}=0 assuming that the qaxis inductance of the induction electromagnetic coupling unit is a constant. Similarly, the numerator on the right side of Equation (14) may be simplified by setting L_{dd}=0 assuming that the daxis inductance of the PM motor unit is a constant, and the numerator on the right side of Equation (17) may be simplified by setting L_{qq}=0 assuming that the qaxis inductance of the PM motor unit is a constant.
Furthermore, the denominator on the right side of Equation (8) may be simplified by setting M_{ddd}=0 assuming that the saturation coefficient of the daxis magnetic circuit is a constant, and by setting M_{dqd}=0 assuming that the saturation coefficient of the qaxis magnetic circuit is a constant. The denominator on the right side of Equation (11) may be simplified by setting M_{qdq}=0 assuming that the saturation coefficient of the daxis magnetic circuit is a constant, and by setting M_{cm}=0 assuming that the saturation coefficient of the qaxis magnetic circuit is a constant. Similarly, the denominator on the right side of Equation (14) may be simplified by setting M_{ddd}=0 assuming that the saturation coefficient of the daxis magnetic circuit is a constant, and by setting M_{dqd}=0 assuming that the saturation coefficient of the qaxis magnetic circuit is a constant. The denominator on the right side of Equation (17) may be simplified by setting M_{qdq}=0 assuming that the saturation coefficient of the daxis magnetic circuit is a constant, and by setting M_{qqq}=0 assuming that the saturation coefficient of the qaxis magnetic circuit is a constant.
Further, the denominator on the right side of Equation (8) may be simplified by setting M_{dq}=M_{dqd}=0 assuming that the influence of the qaxis magnetomotive force on the magnetic saturation of the daxis is sufficiently small compared to the daxis magnetomotive force, and the denominator on the right side of Equation (11) may be simplified by setting M_{qd}=M_{qdq}=0 assuming that the influence of the daxis magnetomotive force on the magnetic saturation of the qaxis is sufficiently small compared to the qaxis magnetomotive force. Similarly, the denominator on the right side of Equation (14) may be simplified by setting M_{dq}=M_{dqd}=0 assuming that the influence of the qaxis magnetomotive force on the magnetic saturation of the daxis is sufficiently small compared to the daxis magnetomotive force, and the denominator on the right side of Equation (17) may be simplified by setting M_{qd}=M_{qdq}=0 assuming that the influence of the daxis mangetomotive force on the magnetic saturation of the qaxis is sufficiently small compared to the qaxis magnetomotive force.
Further, the denominator on the right side of Equation (8) may be simplified to 1 by setting (M_{dd}=M_{ddd}=M_{dq}=M_{dqd}=0) by not taking into consideration the magnetic saturation of the daxis, and the denominator on the right side of Equation (11) may be simplified to 1 by setting (M_{qd}=M_{qdq}=M_{qq}=M_{qqq}=0) by not taking into consideration the magnetic saturation of the qaxis. Similarly, the denominator on the right side of Equation (14) may be simplified to 1 by not taking into consideration the magnetic saturation of the daxis, and the denominator on the right side of Equation (17) may be simplified to 1 by not taking into consideration the magnetic saturation of the qaxis.
The first and second magnetic interference models are not limited to the equation models described above, and may be, for example, in the form of a map of each linkage magnetic flux for each current which can be obtained by magnetic field analysis or a rational function model in which the denominator and the numerator are represented with polynomial equations of an arbitrary order with respect to each current.
Furthermore, the rotary electric machine 10 is not particularly limited to the structure described above or a magnet placement structure such as the structure of FIG. 6 of Patent Document 3, so long as the linkage magnetic flux of the stator winding 20 can be adjusted by the current in the rotor winding 30 and the linkage magnetic flux of the rotor winding 30 can be adjusted by the current in the stator winding 20. For example, with regard to the permanent magnet 33 placed between soft magnetic members 53 adjacent in the circumferential direction of the rotor, as shown in
Alternatively, as shown in
In addition, in the outputside rotor 18, for example, as shown in
As shown in
For the first and second magnetic interference models when the nonmagnetic member 35 or the gap is provided in place of the permanent magnet 33, it is possible to consider a configuration where f_{m′1}=f_{m′2}=f_{0}=0 in the above description.
A preferred embodiment of the present invention has been described. The present invention, however, is not limited to the embodiment in any ways, and various modifications are possible within the scope and spirit of the present invention.
10 ROTARY ELECTRIC MACHINE; 16 STATOR; 18 OUTPUTSIDE ROTOR (SECOND ROTOR); 20 STATOR WINDING; 28 INPUTSIDE ROTOR (FIRST ROTOR); 30 ROTOR WINDING; 33 PERMANENT MAGNET; 35 NONMAGNETIC MEMBER; 36 ENGINE; 37 DRIVE SHAFT; 38 WHEEL; 40, 41 INVERTER; 42 ELECTRICITY STORAGE DEVICE; 44 TRANSMISSION; 50 ELECTRONIC CONTROL UNIT; 51 STATOR CORE; 52 ROTOR CORE; 53 SOFT MAGNETIC MEMBER; 54 GAP; 61 INNER CIRCUMFERENTIAL SURFACE (FIRST SURFACE); 62 OUTER CIRCUMFERENTIAL SURFACE (SECOND SURFACE); 63, 64 SIDE SURFACE (THIRD SURFACE, FOURTH SURFACE); 70 INFORMATION PROCESSING DEVICE; 81 ROTOR WINDING TEMPERATURE SENSOR; 82 STATOR WINDING TEMPERATURE SENSOR; 95 SLIP RING; 96 BRUSH; 135 COUPLING TORQUE COMMAND VALUE CALCULATING UNIT; 136 CURRENT COMMAND VALUE SETTING UNIT; 137 TORQUECURRENT CHARACTERISTIC STORAGE UNIT; 140 ROTOR WINDING CURRENT CONTROLLER; 155 MG TORQUE COMMAND VALUE CALCULATING UNIT; 160 STATOR WINDING CURRENT CONTROLLER; 172 MODEL STORAGE UNIT; 174 CURRENT COMMAND VALUE CALCULATING UNIT.