Electric motor control device and electric power steering device
A technology for control devices and electric motors, applied in motor control, motor generator control, electronic commutation motor control, etc., can solve problems such as torque fluctuations, and achieve the effect of suppressing torque fluctuations
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Embodiment approach 1
[0048] The motor control device 1 according to Embodiment 1 will be described with reference to the drawings. figure 1 is a schematic configuration diagram of the motor control device 1 and the motor 2 according to the present embodiment, figure 2 It is a detailed configuration diagram of the motor control device 1 and the motor 2 according to the present embodiment.
[0049] The motor 2 includes: a stator fixed to a non-rotating member; and a rotor arranged radially inside the stator and rotatably supported by the non-rotating member. In this embodiment, the motor 2 is a permanent magnet type synchronous motor, the stator is wound with a multi-phase winding (in this example, three-phase winding Cu, Cv, Cw), and the rotor is provided with a permanent magnet. The rotor is provided with an angle sensor 12 which detects the angle of the rotor. In addition, the rotating shaft of the rotor is provided with a torque sensor 13 that detects the output torque of the rotor.
[0050]...
Embodiment approach 2
[0111] Next, the motor control device 1 according to Embodiment 2 will be described. The description of the same structural parts as those in the above-mentioned first embodiment is omitted. The basic configurations of the motor control device 1 and the motor 2 according to the present embodiment are the same as those of the first embodiment, but differ from the first embodiment in that the processing of the angle error correction unit 56 is configured based on discrete system formula derivation.
[0112] When the differential operation of the equation (2) of the continuous system is discretized by backward difference, the equation (6) is obtained. Here, ΔT is the operation cycle, and n represents the value of the nth operation cycle.
[0113] [mathematical formula 6]
[0114]
[0115] If the second side of the formula (6) is expanded, and the cosine value cosΔθ of the angle detection error is replaced by the estimated value cosΔθ* of the cosine value of the angle detecti...
Embodiment approach 3
[0129] Next, a motor control device 1 according to Embodiment 3 will be described. The description of the same structural parts as those in the above-mentioned first embodiment is omitted. The basic configurations of the motor control device 1 and the motor 2 according to this embodiment are the same as those of Embodiment 1, but as Figure 11 As shown, it is different from Embodiment 1 in that the angle error correction unit 56 is configured to correct the angle detection value θdet based on the estimated value of the angle error correlation value, but not to correct the current command value.
[0130] In this embodiment, the angle error correction unit 56 calculates the estimated value Δθ* of the angle detection error based on the estimated value of the angle error correlation value, and adds or subtracts the estimated value Δθ* of the angle detection error to the angle detection value θdet for correction. Angle detection value θdet.
[0131] Specifically, as shown in equa...
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