control device

Abstract

To prevent output torque of a motor from deviating from demand torque or rated torque.SOLUTION: A control device 100 includes: a differentiator 101 for differentiating rotational frequency data of an engine and generating output torque data of the engine; an engine torque converter 102 for obtaining a correspondence between a rotational speed of an engine and an amplitude value of output torque of the engine including a pulsation component on the basis of the output torque data; an excitation torque estimator 103 for estimating excitation torque on the basis of a rotational frequency of an engine and correspondence; a Fourier transformer 104 for performing Fourier transformation of excitation torque and obtaining an amplitude value of each order component of excitation torque; a demand torque corrector 105 for correcting an amplitude value to demand torque when each of the amplitude value of each order component is larger or smaller than the demand torque of a motor; and an inverse-Fourier transformer 108 for performing inverse-Fourier transformation of each order component after correction and generating a control instruction for controlling output torque of a motor.SELECTED DRAWING: Figure 1

Description

[[Technical Field]]

[0001] The present invention relates to a motor control device for a bench test system that simulates engine torque behavior using a motor. [[Background Art]]

[0002] In bench test systems for evaluating engine torque behavior, there is a technique (motor drive method) that simulates engine torque behavior using a motor instead of an actual engine (see, for example, Patent Document 1).

[0003] Engine behavior (rotation speed and torque) involves periodic fluctuations (sine-wave pulsations) corresponding to the engine's rotation speed and number of cylinders. Accordingly, a conventional technique has been used in which an excitation torque command indicating the output torque of the motor, which includes a pulsation component, is set as a torque command, and the deviation between the excitation torque command and the actual torque is controlled. [[Prior Art Literature]] [[Patent Literature]]

[0004] [[Patent Document 1]] Japanese Unexamined Patent Publication No. 2021-085684 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0005] In the conventional technique, since an excitation torque command including a pulsation component is used as the torque command, there is a disadvantage that the torque command value may become smaller or larger than the required torque or rated torque of the motor. In tests for durability evaluation, since the test is performed under constant torque, control like that of the conventional technique is unnecessary. On the other hand, the above-described disadvantage becomes a major problem in tests for performance evaluation. Specifically, in a test simulating engine torque behavior, a required excitation torque amplitude value may not be obtained, making it impossible to perform sufficient performance evaluation.

[0006] In view of the above-mentioned problems, the object of the present invention is to provide a control device that can prevent the output torque of a motor from deviating from the motor's required torque or rated torque in a motor-driven bench testing system. [Means for solving the problem]

[0007] (1) The control device according to the present disclosure is a control device for a motor in a bench test system that simulates the torque behavior of an engine using a motor, and comprises: a differentiator that differentiates rotational speed data showing the temporal fluctuation of the rotational speed of the engine to generate output torque data showing the fluctuation of the output torque of the engine; an engine torque converter that determines the correspondence between the rotational speed of the engine and the amplitude value of the output torque of the engine including a pulsation component based on the output torque data; an excitation torque estimator that estimates the excitation torque, which is the output torque of the motor corresponding to the rotational speed of the engine including the pulsation component, based on the rotational speed of the engine and the correspondence; a Fourier converter that performs a Fourier transform on the excitation torque to determine the amplitude value of each order component of the excitation torque; a demand torque corrector that corrects the amplitude value of each order component to the demand torque if each amplitude value is greater than or less than the demand torque for which the motor is required to output; and an inverse Fourier converter that performs an inverse Fourier transform on each of the corrected order components to generate a control command for controlling the output torque of the motor.

[0008] (2) The control device according to the present disclosure is a control device for a motor in a bench test system that simulates the torque behavior of an engine using a motor, and comprises: a differentiator that differentiates rotational speed data showing the temporal fluctuation of the rotational speed of the engine to generate output torque data showing the fluctuation of the output torque of the engine; an engine torque converter that determines the correspondence between the rotational speed of the engine and the amplitude value of the output torque of the engine including a pulsation component based on the output torque data; an excitation torque estimator that estimates the excitation torque, which is the output torque of the motor corresponding to the rotational speed of the engine including the pulsation component, based on the rotational speed of the engine and the correspondence; a Fourier converter that performs a Fourier transform on the excitation torque to determine the amplitude value of each order component of the excitation torque; a rated torque corrector that corrects the amplitude value of each order component to the rated torque if it is greater than or less than the rated torque of the motor; and an inverse Fourier converter that performs an inverse Fourier transform on each of the corrected order components to generate a control command for controlling the output torque of the motor.

[0009] (3) The control device described in (1) further comprises a rated torque corrector that corrects the amplitude values ​​of each of the order components to the rated torque if they are greater than or less than the rated torque of the motor, and a combiner that combines the order components corrected by the required torque corrector and the order components corrected by the rated torque corrector, The inverse Fourier transformer performs an inverse Fourier transform on each of the synthesized order components to generate the control command.

[0010] (4) The control device according to the present disclosure is a control device for a motor in a bench test system that simulates the torque behavior of an engine using a motor, and comprises: a Fourier transformer that performs a Fourier transform on the excitation torque, which is the output torque of the motor according to the rotational speed of the engine and includes a pulsation component, obtained from an engine model that models the engine, to obtain the amplitude values ​​of each order component of the excitation torque; a demand torque corrector that corrects the amplitude values ​​of each order component to the demand torque if each amplitude value is greater than or less than the demand torque for which the motor is required to output; and an inverse Fourier transformer that performs an inverse Fourier transform on each of the corrected order components to generate a control command for controlling the output torque of the motor.

[0011] (5) The control device according to the present disclosure is a control device for a motor in a bench test system that simulates the torque behavior of an engine using a motor, and comprises: a Fourier transformer that performs a Fourier transform on the excitation torque, which is the output torque of the motor corresponding to the rotational speed of the engine and includes a pulsation component, obtained from an engine model that models the engine, to obtain the amplitude values ​​of each order component of the excitation torque; a rated torque corrector that corrects the amplitude values ​​of each order component to the rated torque if they are greater than or less than the rated torque of the motor; and an inverse Fourier transformer that performs an inverse Fourier transform on each of the corrected order components to generate a control command for controlling the output torque of the motor.

[0012] (6) The control device described in (4) further comprises a rated torque corrector that corrects the amplitude values ​​of each of the order components to the rated torque if they are greater than or less than the rated torque of the motor, and a combiner that combines the order components corrected by the required torque corrector and the order components corrected by the rated torque corrector, wherein the inverse Fourier transformer performs an inverse Fourier transform on the combined order components to generate the control command. [Effects of the Invention]

[0013] According to the control device of the present invention, in a motor-driven bench test system, it is possible to prevent the motor's output torque from deviating from the motor's required torque or rated torque. [Brief explanation of the drawing]

[0014] [Figure 1] This figure shows an example configuration of a control device according to the first embodiment of the present invention. [Figure 2] This figure shows an example configuration of a control device according to a second embodiment of the present invention. [Figure 3] This figure shows an example configuration of a control device according to a third embodiment of the present invention. [Figure 4] This figure shows an example configuration of a control device according to a fourth embodiment of the present invention. [Figure 5] This figure shows an example configuration of a control device according to a fifth embodiment of the present invention. [Figure 6] This figure shows an example configuration of a control device according to the sixth embodiment of the present invention. [Modes for carrying out the invention]

[0015] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[0016] (First embodiment) Figure 1 shows an example of the configuration of a control device 100 according to the first embodiment of the present invention. The control device 100 according to this embodiment controls a motor in a bench test system that simulates the torque behavior of an engine using a motor.

[0017] As shown in Figure 1, the control device 100 according to this embodiment includes a differentiator 101, an engine torque converter 102, an excitation torque estimator 103, a Fourier converter 104, a required torque corrector 105, and an inverse Fourier converter 108.

[0018] The differentiator 101 receives rotational speed data indicating temporal fluctuations in the rotational speed of an engine simulated by a motor. The rotational speed data is obtained, for example, by measuring in advance the rotational speed of the engine simulated by the motor. The differentiator 101 differentiates the input rotational speed data to generate output torque data indicating fluctuations in the output torque of the engine. The differentiator 101 outputs the generated output torque data to the engine torque converter 102.

[0019] The engine torque converter 102 receives output torque data from the differentiator 101. The engine torque converter 102 obtains the pulsation of the output torque for one rotation of the engine based on the input output torque data. A correspondence relationship between the engine rotational speed and the amplitude value of the engine output torque including the pulsation component can be obtained from the output torque pulsation for one rotation of the engine. That is, the engine torque converter 102 obtains the correspondence relationship between the engine rotational speed and the amplitude value of the engine output torque including the pulsation component based on the output torque data.

[0020] The excitation torque estimator 103 receives the rotational speed of the simulated engine. The excitation torque estimator 103 estimates excitation torque, which is the output torque of the motor corresponding to the engine rotational speed and includes a pulsation component, based on the input engine rotational speed and the correspondence relationship obtained by the engine torque converter 102. The excitation torque is a value obtained by adding the amplitude value of the pulsation component to a constant torque, and is an estimated value of the actual output torque of the motor. The excitation torque estimator 103 outputs the estimated value to the Fourier transformer 104.

[0021] The Fourier transformer 104 receives excitation torque from the excitation torque estimator 103. The Fourier transformer 104 performs Fourier transform on the input excitation torque to obtain the amplitude value of each order component of the excitation torque.

[0022] The required torque corrector 105 receives the required torque, which is the torque that the motor is required to output. The required torque corrector 105 determines whether the amplitude values ​​of each order component of the excitation torque, as determined by the Fourier converter 104, are greater than or less than the required torque. If the amplitude values ​​of each order component are greater than or less than the required torque, the required torque corrector 105 corrects those amplitude values ​​to the required torque. The required torque corrector 105 outputs the corrected order components to the inverse Fourier converter 108. That is, for order components that do not require correction, the required torque corrector 105 outputs the amplitude values ​​of those order components as they are to the inverse Fourier converter 108, and for order components that require correction, it corrects the amplitude values ​​of those order components to the required torque and outputs them to the inverse Fourier converter 108.

[0023] The inverse Fourier converter 108 receives the corrected order components from the demand torque corrector 105. The inverse Fourier converter 108 performs an inverse Fourier transform on each input order component to generate a control command for controlling the motor's output torque. For example, the inverse Fourier converter 108 generates an inverter torque command as a control command, which controls the inverter that drives the motor so that the motor outputs a torque corresponding to the corrected excitation torque command, and outputs this command to the inverter controller.

[0024] In this embodiment, the control device 100 includes a required torque corrector 105. The required torque corrector 105 corrects the amplitude values ​​of each order component obtained by Fourier transforming the excitation torque to the required torque if they are greater than or less than the motor's required torque.

[0025] Therefore, for order components where the amplitude value is greater than or less than the motor's required torque, the amplitude value is corrected to the required torque, thus preventing the motor's output torque from deviating from the motor's required torque in a motor-driven bench test system.

[0026] (Second embodiment) Figure 2 shows an example of the configuration of a control device 100A according to a second embodiment of the present invention. In Figure 2, components similar to those in Figure 1 are denoted by the same reference numerals, and their descriptions are omitted.

[0027] As shown in Figure 2, the control device 100A according to this embodiment includes a differentiator 101, an engine torque transducer 102, an excitation torque estimator 103, a Fourier transducer 104, a rated torque corrector 106, and an inverse Fourier transducer 108. The control device 100A according to this embodiment differs from the control device 100 according to the first embodiment in that the required torque corrector 105 has been replaced with a rated torque corrector 106.

[0028] The rated torque corrector 106 receives the motor's rated torque as input. The rated torque corrector 106 determines whether the amplitude values ​​of each order component of the excitation torque, as determined by the Fourier converter 104, are greater than or less than the rated torque. If the amplitude values ​​of each order component are greater than or less than the rated torque, the rated torque corrector 106 corrects those amplitude values ​​to the rated torque. The rated torque corrector 106 outputs the corrected order components to the inverse Fourier converter 108. That is, for order components that do not require correction, the rated torque corrector 106 outputs the amplitude values ​​of those order components as they are to the inverse Fourier converter 108, and for order components that require correction, it corrects the amplitude values ​​of those order components to the rated torque and outputs them to the inverse Fourier converter 108.

[0029] In this embodiment, the control device 100A includes a rated torque corrector 106. The rated torque corrector 106 corrects the amplitude values ​​of each order component obtained by Fourier transforming the excitation torque to the rated torque if they are greater than or less than the rated torque of the motor.

[0030] Therefore, for order components whose amplitude value is greater than or less than the motor's rated torque, the amplitude value is corrected to the rated torque, thus preventing the motor's output torque from deviating from the motor's rated torque in a motor-driven bench test system.

[0031] (Third embodiment) Figure 3 shows an example configuration of a control device 100B according to a third embodiment of the present invention. In Figure 3, components similar to those in Figures 1 and 2 are denoted by the same reference numerals, and their descriptions are omitted.

[0032] As shown in Figure 3, the control device 100B according to this embodiment includes a differentiator 101, an engine torque converter 102, an excitation torque estimator 103, a Fourier converter 104, a required torque corrector 105, a rated torque corrector 106, a combiner 107, and an inverse Fourier converter 108B. The control device 100B according to this embodiment differs from the control device 100 according to the first embodiment in that it adds a rated torque corrector 106 and a combiner 107, and changes the inverse Fourier converter 108 to an inverse Fourier converter 108B.

[0033] As explained with reference to Figure 2, the rated torque corrector 106 corrects the amplitude values ​​of each order component of the excitation torque, obtained by the Fourier transformer 104, to the rated torque if they are greater than or less than the rated torque. The rated torque corrector 106 then outputs the corrected order components to the combiner 107. In other words, for order components that do not require correction, the rated torque corrector 106 outputs the amplitude values ​​of those order components directly to the combiner 107, and for order components that require correction, it corrects the amplitude values ​​of those order components to the rated torque before outputting them to the combiner 107.

[0034] The combiner 107 receives the corrected order components from the required torque corrector 105 and the rated torque corrector 106, respectively. The combiner 107 combines the corrected order components from the required torque corrector 105 and the corrected order components from the rated torque corrector 106. Specifically, the combiner 107 combines the corrected order components from the required torque corrector 105 and the rated torque corrector 106 so that the amplitude values ​​of each order component do not deviate from the required torque and the rated torque. The combiner 107 outputs the combined order components to the inverse Fourier converter 108B.

[0035] The inverse Fourier transformer 108B receives the combined components of each order from the synthesizer 107 as input. The inverse Fourier transformer 108B performs an inverse Fourier transform on each input component to generate a control command (inverter torque command).

[0036] As described above, in this embodiment, the control device 100B includes a required torque corrector 105, a rated torque corrector 106, and a combiner 107. The required torque corrector 105 corrects the amplitude values ​​of each order component of the excitation torque to the required torque if they are greater than or less than the motor's required torque. The rated torque corrector 106 corrects the amplitude values ​​of each order component of the excitation torque to the rated torque if they are greater than or less than the motor's rated torque. The combiner 107 combines the corrected order components by the required torque corrector 105 with the corrected order components by the rated torque corrector 106.

[0037] Therefore, for order components where the amplitude value is greater than or less than the motor's required torque or rated torque, the amplitude value is corrected to the required torque or rated torque. This prevents the motor's output torque from deviating from the motor's required torque and rated torque in a motor-driven bench test system.

[0038] (Fourth embodiment) Figure 4 shows an example configuration of a control device 100C according to a fourth embodiment of the present invention. In Figure 4, components similar to those in Figure 1 are denoted by the same reference numerals, and their descriptions are omitted.

[0039] As shown in Figure 4, the control device 100C according to this embodiment includes a Fourier transformer 104C, a required torque corrector 105, and an inverse Fourier transformer 108. The control device 100C according to this embodiment differs from the control device 100 according to the first embodiment in that the differentiator 101, engine torque transformer 102, and excitation torque estimator 103 have been removed, and the Fourier transformer 104 has been changed to a Fourier transformer 104C.

[0040] The Fourier transformer 104C receives engine model data as input. The engine model data is excitation torque data, which is the output torque of the engine, including pulsation components, obtained from an engine model that models an engine simulated by a motor. The Fourier transformer 104C performs a Fourier transform on the input engine model data (excitation torque) to obtain the amplitude values ​​of each order component of the excitation torque.

[0041] The required torque corrector 105 corrects the amplitude values ​​of each order component, as determined by the Fourier transformer 104C, to the required torque if they are greater than or less than the required torque.

[0042] In this embodiment, the control device 100C comprises a Fourier converter 104C and a required torque corrector 105. The Fourier converter 104C performs a Fourier transform on engine model data (excitation torque, which is the output torque of the engine, including pulsation components) obtained from an engine model that models the engine, to obtain the amplitude values ​​of each order component. The required torque corrector 105 corrects the amplitude values ​​of each order component obtained by the Fourier converter 104C to the required torque if they are greater than or less than the required torque of the motor.

[0043] Therefore, without having to pre-measure the rotational speed data of the engine simulated by the motor, the amplitude values ​​of order components that are greater or less than the motor's required torque can be corrected to the required torque. Consequently, in a motor-driven bench test system, it is possible to prevent the motor's output torque from deviating from the motor's required torque.

[0044] (Fifth embodiment) Figure 5 shows an example configuration of a control device 100D according to the fifth embodiment of the present invention. In Figure 5, components similar to those in Figure 4 are denoted by the same reference numerals, and their descriptions are omitted.

[0045] As shown in Figure 5, the control device 100D according to this embodiment includes a Fourier converter 104C, a rated torque corrector 106, and an inverse Fourier converter 108. The control device 100D according to this embodiment differs from the control device 100C according to the fourth embodiment in that the required torque corrector 105 is replaced with a rated torque corrector 106.

[0046] The rated torque corrector 106 corrects the amplitude values ​​of each order component, as determined by the Fourier transformer 104C, to the rated torque if they are greater than or less than the rated torque.

[0047] In this embodiment, the control device 100D includes a Fourier transformer 104C and a rated torque corrector 106. The Fourier transformer 104C performs a Fourier transform on engine model data (excitation torque, which is the output torque of the engine, including pulsation components) obtained from an engine model that models the engine, to obtain the amplitude values ​​of each order component. The rated torque corrector 106 corrects the amplitude values ​​of each order component obtained by the Fourier transformer 104C to the required torque if they are greater than or less than the required torque of the motor.

[0048] Therefore, without having to pre-measure the rotational speed data of the engine simulated by the motor, the amplitude values ​​of order components that are greater than or less than the motor's rated torque can be corrected to the rated torque. Consequently, in a motor-driven bench test system, it is possible to prevent the motor's output torque from deviating from the motor's rated torque.

[0049] (Sixth embodiment) Figure 6 shows an example of the configuration of a control device 100E according to the sixth embodiment of the present invention. In Figure 6, components similar to those in Figures 4 and 5 are denoted by the same reference numerals, and their descriptions are omitted.

[0050] As shown in Figure 6, the control device 100E according to this embodiment includes a Fourier converter 104C, a required torque corrector 105, a rated torque corrector 106, a combiner 107, and an inverse Fourier converter 108B. The control device 100E according to this embodiment differs from the control device 100C according to the fourth embodiment in that it adds a rated torque corrector 106 and a combiner 107, and changes the inverse Fourier converter 108 to an inverse Fourier converter 108E.

[0051] As explained with reference to Figure 5, the rated torque corrector 106 corrects the amplitude values ​​of each order component obtained by the Fourier transformer 104C to the rated torque if those amplitude values ​​are greater than or less than the rated torque. The rated torque corrector 106 then outputs the corrected order components to the combiner 107. In other words, for order components that do not require correction, the rated torque corrector 106 outputs the amplitude values ​​of those order components directly to the combiner 107, and for order components that require correction, it corrects the amplitude values ​​of those order components to the rated torque before outputting them to the combiner 107.

[0052] The combiner 107 receives the corrected order components from the required torque corrector 105 and the rated torque corrector 106, respectively. The combiner 107 combines the corrected order components from the required torque corrector 105 and the corrected order components from the rated torque corrector 106. Specifically, the combiner 107 combines the corrected order components from the required torque corrector 105 and the rated torque corrector 106 so that the amplitude values ​​of each order component do not deviate from the required torque and the rated torque. The combiner 107 outputs the combined order components to the inverse Fourier converter 108B.

[0053] The inverse Fourier transformer 108E receives the combined components of each order from the synthesizer 107 as input. The inverse Fourier transformer 108E performs an inverse Fourier transform on each input component to generate a control command (inverter torque command).

[0054] As described above, in this embodiment, the control device 100E includes a Fourier converter 104C, a required torque corrector 105, a rated torque corrector 106, and a combiner 107. The Fourier converter 104C performs a Fourier transform on engine model data (excitation torque, which is the output torque of the engine, including the pulsation component) obtained from an engine model that models the engine, to obtain the amplitude values ​​of each order component. The required torque corrector 105 corrects the amplitude values ​​of each order component obtained by the Fourier converter 104C to the required torque if they are greater than or less than the required torque of the motor. The rated torque corrector 106 corrects the amplitude values ​​of each order component obtained by the Fourier converter 104C to the rated torque if they are greater than or less than the rated torque of the motor. The combiner 107 combines the corrected order components by the required torque corrector 105 and the corrected order components by the rated torque corrector 106.

[0055] Therefore, without having to pre-measure the rotational speed data of the engine simulated by the motor, any order components whose amplitude values ​​are greater than or less than the motor's required torque or rated torque are corrected to the required torque or rated torque. This prevents the output torque command, which indicates the motor's output torque, from deviating from the motor's required torque and rated torque in a motor-driven bench test system.

[0056] Although the embodiments described above are representative examples, it will be apparent to those skilled in the art that many modifications and substitutions are possible within the spirit and scope of the present invention. Therefore, the present invention should not be interpreted as being limited by the embodiments described above, and various modifications and changes are possible without departing from the scope of the claims. [Explanation of symbols]

[0057] 100, 100A, 100B, 100C, 100D, 100E control devices 101 Differentiator 102 Engine Torque Converter 103 Excitation Torque Estimator 10⁴,10⁴C Fourier Transformer 105 Torque Compensator 106 Rated Torque Compensator 107 Synthesizer 10⁸, 10⁸B, 10⁸E inverse Fourier transform

Claims

1. A control device for a motor in a bench test system that simulates the torque behavior of an engine using a motor, A differentiator that differentiates rotational speed data showing the temporal fluctuation of the engine's rotational speed to generate output torque data showing the fluctuation of the engine's output torque, An engine torque converter that determines the correspondence between the engine speed and the amplitude value of the engine's output torque, including pulsation components, based on the output torque data, An excitation torque estimator estimates the excitation torque, which is the output torque of the motor corresponding to the engine speed and includes the pulsation component, based on the engine speed and the corresponding relationship. A Fourier transformer that performs a Fourier transform on the excitation torque to obtain the amplitude values ​​of each order component of the excitation torque, If the amplitude value of each of the aforementioned order components is greater than or less than the required torque for which the motor is required to output, a required torque corrector is provided to correct the amplitude value to the required torque. A control device comprising: an inverse Fourier transformer that performs an inverse Fourier transform on each of the corrected order components to generate a control command for controlling the output torque of the motor.

2. A control device for a motor in a bench test system that simulates the torque behavior of an engine using a motor, A differentiator that differentiates rotational speed data showing the temporal fluctuation of the engine's rotational speed to generate output torque data showing the fluctuation of the engine's output torque, An engine torque converter that determines the correspondence between the engine speed and the amplitude value of the engine's output torque, including pulsation components, based on the output torque data, An excitation torque estimator estimates the excitation torque, which is the output torque of the motor corresponding to the engine speed and includes the pulsation component, based on the engine speed and the corresponding relationship. A Fourier transformer that performs a Fourier transform on the excitation torque to obtain the amplitude values ​​of each order component of the excitation torque, A rated torque corrector is provided to correct the amplitude values ​​of each of the aforementioned order components to the rated torque if they are greater than or less than the rated torque of the motor. A control device comprising: an inverse Fourier transformer that performs an inverse Fourier transform on each of the corrected order components to generate a control command for controlling the output torque of the motor.

3. In the control device according to claim 1, A rated torque corrector is provided to correct the amplitude values ​​of each of the aforementioned order components to the rated torque if they are greater than or less than the rated torque of the motor. The system further comprises a combiner that combines the order components after correction by the required torque corrector and the order components after correction by the rated torque corrector, The inverse Fourier transform is a control device that generates the control command by performing an inverse Fourier transform on each of the synthesized order components.

4. A control device for a motor in a bench test system that simulates the torque behavior of an engine using a motor, A Fourier transformer is used to obtain the amplitude values ​​of each order component of the excitation torque, which is the output torque of the motor corresponding to the rotational speed of the engine and includes a pulsating component, obtained from an engine model that models the engine, by performing a Fourier transform on the excitation torque. If the amplitude value of each of the aforementioned order components is greater than or less than the required torque for which the motor is required to output, a required torque corrector is provided to correct the amplitude value to the required torque. A control device comprising: an inverse Fourier transformer that performs an inverse Fourier transform on each of the corrected order components to generate a control command for controlling the output torque of the motor.

5. A control device for a motor in a bench test system that simulates the torque behavior of an engine using a motor, A Fourier transformer is used to obtain the amplitude values ​​of each order component of the excitation torque, which is the output torque of the motor corresponding to the rotational speed of the engine and includes a pulsating component, obtained from an engine model that models the engine, by performing a Fourier transform on the excitation torque. A rated torque corrector is provided to correct the amplitude values ​​of each of the aforementioned order components to the rated torque if they are greater than or less than the rated torque of the motor. A control device comprising: an inverse Fourier transformer that performs an inverse Fourier transform on each of the corrected order components to generate a control command for controlling the output torque of the motor.

6. In the control device according to claim 4, A rated torque corrector is provided to correct the amplitude values ​​of each of the aforementioned order components to the rated torque if they are greater than or less than the rated torque of the motor. The system further comprises a combiner that combines the order components after correction by the required torque corrector and the order components after correction by the rated torque corrector, The inverse Fourier transform is a control device that generates the control command by performing an inverse Fourier transform on each of the synthesized order components.

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