Motor control device

Abstract

The processor determines a harmonic control command value (phi * dqh) on the basis of the torque command value (tau *) (harmonic control command output unit (8)). The processor determines a response characteristic compensation value ([delta] [phi] * dqh) on the basis of the harmonic control command value and the electrical angular velocity ([omega] e) (response characteristic compensation unit 92). The processor determines a feed-forward voltage command value on the basis of the harmonic control command value and the electrical angular velocity (feed-forward voltage calculation unit 91). The processor determines a voltage command value (v * dq) on the basis of a control command value (phi * dq) corresponding to the torque command value (10) and a harmonic control command value (voltage command calculation unit (3)). In accordance with a switching condition, the processor switches between a first control in which a feed-forward voltage command value (v * dqh) is superimposed on a voltage command value and a second control in which a harmonic control command value is compensated with a response characteristic compensation value (switching unit 93).

Description

Technical Field

[0001] This invention relates to a motor control device. Background Technology

[0002] To be utilized in applications with limited loading space, such as automobiles, motors are being developed towards higher output density. Consequently, the use of motors in regions where magnetic saturation occurs is increasing. In these regions, increased torque ripple causes vibration and noise, making torque ripple suppression control particularly necessary.

[0003] In torque ripple suppression control, high-order harmonic currents are injected to generate torque that is out of phase with the generated torque ripples. To address this, a feedforward (FF) method is used to calculate the required output voltage of the inverter based on the high-order harmonic current command value. In this case, to calculate the required voltage command based on the high-order harmonic current command value, an inverse model of the motor is needed, and the accuracy of the high-order harmonic current calculation is determined by the accuracy of the inverse model of the motor. For example, the inverse model used in Patent Document 1 considers the influence of the motor's inductance and resistance, and the induced voltage, and calculates the voltage command value based on the high-order harmonic current command value.

[0004] Because implementing higher harmonic currents using the inverse model takes time in parameter tuning, some parameters used in the motor's inverse model are sometimes omitted. Even in this case, as long as the frequency of the higher harmonics is above a certain level, there is almost no error. Therefore, high-speed regions are achieved through FF (Flush), while in low-speed regions, higher harmonic current command values ​​are superimposed on the current command value, and the required higher harmonic current is achieved through current FB (Feedback).

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent No. 5574790 Summary of the Invention

[0008] The problem the invention aims to solve

[0009] When the control frequency band of the FB (Fan-Flush) is below the threshold frequency where the error of the feedforward voltage calculated from the inverse model of the motor with parameters omitted becomes sufficiently small, a region emerges where neither the FF (Fan-Flush) nor the FB can achieve the required accuracy. To prevent this, by superimposing higher harmonic command values ​​that are corrected for phase and amplitude to match the response characteristics of FB control, the frequency band of FB control can be transparently extended to the threshold frequency. However, if these FF and FB values ​​are superimposed simultaneously to suppress torque ripple, they interfere with each other, making it impossible to suppress torque ripple further.

[0010] The purpose of this invention is to provide a motor control device that can avoid interference from feedforward and feedback, and can maintain the accuracy of torque ripple suppression over a wide speed range.

[0011] Technical means to solve the problem

[0012] To achieve the above objectives, the present invention provides a motor control device for driving a motor via an inverter. The motor control device includes a processor that performs the following operations: determining a higher harmonic control command value based on a torque command value; determining a response characteristic compensation value based on the higher harmonic control command value and an electrical angular velocity; determining a feedforward voltage command value based on the higher harmonic control command value and the electrical angular velocity; determining a voltage command value based on a control command value corresponding to the torque command value and the higher harmonic control command value; and switching between a first control and a second control according to a switching condition, wherein the first control superimposes the feedforward voltage command value onto the voltage command value, and the second control compensates for the higher harmonic control command value using the response characteristic compensation value.

[0013] The effects of the invention

[0014] According to the present invention, interference from feedforward and feedback can be avoided, and torque ripple suppression accuracy can be maintained over a wide speed range. Other issues, configurations, and effects beyond those described above will become clear through the following description of embodiments. Attached Figure Description

[0015] Figure 1 This is a schematic block diagram of the motor control device according to Embodiment 1 of the present invention.

[0016] Figure 2 This is a schematic block diagram of the switching section of Embodiment 1 of the present invention.

[0017] Figure 3 This is a schematic block diagram of the motor control device according to Embodiment 2 of the present invention.

[0018] Figure 4 This is a schematic block diagram of the switching section of Embodiment 2 of the present invention. Detailed Implementation

[0019] (Example 1)

[0020] Figure 1 This is a functional block diagram illustrating the configuration of the motor control device according to Embodiment 1 of the present invention. The motor control device suppresses torque pulsations generated by the motor during motor control.

[0021] In the following descriptions, "dq axis" refers to "d-axis and q-axis". Additionally, for subscripted parameters X ("i", "v", etc.) in the following descriptions, unless otherwise specified, "Xdq" means "vector (Xd, Xq)" and "Xuvw" means "vector (Xu, Xv, Xw). Here, "uvw" represents the three phases of the alternating current, namely "U phase, V phase, and W phase".

[0022] The motor control device 1 controls the speed and torque of the motor 5 by controlling the switch of the inverter 4 that supplies AC power to the motor 5.

[0023] In this embodiment, the motor control device 1 is composed of a microcomputer or other arithmetic processing unit, a gate driver, etc. The arithmetic processing unit includes a processor, memory, input / output circuits, etc., and performs its functions by executing a predetermined program.

[0024] In this embodiment, inverter 4 is a three-phase inverter with a three-phase full-bridge circuit as the main circuit, consisting of semiconductor switching elements such as IGBTs and MOSFETs.

[0025] In this embodiment, a three-phase AC synchronous motor, such as a permanent magnet synchronous motor, is used as motor 5.

[0026] Motor 5 is not limited to synchronous motors; induction motors can also be used. Furthermore, motor 5 is not limited to rotary motors; linear motors can also be used. Additionally, motor 5 can also have a power generation function.

[0027] like Figure 1 As shown, the motor control device 1 includes: a torque command value 10 (τ) * 1) Control command output unit 2) Voltage command calculation unit 3) Electrical angle detection unit 6) Electrical angular velocity calculation unit 7) Higher harmonic control command output unit 8) Judgment unit 9) Voltage command value dq / three-phase axis converter 11) Current measurement three-phase / dq axis converter 12) Current flux conversion unit 13)

[0028] The torque command value 10 is provided by the host controller and operating system.

[0029] Control command output unit 2 outputs the dq axis flux command value (φ) required for the torque given by the torque command from the motor. * dq Typically, the flux value is determined to be the current value at which the torque output per unit current is at its maximum (MTPA). However, this invention is effective for any flux command value used to implement the torque command. Furthermore, the flux command value can be calculated based on the torque command, or it can be obtained by referring to a pre-defined table.

[0030] Voltage command processing unit 3 calculates the magnetic flux detection value φ along the dq axis. dq The dq-axis flux command value φ after superposition with higher harmonics ** dq The difference, in φ dq With φ * dq Calculate the voltage command value v in a consistent manner * dq .

[0031] The electrical angle detection unit 6 calculates and outputs the electrical angle θ based on the rotational position signal from the rotation sensor (not shown) provided by the motor 5. e The rotation sensor is based on the mechanical angle (θ) of the rotor of motor 5. m The output rotational position signal is obtained by the electrical angle detection unit 6 using the number of pole pairs (p) of the motor 5 and θ. e θ m The relationship between p and θ e =p·θ m ), to calculate θ e .

[0032] As a rotation sensor, mechanical angle rotary transformers, Hall effect sensors, rotary encoders, etc., can be used. Alternatively, the electrical angle can be determined based on current and voltage using general sensorless control methods.

[0033] The electric angular velocity calculation unit 7, like the electric angle detection unit 6 (electric angle calculation unit), calculates the electric angular velocity ω based on the rotational position signal from the rotation sensor (not shown) provided with the motor 5. e And output. The electric angular velocity calculation unit 7 uses the number of pole pairs (p) of motor 5 and the electric angle θ. e and mechanical angle θ m The relationship between p and θ e =p·θ m ) and θ e and ω e Relationship (ω) e =dθ e To calculate ω using / dt) e Furthermore, the electric angular velocity calculation unit 7 can also be calculated from the θ output by the electric angle detection unit 6. e To calculate ω by differentiation e It consists of a differentiator.

[0034] The higher harmonic control command output unit 8 outputs commands based on τ. * Output high-order harmonic control command value φ * dqh φ * dqhThe torque value can be calculated based on the torque command, or it can be determined by referring to a pre-set table.

[0035] The determination unit 9 includes a feedforward voltage calculation unit 91, a response characteristic compensation unit 92, and a switching unit 93.

[0036] Feedforward voltage calculation unit 91 according to φ * dqh and electric angular velocity ω e Calculate the FF voltage v according to equation (1) * dqh And output it. In addition, s in equation (1) is the Laplace operator.

[0037] [Formula 1]

[0038]

[0039] Here, the method for deriving equation (1) is explained. The inverse model of a motor on the typical dq axis is equation (2).

[0040] [Equation 2]

[0041]

[0042] Wherein, L in equation (2) dq and L qd K represents the interference inductance between the d and q axes. edh and K eqh The higher harmonic components of the magnetic flux along the d and q axes are represented. Adding a variable 't' to the end of the subscript of L representing inductance indicates dynamic inductance; omitting this variable indicates static inductance. Static inductance is determined by the ratio of the dq-axis current to the dq-axis magnetic flux, while dynamic inductance refers to the rate of change of magnetic flux near the reference current. Here, the relationship between the magnetic flux defined by equation (3) and the dynamic inductance expressed by equation (4) is used.

[0043] [Formula 3]

[0044]

[0045] [Formula 4]

[0046]

[0047] Equation (2) is transformed using equations (3) and (4). If only the higher harmonic components are taken out, equation (5) is obtained.

[0048] [Formula 5]

[0049]

[0050] Here, since the second and third terms on the right side of equation (5) increase proportionally to the frequency of the higher harmonic control command value, the influence of the first term on the right side becomes sufficiently small above a certain threshold frequency and can be ignored, thus yielding equation (1). Conversely, in the low-speed region, the influence of the first term on the right side is large, making it impossible to calculate the correct FF voltage, therefore feedback control must be made effective up to the threshold frequency.

[0051] The response characteristic compensation unit 92 has a response characteristic compensation table or a response characteristic compensation function to adjust the response characteristic based on the electric angular velocity ω. e The order of higher harmonics is calculated from the table or function, and the phase θ is obtained. mod and amplitude I mod The correction amount is used to correct the higher harmonic control command value φ as shown in equation (6). * dqh It also outputs the difference Δφ between the higher harmonic control command values ​​at this time. * dqh Where n is the order of higher harmonics, specifically the order of the 6th, 12th, and other torque ripple suppression targets, and φ... * dqnh This represents the control command value component of the nth higher harmonic.

[0052] [Formula 6]

[0053]

[0054] As described above, since the threshold frequency is determined by the motor constant, torque ripple suppression control cannot function adequately in the region from the upper limit frequency of the FB band to the threshold frequency when the FB band is below this frequency. Here, the response characteristic compensation unit 92 is equivalent to taking the inverse function of the transfer characteristic of FB control and performing response characteristic compensation on the higher harmonic control command value, thereby enabling the FB control band to be extended only for higher harmonics.

[0055] Switching unit 93, etc. Figure 2 As shown, it consists of voltage command value calculation 931, higher harmonic component calculation 932, and differential comparison 933, and is based on φ. dq φ * dq φ * dqh , Δφ * dqh and v * dqh , will Δφ * dqh and v * dqh The output of at least one of them is set to 0.

[0056] The operation and function of the switching unit 93 will be explained below.

[0057] First, it represents the action as the speed increases from low to high. At low speed, v * dqh The differential comparison 933 becomes 0. The voltage command value is calculated by adding Δφ to the value of 930 using 931. * dqh The value is then subjected to the same calculations as the voltage command arithmetic unit 3. The higher harmonic component calculation 932 extracts the higher harmonic component (electric angle n) from the output component of 931 and outputs it. When the frequency of the higher harmonic increases, and the output value of 932 is consistent with the output of the feedforward arithmetic unit within a certain error range, the differential comparison 933 calculates Δφ... * dqh The output is set to 0, and the value of the feedforward arithmetic unit is used as v. * dqh Output.

[0058] Next, the action as the speed decreases from high to low is shown. At high speed, Δφ * dqh The differential comparator 933 becomes 0. The higher harmonic component calculation 932 extracts the nth electrical angle higher harmonic component from 930 and outputs it. When the frequency of the higher harmonic decreases and the output value of 932 reaches a certain level, the differential comparator 933 outputs Δφ. * dqh and output 0 as v * dqh .

[0059] Without the switching unit 93, Δφ * dqh and v * dqh Simultaneous superposition. At this point, it is used to calculate Δφ. * dqh The transmission characteristics of FB control, due to the superposition of v * dqh However, due to changes in the values ​​at the design stage, the control interference between the two causes the torque ripple suppression control to no longer operate properly.

[0060] Voltage command value dq / Three-phase axis converter 11 according to θ e The voltage command value v output from the voltage command arithmetic unit 3 * dq The voltage is converted into a three-phase voltage, generating a signal to control the switching of inverter 4. At this point, θ, which compensates for the delay in the voltage command value actually reaching the inverter, can also be used. ec to replace θ e .

[0061] Three-phase / dq-axis converter 12 for measuring current based on θ e The three-phase current detected by the current sensor is converted into a dq-axis current i. dq At this point, θ, which takes into account the current sensing delay, can also be used. ed to replace θ e .

[0062] The main features of Example 1 can also be summarized as follows.

[0063] Motor control unit 1 drives motor 5 via inverter 4. The processor of motor control unit 1 operates according to the torque command value 10 (τ). * ) determines the higher harmonic control command value (φ) * dqh (Higher harmonic control instruction output unit 8). The processor outputs the higher harmonic control instruction value (φ). * dqh ) and electric angular velocity (ω) e Determines the response characteristic compensation value (Δφ) * dqh (Response characteristic compensation unit 92). The processor controls the higher harmonics according to the higher harmonic control command value (φ). * dqh ) and electric angular velocity (ω) e Determines the feedforward voltage command value (v) * dqh (Feedforward voltage calculation unit 91). The processor calculates the torque command value 10 (τ) based on the torque command value. * The corresponding control command value (φ) * dq ) and higher harmonic control command value (φ) * dqh Determines the voltage command value (V) * dq (Voltage instruction arithmetic unit 3). The processor switches between the first control and the second control according to the switching conditions (switching unit 93), where the first control is at the voltage instruction value (v). * dq The feedforward voltage command value (v) is superimposed on the feedforward voltage command value. * dqh The second control utilizes the response characteristic compensation value (Δφ) * dqh Compensation for higher harmonic control command value (φ) * dqh ).

[0064] By exclusively switching between the first and second controls, the first and second controls do not interfere with each other. By utilizing the feedforward voltage of the first control to flow through a high-order harmonic current, a torque that suppresses torque ripple is generated in the motor. Furthermore, since the feedforward voltage does not become an interference during the compensation of the response characteristics of the second control, the accuracy of torque ripple suppression is not reduced. Thus, it is possible to maintain torque ripple suppression accuracy over a wide speed range while avoiding interference from feedforward and feedback. As a result, motor noise and vibration can be suppressed. Additionally, the values ​​are determined, for example, through numerical calculations or table-based derivation.

[0065] The processor, for example, uses voltage instruction values ​​(v) * dq The higher harmonic components (output of the 932 for calculating higher harmonic components) and the feedforward voltage command value (V) * dqh The difference between the two controls is used to switch between the first control (FF voltage superposition) and the second control (response characteristic compensation).

[0066] In Example 1, as the frequency of higher harmonics increases, the voltage command value (v) * dq The higher harmonic components and feedforward voltage command value (V) * dqh Under the condition of consistent operation within a certain error range, the control switches from the second control (response characteristic compensation) to the first control (FF voltage superposition).

[0067] Therefore, for example, it is possible to perform high-precision control in the first control (FF voltage superposition) and the second control (response characteristic compensation) with the frequency at which the higher harmonic components of the voltage command value are equal to the feedforward voltage command value as the boundary. Furthermore, in Embodiment 1, the first control (FF voltage superposition) is performed in the region with high higher harmonic frequencies, and the second control (response characteristic compensation) is performed in the region with low higher harmonic frequencies.

[0068] The processor can also control the value of the higher harmonic control instruction (φ). * dqh The same physical quantity measurement control quantity (φ) dq ) and higher harmonic control command value (φ) * dqh The difference between the two controls is used to switch between the first control (FF voltage superposition) and the second control (response characteristic compensation).

[0069] Thus, for example, it is possible to execute high-precision control in the first control (FF voltage superposition) and the second control (response characteristic compensation) with the frequency of the difference between the measured control quantity and the higher harmonic control command value as the boundary.

[0070] The processor controls the high-order harmonics instruction value (φ) * dqh When a signal contains multiple frequency components, the control command value (φ) for higher harmonics... * dqh For each frequency component (higher harmonic components of electrical angle n) contained in the circuit, the first control (FF voltage superposition) and the second control (response characteristic compensation) are switched. This allows for maintaining the accuracy of torque ripple suppression for each frequency component.

[0071] In the second control (response characteristic compensation), the processor uses the response characteristic compensation value (Δφ) * dqh ) control command value for higher harmonics (φ) * dqh Gain compensation and phase compensation are implemented. This, for example, can improve the transient response of higher harmonic currents.

[0072] In Example 1, the control command value (φ) * dq ) and higher harmonic control command value (φ) * dqh The physical quantity is magnetic flux, but it can also be current. When the physical quantity is magnetic flux, the motor constant used in the calculation of the feedforward voltage command value can be reduced compared to when the physical quantity is current.

[0073] Control command value (φ) * dq For example, making the output of motor 5 match the torque command value 10 (τ). * The corresponding torque flux command value. Higher harmonic control command value (φ) * dqh For example, a flux command value that causes motor 5 to generate a torque opposite in phase to the torque pulsation. The processor determines the value based on the voltage command value (v). * dq The higher harmonic components and the feedforward voltage command value (v) * dqh The difference between the voltage command value (v) is switched between the first control (FF voltage superposition) and the second control (response characteristic compensation). * dq This is based on the superimposed high-order harmonic control command value (φ). * dqh ) control command value (φ * dq ) and the measured magnetic flux value (φ) dq Add the response characteristic compensation value (Δφ) to the difference. * dqh The value obtained is determined by this.

[0074] Thus, for example, it is possible to execute the higher-precision control in the first control (FF voltage superposition) and the second control (response characteristic compensation) with the frequency at which the accuracy of the higher harmonic components of the voltage command value based on response characteristic compensation is equal to the accuracy of the feedforward voltage command value as the boundary.

[0075] The processor controls the instruction value (φ) * dq ) and measurement control quantity (φ) dq The voltage command value (V) is determined in a consistent manner. * dq Therefore, feedback control is implemented for the higher harmonic current.

[0076] (Example 2)

[0077] use Figure 3 The block diagrams shown in this embodiment illustrate the differences from those in Embodiment 1. The determination unit 9 in this embodiment has a different configuration and includes... Figure 4 Such a switching unit 93.

[0078] The switching unit 93 consists of a threshold frequency setting 934, a comparator 935, and a high-order harmonic control command switching 936.

[0079] The threshold frequency is set to 934 to a value that allows for errors in equations (1) and (5). This value can be a fixed value or a function or table of variables that affect the first term of equation (5), such as torque command value or current value, so that the frequency at which switching should be performed can be specified more accurately.

[0080] Comparator 935 compares the electrical angular frequencies of each order with the threshold frequencies. Higher harmonic control command switching 936, when the threshold frequency is high, determines the output φ to the response characteristic compensation unit according to each order. * dqnh If the output is 0 to the feedforward voltage calculation unit, then the output is 0; otherwise, the output is 0 to the response characteristic compensation unit and φ to the feedforward voltage calculation unit. * dqnh The state.

[0081] In addition, by giving the high-order harmonic control command switching 936 a hysteresis characteristic, the effects of jitter can be suppressed.

[0082] The main features of Example 2 can also be summarized as follows.

[0083] The processor is based on the electric angular velocity (ω) e The processor switches between the first control (FF voltage superposition) and the second control (response characteristic compensation). In Example 2, the processor controls the electrical angular velocity (ω). eIf the value is above the threshold, the first control (FF voltage superposition) is performed, and the electric angular velocity (ω) is... e If the value is less than a threshold, a second control (response characteristic compensation) is performed. Thus, for example, the first control (FF voltage superposition) is performed in regions with high electric angular velocity, and the second control (response characteristic compensation) is performed in regions with low electric angular velocity.

[0084] In Example 2, the switching condition has a hysteresis characteristic. Therefore, vibration can be suppressed.

[0085] Furthermore, the present invention is not limited to the above embodiments, but includes various modifications. For example, the above embodiments are detailed examples provided for ease of understanding and illustration of the present invention, and are not necessarily limited to embodiments possessing all the described configurations. Additionally, a portion of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of one embodiment can be added to the configuration of another embodiment. Furthermore, for a portion of the configuration of each embodiment, other configurations can be added, deleted, or replaced.

[0086] Furthermore, the aforementioned components and functions can also be implemented in hardware, such as by designing some or all of them using integrated circuits. Alternatively, the aforementioned components and functions can be implemented in software by having a processor interpret and execute programs that perform their respective functions. The programs, tables, files, and other information implementing these functions can be stored in recording devices such as memory, hard disks, SSDs (Solid State Drives), or recording media such as IC cards, SD cards, and DVDs.

[0087] Furthermore, embodiments of the present invention may also be implemented in the following ways.

[0088] (A1). A motor control device for driving a motor via an inverter, the motor control device comprising: a high-order harmonic control command calculation unit that calculates a high-order harmonic control command value based on a torque command; a response characteristic compensation unit that calculates a response characteristic compensation value based on the high-order harmonic control command value and its frequency; a feedforward voltage calculation unit that calculates a feedforward voltage command value based on the high-order harmonic control command value; a voltage command calculation unit that calculates a voltage command value based on a control command corresponding to the torque command; and a switching unit that switches between superimposing the feedforward voltage command value and the voltage command value, or calculating the voltage command value based on the output value of the response characteristic compensation unit, based on the high-order harmonic control command value.

[0089] (A2). The motor control device according to (A1), wherein the switching unit switches according to the difference between the higher harmonic component of the voltage command value and the feedforward voltage command value.

[0090] (A3). The motor control device according to (A1), wherein the switching unit switches based on the difference between a measured control quantity having the same physical quantity as the higher harmonic control command value and the higher harmonic control command value.

[0091] (A4). The motor control device according to (A1), wherein the switching unit switches according to the frequency of the higher harmonic control command value.

[0092] (A5). The motor control device according to any one of (A2) to (A4), wherein the switching unit has a hysteresis characteristic for switching conditions.

[0093] (A6). The motor control device according to any one of (A2) to (A5), wherein the switching unit switches at each frequency when the higher harmonic control command value contains multiple frequency components.

[0094] According to (A1)-(A6), torque ripple suppression can be ensured over a wide speed range without significantly extending the adaptation time.

[0095] Symbol Explanation

[0096] 1 …motor control device

[0097] 2 …Control command output unit

[0098] 3 …Voltage command arithmetic unit

[0099] 4 …Inverter

[0100] 5 … motors

[0101] 6 …Electrical Angle Detection Department

[0102] 7 …Electric angular velocity calculation section

[0103] 8 …High-order harmonic control command output unit

[0104] 9 … Judgment Department

[0105] 91 …Feedforward voltage calculation unit

[0106] 92 …Response Characteristic Compensation Department

[0107] 93 … Switching Section

[0108] 10 … Torque command value.

Claims

1. A motor control device that drives a motor through an inverter, characterized by a processor that performs the following operations: determining a high-order harmonic control command value from a torque command value; determining a response characteristic compensation value from the high-order harmonic control command value and an electrical angular velocity; determining a feedforward voltage command value from the high-order harmonic control command value and the electrical angular velocity; determining a voltage command value from a control command value corresponding to the torque command value and the high-order harmonic control command value; and switching a first control and a second control according to a switching condition, the first control superimposing the feedforward voltage command value on the voltage command value, the second control compensating the high-order harmonic control command value by the response characteristic compensation value.

2. The motor control device according to claim 1, characterized in that the processor switches the first control and the second control according to a difference between a high-order harmonic component of the voltage command value and the feedforward voltage command value.

3. The motor control device according to claim 1, characterized in that the processor switches the first control and the second control according to a difference between a measured control value of a same physical quantity as the high-order harmonic control command value and the high-order harmonic control command value.

4. The motor control device according to claim 1, characterized in that the processor switches the first control and the second control according to the electrical angular velocity.

5. The motor control device according to claim 1, characterized in that the switching condition has a hysteresis characteristic.

6. The motor control device according to claim 1, characterized in that the processor switches the first control and the second control for each frequency component included in the high-order harmonic control command value in a case where the high-order harmonic control command value includes a plurality of frequency components.

7. The motor control device according to claim 1, characterized in that the processor performs gain compensation and phase compensation on the high-order harmonic control command value by the response characteristic compensation value in the second control.

8. The motor control device according to claim 1, characterized in that the physical quantities of the control command value and the high-order harmonic control command value are magnetic flux or current.

9. The motor control device according to claim 1, characterized in that the control command value is a magnetic flux command value that causes the motor to output a torque corresponding to the torque command value, the high-order harmonic control command value is a magnetic flux command value that causes the motor to generate a torque in a phase opposite to a torque ripple, the processor switches the first control and the second control according to a difference between a high-order harmonic component of the voltage command value and the feedforward voltage command value, the voltage command value being determined from a value obtained by adding the response characteristic compensation value to a difference between the control command value to which the high-order harmonic control command value is superimposed and a measured magnetic flux value.

10. The motor control device according to claim 1, characterized in that The processor determines the voltage command value in a manner that makes the control command value coincide with a measured control amount. The processor determines the voltage command value in a manner that makes the control command value coincide with a measured control amount.

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