ENGINE CONTROL UNIT

Abstract

A processor determines a harmonic control instruction value (φ* dqh ) from a torque instruction value (τ*) (harmonic control instruction output unit 8). The processor determines a response compensation value (Δφ*). dqh ) from the harmonic control command value and an electric angular velocity (ω e ) (Response Behavior Compensation Unit 92). The processor determines a feedforward voltage instruction value from the harmonic control instruction value and the electrical angular velocity (feedforward voltage calculation unit 91). The processor determines a voltage instruction value (v* dq ) based on a control command value (φ* dq) and the harmonic control command value, which is associated with a torque command value 10 (voltage command calculation unit 3). The processor switches according to a switching condition between a first control for superimposing the feedforward voltage command value (v*dqh) on the voltage command value and a second control for compensating the harmonic control command value with the response compensation value (switching unit 93).

Description

Technical field

[0001] The present invention relates to an engine control unit. Technical background

[0002] The increasing power density of motors is enabling their use in applications with limited installation space, such as in cars. Consequently, motors are increasingly being used in areas where magnetic saturation occurs. In a region of magnetic saturation, torque ripple increases, causing vibrations and noise, which is why torque ripple suppression control is particularly necessary.

[0003] According to torque ripple suppression control, a current harmonic is generated to produce torque with a phase opposite to that of the induced torque ripple. For torque ripple suppression control, a required output voltage of a converter is calculated from a harmonic current command value using feedforward (FF). At this point, an inverse model of the motor is necessary to calculate the required voltage command from the harmonic current command value, and the accuracy of the harmonic current realization is determined based on the accuracy of the motor's inverse model.For example, an inverse model used in patent literature 1 calculates a voltage command value from a harmonic current command value, taking into account the influence of an inductance, a resistance and an induced voltage of a motor.

[0004] Implementing a harmonic current using the inverse model requires time to adjust the inverse model's parameters. Therefore, some of the parameters used in the motor's inverse model can be omitted. Even if the harmonic frequency exceeds a certain frequency, the error is minimal. Consequently, a necessary current harmonic is achieved through FF (Fuel Flow) at high speeds, and at low speeds, it is achieved through current FB (Current Feedback) by superimposing the harmonic current command value onto the current command value. List of patent literature

[0005] PTL 1: JP 5574790 B2 Summary of the invention: Technical problem

[0006] In a case where the control band of a forward-feedback (FB) controller is lower than a threshold frequency at which the error of a forward-feedback voltage, calculated from an inverse model of the motor where parameters have been omitted, becomes sufficiently small, a region is created where accuracy cannot be achieved by either forward-feedback (FF) or FB. By superimposing a harmonic command value, obtained by correcting a phase and amplitude according to the response behavior of an FB controller, to prevent the generation of this region, it is possible to extend the control band of an FB controller continuously to the threshold frequency. However, if FF and FB are superimposed simultaneously to suppress torque ripple, the FF and FB interfere with each other, and the torque ripple cannot be suppressed.

[0007] One object of the present invention is to provide a motor control device that can maintain the accuracy of torque ripple suppression over a wide speed range, while avoiding interference between forward and reverse feedback. Solution to the problem

[0008] To solve the above problem, the present invention provides a motor control device that drives a motor using an inverter and comprises a processor that determines a harmonic control command value from a torque command value, determines a response compensation value from the harmonic control command value and an electrical angular velocity, determines a feedforward voltage command value from the harmonic control command value and the electrical angular velocity, and determines a voltage command value based on a control command value and the harmonic control command value associated with the torque command value.and switches between a first control for superimposing the forward-feedback voltage command value on the voltage command value and a second control for compensating the harmonic control command value with the response compensation value, according to a switching condition. Advantageous effects of the invention

[0009] According to the present invention, it is possible to maintain the accuracy of the torque ripple suppression over a wide speed range while avoiding interference between feedforward and feedback. Problems, embodiments, and effects that differ from the problem, embodiment, and effect described above will become apparent from the following embodiments. Brief description of the drawings Fig. Figure 1 is a schematic block diagram of an engine control unit according to a first embodiment of the present invention. Fig. Figure 2 is a schematic block diagram of a switching unit according to the first embodiment of the present invention. Fig. Figure 3 is a schematic block diagram of an engine control unit according to a second embodiment of the present invention. Fig. Figure 4 is a schematic block diagram of a switching unit according to a second embodiment of the present invention. Description of the embodiments (First embodiment)

[0010] Fig. Figure 1 is a functional block diagram illustrating an embodiment of an engine control unit according to a first embodiment of the present invention. The engine control unit suppresses torque ripple caused by an engine during engine control.

[0011] In the following description, the expression "dq-axis" means "a d-axis and a q-axis". Furthermore, for the subscript parameters X (for example, "i" and "v") described below, "Xdq" stands for "vector magnitudes (Xd and Xq)" and "Xuvw" stands for "vector magnitudes (Xu, Xv, and Xw)," unless otherwise specified. Here, "uvw" stands for three phases of an alternating current, that is, a "U-phase, V-phase, and W-phase".

[0012] A motor control unit 1 controls the speed and torque of a motor 5 by controlling the switching of an inverter 4, which supplies alternating current power to the motor 5.

[0013] In the present embodiment, the motor control unit 1 includes an arithmetic processing unit, such as a microcomputer, a gate driver, and the like. The arithmetic processing unit comprises a processor, a memory, an input / output circuit, and the like, and each unit operates by executing a predetermined program.

[0014] In the present embodiment, the converter 4 is a three-phase converter comprising as its main circuit a three-phase full-bridge circuit which includes a semiconductor switching element, such as an IGBT or a MOSFET.

[0015] In the present embodiment, a three-phase AC synchronous motor is used as motor 5, which is a rotating machine, such as a permanent magnet synchronous motor.

[0016] Motor 5 is not limited to a synchronous machine, and an induction machine can be used. Furthermore, motor 5 is not limited to a rotary machine, and a linear motor can be used. It should be noted that motor 5 can have a power generation function.

[0017] As it is in Fig. As illustrated in Figure 1, the motor control unit 1 comprises a torque command value 10 (τ*), a control command output unit 2, a voltage command calculation unit 3, a unit 6 for detecting an electric angle, a unit 7 for calculating an electric angular velocity, a harmonic control command output unit 8, a detection unit 9, a voltage command value dq / three-phase axis converter 11, a measuring current three-phase / dq axis converter 12 and a current-magnetic flux conversion unit 13.

[0018] The torque command value 10 is provided by a higher controller or operating system.

[0019] The control command output unit 2 outputs a dq-axis magnetic flux command value (φ* dq The magnetic flux command value is the amount of magnetic flux required to output a given torque command from the motor. Although the magnetic flux command value is generally determined as a magnetic flux value corresponding to a current value such that the torque output per unit current is maximized (MTPA), the present invention is effective for any magnetic flux command value that implements a torque command. Furthermore, the magnetic flux command value can be obtained by calculation from the torque command or by reference to a predefined table.

[0020] The voltage command calculation unit 3 calculates a voltage command value v* dqaccording to a difference between a dq-axis magnetic flux detection value φ dq and a dq-axis magnetic flux command value φ** dq after a harmonic superposition, such that φ dq with φ* dq agrees.

[0021] Unit 6, for detecting an electric angle, calculates an electric angle θ. e Based on a rotational position signal from a rotational sensor (not illustrated) integrated into the motor 5, it outputs this signal. The rotational sensor outputs the rotational position signal according to a mechanical angle (θ). m ) of a rotor of motor 5, and the unit 6 for detecting an electric angle θ is calculated e using the number of pole pairs (p) of motor 5 and a relationship between θ e , θ m and p (θ e = p·θ m ).

[0022] A mechanical angle resolver, a Hall sensor, a rotary encoder, or the like can be used as a rotation sensor. Furthermore, an embodiment can be used to estimate the electrical angle from a current or voltage using a general position-sensor-less control method.

[0023] Similar to unit 6 for detecting an electric angle (unit for calculating an electric angle), unit 7 for calculating an electric angular velocity calculates an electric angular velocity ω. e Based on the rotational position signal from the rotation sensor (not illustrated) integrated into the motor 5, it outputs this signal. Unit 7 calculates an electric angular velocity ω. e using the number of pole pairs (p) of motor 5, the relationship between the electric angle θ e , the mechanical angle θ m and p (θ e= p·θ m ) and the relationship between θ e and ω e (ω e = dθ e / dt). It should be noted that unit 7 for calculating an electric angular velocity can be designed as a differentiator that ω e by deriving θ e , which is output by unit 6 for the detection of an electric angle, is calculated.

[0024] The harmonic control command output unit 8 outputs a harmonic control command value φ* dqh according to τ*. φ* dqh can be obtained by calculation from the torque command or can be obtained by reference to a predefined table.

[0025] The investigation unit 9 comprises a forward coupling voltage calculation unit 91, a response behavior compensation unit 92 and a switching unit 93.

[0026] The forward coupling voltage calculation unit 91 calculates a FF voltage v*dqh from φ* dqh and the electric angular velocity ω e based on equation (1) for an output. Note that s in equation (1) represents a Laplace operator. [Mathematical Formula 1] vdqh∗=s(ϕdh∗ϕqh∗)+ωe(0−110)(ϕdh∗ϕqh∗)

[0027] Here, a method for deriving equation (1) is described. Equation (2) represents a general inverse model of the motor on the dq-axes. [Mathematical Formula 2] vdq∗=(R+sLdt−ωeLdqsLdqt+ωeLqsLqdt+ωeLdR+sLqt−ωeLqd)(id∗iq∗)+ωe(KeqhKe0+Kedh)

[0028] In this respect, Ldq and Lqd in equation (2) represent disturbance inductances between the d- and q-axes, and Kedh and Keqh denote harmonic components of the d- and q-axes of a magnet's magnetic flux. A variable with t at one end of a subscript of L, representing the inductance, denotes a dynamic inductance, and a variable without t denotes a static inductance. The static inductance is a value determined according to a ratio of a dq-axis current and a dq-axis magnetic flux, and the dynamic inductance refers to a rate of change of the magnetic flux near a reference current. Here, a relationship between a magnetic flux defined by equation (3) and the dynamic inductance expressed by equation (4) is used. [Mathematical Formula 3] ϕd∗=Ldid∗+Ke0ϕq∗=Lqiq∗} [Mathematical Formula 4] S(ϕd∗ϕq∗)=(LdtLdqtLqdtLqt)s(id∗iq∗)

[0029] Equation (5) is obtained by transforming equation (2) using equation (3) and equation (4) and extracting only one harmonic component. [Mathematical Formula 5] vdqh∗=(vdh∗vqh∗)=RLdLq−LdqLqd(Lq−Lqd−LdqLd)(ϕdh∗−Kedhϕqh∗−Keqh)+s(ϕdh∗ϕqh∗)+ωe(0−110)(ϕdh∗ϕqh∗)

[0030] Since a second and a third term on the right-hand side of equation (5) increase proportionally to the frequency of a harmonic control command value, the influence of a first term on the right-hand side becomes sufficiently small and can be ignored at a certain threshold frequency or higher, thus obtaining equation (1). Conversely, because the influence of the first term on the right-hand side is large in a low-speed region, a correct FF voltage cannot be calculated, and therefore the FB control must be effective up to a threshold frequency.

[0031] The response behavior compensation unit 92 comprises a response behavior compensation table or a response behavior compensation function and provides a harmonic control command value difference Δφ* dqh from, which are achieved by correcting the harmonic control command value φ* dqhas in equation (6) by a correction amount of a phase θmod and an amplitude Imod which are taken from the table or the function of the electric angular velocity ω e and is calculated according to the order of the harmonics. Here, n represents the order of the harmonic, is the order of a torque ripple suppression target, such as six or 12, and φ* represents dqnh for an nth order harmonic control command value component. [Mathematical Formula 6] Δϕdqh∗=(Δϕdh∗Δϕqh∗)=∑(|ϕdnh∗|Imodcos(nθe+∠ϕdnh∗+ θmod)|ϕdnh∗|Imodcos(nθe+∠ϕqnh∗+θmod))−(ϕdh∗ϕqh∗)

[0032] Since, as described above, the threshold frequency is determined according to a motor constant, the torque ripple suppression control does not operate adequately in the range from the upper limit frequency of the FB band to the threshold frequency if the FB band is at or below the threshold frequency. Here, the response compensation unit 92 corresponds to a unit that has an inverse function of the transfer characteristics of the FB control and can extend a band of an FB control for harmonics only by performing response compensation on the harmonic control command value.

[0033] As in Fig. As illustrated in Figure 2, the switching unit 93 includes a voltage command value calculation 931, a harmonic component calculation 932, and a difference comparison 933, and provides an output of at least one of Δφ* dqh and v*dqh set to 0 based on φ dq , φ*dq , φ* dqh , Δφ* dqh and v* dqh firmly.

[0034] The operation and function of switching unit 93 are described below.

[0035] First, an operation is described in a case where the rotational speed increases from a low speed to a high speed. At the low speed, v*dqh is 0 as a result of the difference comparison 933. The voltage command value calculation 931 performs the same calculation as that of the voltage command calculation unit 3 on a value obtained by adding Δφ* dqh a value of 930 is obtained. The harmonic component calculation 932 extracts the nth harmonic component of an electrical angle from an output component of 931 and outputs it. The difference comparison 933 determines the output of Δφ* dqhfixed to 0 and outputs a value of the feedforward calculation unit as v*dqh when the frequency of the harmonic increases and an output value of 932 and an output of the feedforward calculation unit match within a certain error.

[0036] Next, operation is described in a case where the rotational speed decreases from a high speed to a low speed. At the high speed, Δφ* dqh as a result of the difference comparison 933 0. The harmonic component calculation 932 extracts the nth harmonic component of an electrical angle of 930 and outputs it. The difference comparison 933 gives Δφ* dqh It outputs 0 as v*dqh when the frequency of the harmonic decreases and the output value of 932 becomes a certain value or greater.

[0037] In a case where there is no switching unit 93, Δφ* dqhand v*dqh are superimposed simultaneously. At this point, the transmission properties of the FB controller, which is used to determine Δφ*, change. dqh to calculate, from a value at a design time due to a superposition of v*dqh, and the control of Δφ* dqh and v*dqh interferes with each other, and the torque ripple suppression control does not work properly.

[0038] The voltage command value dq / three-phase axis converter 11 converts the voltage command value v* dq , which is output by the voltage command calculation unit 3, into a three-phase voltage according to θ e and generates a signal to control the switching of inverter 4. At this point, θ can ec , which is obtained by compensating for a delay that occurs until a voltage command value is actually reflected in the inverter, instead of θ e be used.

[0039] The measured current-three-phase / dq-axis converter 12 converts the three-phase current detected by a current sensor into a dq-axis current i dq according to θ e um. At this point, θ ed taking into account the current detection delay instead of θ e be used.

[0040] The main features of the first embodiment can also be summarized as follows.

[0041] The motor control unit 1 drives the motor 5 using the inverter 4. The processor of the motor control unit 1 determines a harmonic control command value (φ* dqh ) from the torque instruction value 10 (τ*) (harmonic control instruction output unit 8). The processor determines a response compensation value (Δφ*). dqh ) from the harmonic control command value (φ* dqh ) and an electric angular velocity (ω e) (Response Behavior Compensation Unit 92). The processor determines a forward feedback voltage instruction value (v*dqh) from the harmonic control instruction value (φ* dqh ) and the electric angular velocity (ω e ) (Feedback voltage calculation unit 91). The processor determines a voltage instruction value (v* dq ) based on a control command value (φ* dq ) and the harmonic control command value (φ* dqh ), which is associated with the torque instruction value 10 (τ*) (voltage instruction calculation unit 3). According to the switching condition, the processor switches between a first control for superimposing the feedforward voltage instruction value (v*dqh) on the voltage instruction value (v* dq ) and a second control for compensating the harmonic control command value (φ* dqh ) with the response compensation value (Δφ* dqh ) (Switching unit 93).

[0042] By exclusively switching between the first and second controllers, the two controllers do not interfere with each other. When the harmonic current flows according to the feedforward voltage of the first controller, a torque is generated to suppress torque ripple in the motor. Furthermore, the feedforward voltage does not become a disturbance during the response compensation of the second controller, so the accuracy of the torque ripple suppression is not reduced. Consequently, it is possible to maintain the accuracy of the torque ripple suppression over a wide speed range while avoiding interference between the feedforward and feedback circuits. As a result, it is possible to suppress motor noise and vibration.It should be noted that the values ​​are determined, for example, by calculating the values ​​according to mathematical formulas, deriving the values ​​used in the tables, and the like.

[0043] The processor switches between the first control (FF voltage superposition) and the second control (response behavior compensation) according to, for example, a difference between a harmonic component of the voltage instruction value (v*). dq ) (one output of the harmonic component calculation 932) and the forward feedback voltage command value (v*dqh).

[0044] In the first embodiment, when the frequency of the harmonic increases and the harmonic component of the voltage command value (v*) dq) and the forward feedback voltage command value (v*dqh) match within the specified error, the control is switched from the second control (response behavior compensation) to the first control (FF voltage superposition).

[0045] Consequently, by using, for example, a frequency at which the harmonic component of the voltage command value and the feedforward voltage command value are equal, as a boundary, it is possible to implement very precise control between the first control (feedforward voltage superposition) and the second control (response-time compensation). It should be noted that in the first embodiment, the first control (feedforward voltage superposition) is implemented in a region where the harmonic frequency is high, and the second control (response-time compensation) is implemented in a region where the harmonic frequency is low.

[0046] The processor can switch between the first control (FF voltage superposition) and the second control (response behavior compensation) according to a difference between the measured control amount (φ). dq ) of the same physical quantity as that of the harmonic control command value (φ* dqh ) and the harmonic control command value (φ* dqh ) switch.

[0047] Consequently, by using, for example, a frequency at which the difference between the measured control amount and the harmonic control command value becomes a predetermined value, it is possible to perform very precise control between the first control (FF voltage superposition) and the second control (response behavior compensation).

[0048] If the harmonic control command value (φ* dqh) comprising several frequency components, the processor switches between the first control (FF voltage superposition) and the second control (response behavior compensation) for each frequency component (harmonic component of an nth order electrical angle) that is in the harmonic control instruction value (φ* dqh ) is included in order to. Consequently, it is possible to maintain the accuracy of the torque ripple suppression for each frequency component.

[0049] The processor performs gain compensation and phase compensation on the harmonic control instruction value (φ*). dqh ) with the response compensation value (Δφ* dqh ) during the second control stage (response behavior compensation). Consequently, for example, a transient response of a harmonic current is handled well.

[0050] In the first embodiment, the physical quantities of the control command value (φ* dq) and the harmonic control command value (φ* dqh Magnetic fluxes can also be currents. In a case where this physical quantity is magnetic flux, it is possible to reduce the motor constant used to calculate the feedforward voltage command value compared to a case where the physical quantity is a current.

[0051] The control command value (φ* dq ) is, for example, a magnetic flux command value that causes motor 5 to output a torque corresponding to the torque command value 10 (τ*). The harmonic control command value (φ* dqh) is, for example, a magnetic flux command value that causes motor 5 to generate a torque with a phase opposite to that of a torque ripple. The processor switches between the first control (FF voltage superposition) and the second control (response compensation) according to a difference between a harmonic component of the voltage command value (v* ). dq ), which is determined from a value obtained by adding the response behavior compensation value (Δφ* dqh ) to a difference between the control command value (φ* dq ), at which the harmonic control command value (φ* dqh ) was superimposed, and the measured magnetic flux value (φ dq ) is obtained, and the forward coupling voltage command value (v*dqh).

[0052] Consequently, it is possible to implement very accurate control between the first control (FF voltage superposition) and the second control (response compensation) by using, for example, a frequency at which the accuracy of the harmonic component of the voltage command value and the accuracy of the forward feedback voltage command value resulting from the response compensation are equal, as a boundary.

[0053] The processor determines the voltage instruction value (v* dq ), so that the control command value (φ* dq ) and the measured tax amount (φ dq ) agree. Consequently, the harmonic current is subjected to feedback control. (Second embodiment)

[0054] One difference from the first embodiment is achieved using the [method / method] described in Fig. The present embodiment is described in the block diagram illustrated in Figure 3. The present embodiment differs in the configuration of a detection unit 9 and includes a switching unit 93, as described in Figure 3. Fig. 4 is illustrated.

[0055] The switching unit 93 includes a threshold frequency setting 934, a comparator 935 and a harmonic control command circuit 936.

[0056] The threshold frequency setting of 934 is set as a value that allows for an error between equation (1) and equation (5). This value can be a fixed value, or it is possible to specify more precisely a frequency at which switching must be performed by setting this value as a function or a table with a variable, such as a torque command value or a current value, which affects a first term of equation (5).

[0057] The comparator 935 compares an electrical angular frequency and a threshold frequency for each order, and the harmonic control command circuit 936 determines a state for each order in which φ* dqnh output to the response compensation unit and output 0 to the feedforward voltage calculation unit if the threshold frequency is higher, and determines a state in which 0 is output to the response compensation unit and φ* dqnh is output to the forward feedback voltage calculation unit if the threshold frequency is not higher.

[0058] Furthermore, by providing hysteresis properties for the harmonic control command circuit 936, it is possible to suppress the influence of chatter.

[0059] The main features of the second embodiment can also be summarized as follows.

[0060] The processor switches between the first control (FF voltage superposition) and the second control (response behavior compensation) according to the electrical angular velocity (ω). e In the second embodiment, the processor performs the first control (FF voltage superposition) when the electrical angular velocity (ω) e ) the threshold value or greater, and it performs the second control (response behavior compensation) when the electric angular velocity (ω) e ) is smaller than the threshold value. Consequently, for example, the first control (FF voltage superposition) is executed in a region where the electric angular velocity is high, and the second control (response behavior compensation) is executed in a region where the electric angular velocity is low.

[0061] In the second embodiment, the switching condition exhibits hysteresis properties. Consequently, it is possible to suppress chatter.

[0062] It should be noted that the present invention is not limited to the embodiments described above and includes various modified examples. For instance, the embodiments described above have been described in detail to facilitate understanding of the present invention and are not necessarily limited to those comprising all the components described. Furthermore, it is possible to replace some of the components of a particular embodiment with components of another embodiment, and it is also possible to add the components of the other embodiment to the components of the particular embodiment. Furthermore, the other components can be added to, removed from, or replaced by some of the components of each embodiment.

[0063] Furthermore, some or all of the above components, functions, and the like can be designed, for example, as an integrated circuit and thus implemented in hardware. Alternatively, all of the above components, functions, and the like can be implemented in software by a processor through the interpretation and execution of a program that implements each function. Information from a program, table, file, and the like, implementing each function, can be stored in recording devices such as memory, hard disk drives, and solid-state drives (SSDs), or on recording media such as IC cards, SD cards, and DVDs.

[0064] It should be noted that the embodiments of the present invention may include the following aspects.

[0065] (A1) A motor control unit that drives a motor using an inverter comprises: a harmonic control command calculation unit that calculates a harmonic control command value from a torque command; a response compensation unit that calculates a response compensation value from the harmonic control command value and a frequency of the harmonic control command value; a feedforward voltage calculation unit that calculates a feedforward voltage command value from the harmonic control command value; a voltage command calculation unit that calculates a voltage command value based on a control command according to the torque command;and a switching unit that switches, according to the harmonic control command value, whether the forward-feedback voltage command value should be superimposed on the voltage command value or whether the voltage command value should be calculated based on an output value of the response compensation unit.

[0066] (A2). In the motor control device described in (A1), the switching unit performs a switching operation according to a difference between a harmonic component of the voltage command value and the feedforward voltage command value.

[0067] (A3). In the motor control device described in (A1), the switching unit performs a switching operation according to a difference between a measured control amount of the same physical quantity as the physical quantity of the harmonic control command value and the harmonic control command value.

[0068] (A4). In the motor control device described in (A1), the switching unit performs a switching operation according to a frequency of the harmonic control command value.

[0069] (A5). In the motor control device described in (A2) to (A4), the switching unit has hysteresis properties with respect to a switching condition.

[0070] (A6). In the motor control device described in (A2) to (A5), the switching unit performs a switching operation for each frequency in a case where the harmonic control command value includes several frequency components.

[0071] According to (A1) to (A6) it is possible to ensure a torque ripple suppression effect over a wide speed range without significantly increasing the adaptation time. Reference symbol list 1 Engine control unit 2 Control command output unit 3 Voltage command calculation unit 4 inverters 5 engine 6 Unit for detecting an electrical angle 7 Unit for calculating an electric angular velocity 8 Harmonic Control Command Output Unit 9 Investigation Unit 91 Unit for calculating a feedforward voltage 92 Unit for compensating for a response behavior 93 Switching unit 10 Torque command value QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 5574790 B2

[0005]

Claims

[1] Motor control device driving a motor using an inverter, the motor control device comprising a processor which determines a harmonic control command value from a torque command value, determines a response compensation value from the harmonic control command value and an electric angular velocity, determines a feedforward voltage command value from the harmonic control command value and the electric angular velocity, determines a voltage command value based on a control command value and the harmonic control command value associated with the torque command value, and switches according to a switching condition between a first control to superimpose the feedforward voltage command value on the voltage command value and a second control to compensate the harmonic control command value with the response compensation value. [2] Motor control device according to claim 1, wherein the processor switches between the first control and the second control according to a difference between a harmonic component of the voltage command value and the feedforward voltage command value. [3] Motor control device according to claim 1, wherein the processor switches between the first control and the second control according to a difference between a measured control amount of the same physical quantity as a physical quantity of the harmonic control command value and the harmonic control command value. [4] Motor control device according to claim 1, wherein the processor switches between the first control and the second control according to the electrical angular velocity. [5] Motor control device according to claim 1, wherein the switching condition has hysteresis properties. [6] Motor control device according to claim 1, wherein, if the harmonic control command value includes several frequency components, the processor switches between the first control and the second control for each frequency component included in the harmonic control command value. [7] Motor control device according to claim 1, wherein the processor performs gain compensation and phase compensation on the harmonic control instruction value based on the response compensation value during the second control. [8] Motor control device according to claim 1, wherein the physical quantities of the control command value and the harmonic control command value are magnetic fluxes or currents. [9] Motor control device according to claim 1, wherein the control command value is a magnetic flux command value to cause the motor to output a torque corresponding to the torque command value, the harmonic control command value is a magnetic flux command value that causes the motor to produce a torque with a phase opposite to a torque of a torque ripple, and the processor switches between the first control and the second control according to a difference between a harmonic component of the voltage command value and the feedforward voltage command value, wherein the harmonic component is determined from a value obtained by adding the response compensation value to a difference between the control command value to which the harmonic control command value has been superimposed and a measured magnetic flux value. [10] Motor control device according to claim 1, wherein the processor determines the voltage command value such that the control command value and a measured control amount match.

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