Motor control method and motor control device

Abstract

To further improve the stability of motor current control.SOLUTION: A motor control method includes: calculating a current instruction value (Id*,Iq*) in accordance with a given required output T* to execute F / F compensation control for calculating a feedforward compensation voltage VFF to specify a final voltage instruction value Vfin on the basis of the current instruction value (Id*,Iq*). In the F / F compensation control, a response current (Id^,Iq^) is computed by applying filter processing to a dq-axis current instruction value (Id*,Iq*) in accordance with a response characteristic of a control system, and an F / F compensation voltage instruction value VFF on the basis of the response current (Id^,Iq^) and a motor characteristic parameter representing the characteristic of a motor 10. Specifically, the motor characteristic parameter is set to be a variable value in accordance with the response current (Id^,Iq^).SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a motor control method and a motor control device. [Background technology]

[0002] Patent Document 1 describes a motor control method that employs vector control in which the current feedback control gain, which is set based on the inductance value in accordance with the characteristic that inductance depends on current, is varied by referencing a table that uses a current command value as input. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-192431 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the actual output current of the motor exhibits a certain delay relative to the current command value depending on the response characteristics of the control system. As a result, in the motor control method of Patent Document 1, the inductance value determined based on a table using the current command value as an input will deviate from the true inductance value corresponding to the actual output current. As a result, current feedback control causes overshoot and undershoot in the actual output current of the motor, resulting in a problem of impaired control stability.

[0005] It is also possible to adopt a configuration in which the inductance value is varied according to the detected current value instead of the current command value. However, even in this case, it is expected that the control value obtained by current feedback control will fluctuate due to the influence of detection noise, etc., and the problem of reduced control stability still remains.

[0006] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a motor control method and a motor control device that can further improve the stability of motor current control. [Means for solving the problem]

[0007] According to one aspect of the present invention, there is provided a motor control method for determining an applied voltage to a motor in accordance with a predetermined required output. This motor control method calculates a current command value in accordance with the required output, and executes F / F compensation control to calculate a feedforward compensation voltage that determines the applied voltage based on the current command value.

[0008] Then, in F / F compensation control, the response current is calculated by applying a filter process to the current command value according to the response characteristics of the control system, The amount of change over time of the response current is estimated, a transient voltage command value corresponding to the voltage generated by the change in the response current is calculated based on the amount of change over time of the response current and motor characteristic parameters, a steady-state voltage command value corresponding to the voltage generated when it is assumed that the response current is maintained steadily is calculated, and a feedforward compensation voltage is calculated based on the transient voltage command value and the steady-state voltage command value. In particular, the motor characteristic parameters are set to variable values ​​according to the response current. [Effects of the Invention]

[0009] According to the present invention, the stability of motor current control can be further improved. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing the configuration of a motor control system in which a motor control method according to an embodiment of the present invention is executed. [Figure 2] FIG. 2 is a block diagram showing the configuration of the current control unit. [Figure 3] FIG. 3 is a diagram showing an example of the relationship between the q-axis current, the q-axis magnetic flux, and the partial differential value of the q-axis magnetic flux with respect to the q-axis current. [Figure 4] FIG. 4 is a timing chart showing the current response characteristics under control in the example and the comparative example. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0012] [First embodiment] 1 is a block diagram showing the configuration of a motor control system 100 that executes a motor control method according to this embodiment. As shown in the figure, the motor control system 100 mainly includes a motor 10 and a torque command value T * and a power conversion device 30 that supplies desired power based on the three-phase command voltage from a high-voltage battery 40 serving as a DC power source to the motor 10. In particular, the motor control system 100 is mounted on a vehicle such as an electric vehicle or a hybrid vehicle that uses the motor 10 as a driving source.

[0013] The motor 10 is configured, for example, by an interior permanent magnet (IPM) type three-phase synchronous motor.

[0014] The motor control device 20 includes a current command value calculation unit 21, a current control unit 22, a dq / three-phase coordinate conversion unit 23, a phase current calculation unit 24, a three-phase / dq coordinate conversion unit 25, an angle calculation unit 26, an angular velocity calculation unit 27, and a PWM (Pulse Width Modulation) signal generation unit 28.

[0015] The current command value calculation unit 21 calculates a torque command value T * , the motor angular velocity ω, and the battery output voltage detected by a voltage sensor (not shown) are input, and a dq-axis current command value (I d * ,I q * ) is calculated.

[0016] The current control unit 22 calculates the dq-axis current command value (I d * ,I q * ), motor angular velocity ω, and dq-axis current detection value (I d ,I q) is input, and the dq-axis voltage command value (V d * ,V q * The details of the processing in the current control unit 22 will be described later.

[0017] The dq / three-phase coordinate conversion unit 23 converts the dq-axis voltage command value (V d * ,V q * ) and motor angle θ as inputs, and the three-phase voltage command value (V u * ,V v * ,V w * More specifically, the dq / three-phase coordinate conversion unit 23 calculates the dq-axis voltage command value (V d * ,V q * ) is converted from the three-phase (uvw) coordinate system to the dq-axis coordinate system, and the three-phase voltage command value (V u * ,V v * ,V w * ) is found.

[0018] The phase current calculation unit 24 receives a current sensor signal including the current of each phase of the motor 10 (particularly the stator winding current) detected by the current sensor 52 as an input, and calculates a three-phase current detection value (I u ,I v ,I w ) is calculated.

[0019] The three-phase / dq coordinate conversion unit 25 converts the three-phase current detection values ​​(I u ,I v ,I w ) and motor angle θ as inputs, and the dq axis current detection value (I d ,I q More specifically, the three-phase / dq coordinate conversion unit 25 calculates the three-phase current detection value (I u ,Iv ,I w ) is converted from the dq-axis coordinate system to the three-phase coordinate system, and the dq-axis current detection value (I d ,I q ) is found.

[0020] Angle calculation unit 26 receives as input a position sensor signal including the rotor position of motor 10 detected by position sensor 51, and calculates motor angle θ (electrical angle of motor 10).

[0021] Angular velocity calculation unit 27 calculates motor angular velocity ω using as input the motor angle θ calculated by angle calculation unit 26. Specifically, angular velocity calculation unit 27 calculates the amount of change per time (time differential value) of motor angle θ as motor angular velocity ω.

[0022] The PWM signal generator 28 converts the three-phase voltage command value (V u * ,V v * ,V w * ) and the output voltage of the battery as inputs, and generates a high-power element drive signal (switching signal) for driving the switching element of the power conversion device 30.

[0023] The power conversion device 30 receives the switching signals generated by the PWM signal generation unit 28 as inputs and drives power semiconductor elements (not shown) to generate three-phase voltage command values ​​(V u * ,V v * ,V w * ) is supplied to the motor 10. This allows the motor 10 to supply power according to the desired torque command value T * The actual torque according to the

[0024] The motor control device 20 described above is realized by a computer that includes a central processing unit (CPU), read-only memory (ROM), random access memory (RAM), and input / output interface (I / O interface) and is programmed to execute the above-mentioned components. The motor control device 20 can also be configured by multiple computer hardware components that execute each process in a distributed manner.

[0025] The processing in the current control unit 22 will be described in detail below.

[0026] 2 is a block diagram showing the detailed configuration of the current control unit 22. As shown in the figure, the current control unit 22 of this embodiment is mainly composed of a feedforward (F / F) compensator 22a and a feedback (F / B) compensator 22b.

[0027] In particular, the F / F compensator 22 a includes a response current calculation section 60 , a transient state voltage calculation section 70 , and a steady state voltage calculation section 80 .

[0028] The response current calculation unit 60 calculates the dq-axis current command value (I d * ,I q * ) is input, and the response current (I d ^,I q More specifically, the response current calculation unit 60 calculates the dq-axis current command value (I d * ,I q * ) is processed by a specified filter to obtain the response current (I d ^,I q ^) is calculated.

[0029] Here, the filter is used to calculate the dq-axis current command value (I d * ,I q *) is appropriately determined so as to obtain a current profile having a standard response characteristic that the actual output current should exhibit, taking into consideration the response characteristic of the control system. m A first-order delay low-pass filter is used. That is, the response current (I d ^,I q ^) is calculated based on the current command value as a current value that provides a standard response taking into account delay elements of the control system including motor control system 100 and the vehicle equipped with it (detection by various sensors, operation of the power transmission mechanism, etc.).

[0030] The transient state voltage calculation unit 70 calculates the response current (I d ^,I q ^) as input, and the transient voltage command value V tr FF In particular, the transient state voltage calculation unit 70 calculates the dq-axis current command value (I d * ,I q * ) to the response current (I d ^,I q The transient voltage command value V is calculated based on the current time change ΔI obtained by subtracting the inductance parameter as a motor characteristic parameter. tr FF Ask for.

[0031] The inductance parameters are parameters determined based on detected or estimated values ​​of the inductance of the motor 10. In particular, the inductance parameters of this embodiment are configured by an inductance matrix L determined as a second-order square matrix having at least the d-axis inductance and q-axis inductance of the motor 10 as diagonal components.

[0032] Therefore, the transient state voltage calculation unit 70 calculates the transient voltage command value V by applying the inductance matrix L to the current time change amount ΔI as expressed by the following equation (1): tr FF Ask for.

[0033]

number

[0034] In addition, "1 / τ m " represents a filter parameter.

[0035] The filter parameter is the filtered response current (I d ^,I q The transient voltage command value V is calculated from the current time change amount ΔI and motor characteristic parameters determined based on the tr FF In particular, in the transient state voltage calculation unit 70 of this embodiment, a first-order low-pass filter is used, and an inductance parameter is assumed as the motor characteristic parameter, so the filter parameter is 1 / τ m The filter parameters can be appropriately determined depending on the type of filter used and the type of motor characteristic parameters expected.

[0036] In addition, each component of the inductance matrix L in this embodiment is a response current (I d ^,I q The inductance matrix L is stored in a table in advance as a variable value according to the magnitude of the inductance matrix L. The table that defines the inductance matrix L will be explained in more detail below.

[0037] First, let us consider the motor voltage equation of a general permanent magnet phase synchronous motor, that is, the dq axis current (i d ,i q ) and dq-axis voltage (v d ,v q ) is given by the following equation (2):

[0038]

number

[0039] However, "L" in the formula d " and "L q" represent the d-axis component and q-axis component of inductance, respectively. "R" represents the winding resistance of the stator winding. "φ a " represents the effective value of the rotor interlinkage magnetic flux of the permanent magnet. For simplicity of description, these will be referred to as "d-axis inductance", "q-axis inductance", "winding resistance R" and "magnetic flux φ" respectively. a " is also called.

[0040] When equation (2) is separated into a transient term (term including a time derivative) and a steady term (term not including a time derivative), the following equation (3) is obtained.

[0041]

number

[0042] Therefore, the second-order square matrix in the first term of equation (3) corresponds to the inductance matrix L. Furthermore, by taking into account the interference components between the d and q axes of the inductance (off-diagonal components of the inductance matrix L), the following equation (4) is obtained.

[0043]

number

[0044] In addition, each component of the inductance matrix L is the dq axis current (i d ,i q ), we rewrite equation (4) to take into account its dependence on

[0045]

number

[0046] Furthermore, each component of the inductance matrix L is a The d-axis component of the d-axis magnetic flux φ d ) or q-axis component (q-axis magnetic flux φ q ) can be calculated by partial differentiation, the following equation (6) is obtained.

[0047]

number

[0048] Therefore, each component of the inductance matrix L is the response current (I d ^,I q The dq-axis magnetic flux (φ d ,φ q ) is determined as the partial differential value of the response current (I d ^,I q The dq-axis magnetic flux (φ d ,φ q ) are defined as elements of the inductance matrix L.

[0049] Figure 3 shows the q-axis current i q , q-axis magnetic flux φ q , and q-axis magnetic flux φ q The q-axis current i q 3A is a graph showing an example of the relationship between the d-axis current i d When is fixed at a certain value, the q-axis current i q The q-axis magnetic flux φ according to q Also, Fig. 3(B) shows the profile of the d-axis current i d When the value is fixed to the same value, the q-axis current i q The q-axis magnetic flux φ according to q The q-axis current partial differential value (i.e., L qq ) profile.

[0050] As shown in the figure, the d-axis current i d When is fixed, the q-axis magnetic flux φ q and q-axis magnetic flux φ q The q-axis current partial differential value of q-axis current i q Therefore, the expected d-axis current i d For each value of q-axis magnetic flux φ q By calculating the q-axis current partial differential value of qq(=q-axis inductance L q ) into the d-axis current i d and q-axis current i q It can be determined as a variable value depending on

[0051] Similarly, the q-axis current i q is fixed, and the d-axis current i d d-axis magnetic flux φ according to d By calculating the d-axis current partial differential value of dd (=d-axis inductance L d ) into the d-axis current i d and q-axis current i q It can be determined as a variable value depending on

[0052] Furthermore, in a similar manner, the first row and second column component L of the inductance matrix L, which is an interference component, is calculated. dq and the second row, first column component L qd Regarding the d-axis current i d and q-axis current i q It can be determined as a variable value depending on

[0053] By using the above method, the response current (I d ^,I q A table can be defined that defines each element of the inductance matrix L according to the

[0054] Returning to FIG. 2, the steady-state voltage calculation unit 80 will be described. The steady-state voltage calculation unit 80 calculates the response current (I d ^,I q ^) and the motor angular velocity ω as inputs, and the steady-state voltage command value V st FF Calculate the steady-state voltage command value V st FF is the response current (I d ^,I q It is defined as the value equivalent to the voltage generated by maintaining a constant value, assuming that the constant voltage is maintained at a constant value.

[0055] In particular, in this embodiment, the steady-state voltage calculation unit 80 adds the response current (I d ^,I q ^) is applied to obtain the steady-state voltage command value V st FF That is, the steady-state voltage command value V st FF is expressed as the response current (I d ^,I q ^) can be obtained by substituting

[0056]

number

[0057] In addition, the d-axis inductance L d and q-axis inductance L q In both cases, the d-axis current i d and q-axis current i q Considering that the motor angular velocity ω depends on the winding resistance R and the magnetic flux φ, equation (7) is a , and the magnetic flux parameter φ determined from the relationship between the current d (i d ,i q ),φ q (i d ,i q ), the following equation (8) is obtained.

[0058]

number

[0059] Therefore, the steady-state voltage command value V st FF is the motor angular velocity ω, winding resistance R, and magnetic flux φ a , and the response current (I d ^,I q It is determined from the magnetic flux parameters, which are motor characteristic parameters determined based on the

[0060] Note that both the d-axis voltage component and the q-axis voltage component in equation (8) are related to the motor angular velocity ω and the dq-axis current (i d ,i q ), the steady-state voltage command value V st FF Each component in can also be expressed as in the following equation (9):

[0061]

number

[0062] Returning to FIG. 2, the F / F compensator 22a calculates the transient voltage command value V tr FF and the steady-state voltage command value V calculated by the steady-state voltage calculation unit 80 st FF The sum of these is the F / F compensation voltage command value V FF Output as

[0063] On the other hand, the F / B compensator 22b calculates the dq-axis current detection value (I d ,I q ) and response current (I d ^,I q ^) is used as input, and feedback calculation is performed to set these deviations to zero to obtain the F / B compensation voltage command value V FB Calculate.

[0064] Then, the current control unit 22 calculates the F / F compensation voltage command value V FF and the F / B compensation voltage command value V calculated by the F / B compensator 22b. FB The sum of and is the final voltage command value V fin , that is, the dq-axis voltage command value (V d * ,V q * ) and output to the subsequent control block.

[0065] Next, the control results obtained by the above motor control method will be described.

[0066] 4 is a timing chart showing the current response characteristics under the respective controls of the example and the comparative example. Note that the comparative example assumes control in which the voltage applied to the motor 10 is determined by setting a current feedback gain based on an inductance value that is variably set according to a current command value. Also, the example assumes control in which the voltage applied to the motor 10 is determined by the control logic described above.

[0067] As shown in FIG. 4, in the control of the comparative example (shown by the dashed line), the actual output current of the motor 10 undershoots and overshoots with respect to the ideal response current (shown by the two-dot chain line) relative to the current command value (shown by the one-dot chain line). In contrast, in the control of the embodiment (shown by the solid line), it can be seen that the actual output current approaches the behavior of the ideal response current. This is because the above motor characteristic parameters are used to calculate the response current (I d ^,I q ^), and then the applied voltage is determined by feedforward calculation using the motor characteristic parameters.

[0068] The configuration of the motor control method of the present embodiment described above and the resulting effects will now be described.

[0069] In this embodiment, the predetermined required output (torque command value T * ) according to the applied voltage to the motor 10 (final voltage command value V fin In this motor control method, a torque command value T * The dq-axis current command value (I d * ,I q * ) and calculates the dq-axis current command value (I d * ,I q * ) based on the final voltage command value V fin The feedforward compensation voltage (F / F compensation voltage command value V FF ) is calculated and F / F compensation control is performed.

[0070] In F / F compensation control, the dq-axis current command value (I d * ,I q * ) is filtered according to the response characteristics of the control system to obtain the response current (I d ^,I q ^) and calculate the response current (I d ^,I q ^) and the F / F compensation voltage command value V based on the motor characteristic parameters indicating the characteristics of the motor 10. FF In particular, the motor characteristic parameters are the response current (I d ^,I q ^) is set to a variable value depending on the

[0071] As a result, the voltage applied to the motor 10 is adjusted to the response current (I d ^,I q The response characteristics of the actual output current of the motor 10 can therefore be made to more reliably match the desired response characteristics, suppressing overshoot and undershoot in current control and improving control stability.

[0072] In particular, in any motor control system, there is a certain response delay, so the response of the actual output current of the motor 10 is calculated based on the dq-axis current command value (I d * ,I q * On the other hand, in this embodiment, it is difficult to match the response current (I d ^,I q After calculating the actual output current, the response current (I d ^,I q The voltage applied to the motor 10 is determined by a feedforward calculation that matches the actual output current to the ideal response according to the control system.

[0073] Moreover, by suppressing the occurrence of overshoot and undershoot in current control, it is possible to eliminate the need for margin design that takes this into consideration, and the control configuration can be simplified. Furthermore, by improving the control stability of the current, the torque command value T * The response of the actual output torque to the input voltage is also improved. This makes it possible to expand the range of operating points of the motor 10 that can achieve the desired response performance without requiring various correction processes (such as delay time correction) that have been used to improve torque response.

[0074] In particular, in the F / F compensation control of this embodiment, the response current (I d ^,I q The time change of the current (time change of the current ΔI) is estimated, and the response current (I d ^,I q Based on the time change of the motor characteristic parameters, the response current (I d ^,I q The transient voltage command value V corresponds to the voltage caused by the change in tr FF Calculate the response current (I d ^,I q The steady-state voltage command value V corresponds to the voltage that occurs when the st FF Then, the F / F compensation voltage command value V FF is the transient voltage command value V tr FF and the steady-state voltage command value V st FF The calculation is based on:

[0075] This allows the response of the actual output current of the motor 10 to match the desired response performance, and the F / F compensation voltage command value V FF A more specific control logic for determining is realized.

[0076] In addition, the motor characteristic parameters are the response current (I d ^,I q The transient voltage command value V trFF , the response current (I d ^,I q ^) and inductance parameters.

[0077] As a result, the inductance parameter indicating the inductance of the motor 10 is converted into a response current (I d ^,I q The transient voltage command value V is calculated using the inductance parameter as a variable value according to tr FF Therefore, the F / F compensation voltage command value V that can make the actual output current of the motor 10 match the desired response characteristics can be determined. FF A more specific calculation logic for determining

[0078] In particular, the above inductance parameters are defined as at least the d-axis component of the inductance (d-axis inductance L d ) and q-axis component (q-axis inductance L q ) is set as an inductance matrix L with elements. Then, the transient voltage command value V tr FF , the response current (I d ^,I q It is calculated by applying the inductance matrix L to the time change in current (time change in current ΔI).

[0079] This allows the response current (I d ^,I q ^) The d-axis inductance L d and q-axis inductance L q After taking these into consideration, the F / F compensation voltage command value V FF A more specific calculation logic for determining is realized.

[0080] In addition, the inductance matrix L of this embodiment further includes an interference component between the d-axis and q-axis inductances. This interference component is then calculated as the q-axis generated voltage (L qd ) and d-axis generated voltage (L dq) is determined from both.

[0081] This allows the F / F compensation voltage command value V to be calculated after taking into consideration the effect of the q-axis voltage on the d-axis current change and the effect of the d-axis voltage on the q-axis current change. FF can be determined, and the accuracy of F / F compensation control can be further improved.

[0082] In addition, the interference components between the d and q axes (L qd ,L dq ) is the d-axis inductance L d or q-axis inductance L q Considering that the interference component L qd and interference component L dq It is also possible to adopt a configuration in which only one of the off-diagonal components of the inductance matrix L is determined (a configuration in which only one of the off-diagonal components of the inductance matrix L is calculated, or both are considered to have the same value). qd ,L dq ) may be taken into consideration (a configuration in which off-diagonal elements are set to 0).

[0083] This makes it possible to reduce the computational load while ensuring practical accuracy of F / F compensation control.

[0084] In this embodiment, the motor characteristic parameters are the motor angular velocity ω, the winding resistance R, and the magnetic flux φ a , and the response current (I d ^,I q The magnetic flux parameter (φ d ,φ q ) and the steady-state voltage command value V st FF , the magnetic flux parameter (φ d ,φ q ) is calculated.

[0085] This allows the response current (I d ^,I q The steady-state voltage command value V st FF The response current (I d^,I q The magnetic flux parameter (φ d ,φ q ) can be used to perform calculations with higher accuracy.

[0086] Furthermore, in this embodiment, the dq-axis current detection value (I d ,I q ) and response current (I d ^,I q The feedback compensation voltage (F / B compensation voltage command value V FB ) is calculated. Then, the F / F compensation voltage command value V FF is the feedback compensation voltage command value V FB and the final voltage command value V fin Calculate.

[0087] This allows appropriate feedback compensation to be performed even when parameter errors occur due to individual variations in each element in the motor control system 100, making it possible to more reliably match the actual output current of the motor 10 to the desired response characteristics.

[0088] In addition, in this embodiment, a motor control device 20 suitable for executing a motor control method is provided. The motor control device 20 is configured to generate a predetermined required output (torque command value T * ) according to the applied voltage to the motor 10 (final voltage command value V fin Furthermore, the motor control device 20 determines the torque command value T * The dq-axis current command value (I d * ,I q * ) and a current command value calculation unit 21 that calculates the dq-axis current command value (I d * ,I q * ) based on the final voltage command value V fin The feedforward compensation voltage (F / F compensation voltage command value V FF ) and an F / F compensator 22a that calculates

[0089] The F / F compensator 22a calculates the dq-axis current command value (I d * ,I q * ) is filtered according to the response characteristics of the control system to obtain the response current (I d ^,I q a response current calculation unit 60 that calculates the response current (I d ^,I q ^) and the F / F compensation voltage command value V based on the motor characteristic parameters indicating the characteristics of the motor 10. FF In particular, the motor characteristic parameters include a response current (I d ^,I q ^) is set to a variable value depending on the

[0090] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above embodiments. [Explanation of symbols]

[0091] 10 Motor 20 Motor control device 21 Current command value calculation unit 22 Current control section 22a F / F compensator 22b F / B compensator 60 Response current calculation unit 70 Transient state voltage calculation section 80 Steady-state voltage calculation section 100 Motor Control System

Claims

1. A motor control method for determining an applied voltage to a motor in accordance with a predetermined required output, comprising: calculating a current command value according to the required output, and executing F / F compensation control to calculate a feedforward compensation voltage that defines the applied voltage based on the current command value; In the F / F compensation control, calculating a response current by performing a filter process on the current command value in accordance with a response characteristic of a control system; Estimating a time change amount of the response current; calculating a transient voltage command value corresponding to a voltage generated by a change in the response current based on the amount of change over time of the response current and a motor characteristic parameter; calculating a steady-state voltage command value corresponding to a voltage that would be generated if the response current were assumed to be steadily maintained; calculating the feedforward compensation voltage based on the transient voltage command value and the steady-state voltage command value; the motor characteristic parameter is set to a variable value according to the response current; Motor control methods.

2. 2. The motor control method of claim 1, the motor characteristic parameters include an inductance parameter indicating an inductance of the motor according to the response current; The transient voltage command value is calculated based on the time change amount of the response current and the inductance parameter. Motor control methods.

3. 3. The motor control method according to claim 2, The inductance parameters are set as an inductance matrix having elements each representing at least a d-axis component and a q-axis component of the inductance; The transient voltage command value is calculated by applying the inductance matrix to the time change amount of the response current. Motor control methods.

4. 4. The motor control method according to claim 3, The inductance matrix further includes an interference component between the d and q axes of the inductance, The interference component is determined from both or either of the q-axis generated voltage in response to a change in the d-axis current and the d-axis generated voltage in response to a change in the q-axis current. Motor control methods.

5. The motor control method according to any one of claims 1 to 4, the motor characteristic parameters include a motor angular velocity, a winding resistance, a magnetic flux, and a magnetic flux parameter determined based on the response current; The steady-state voltage command value is calculated from the magnetic flux parameters. Motor control methods.

6. The motor control method according to any one of claims 1 to 5, Furthermore, an F / B compensation control is executed to calculate a feedback compensation voltage that makes the deviation between the current detection value of the motor and the response current zero; calculating the applied voltage by compensating the feedforward compensation voltage with the feedback compensation voltage; Motor control methods.

7. A motor control device that determines an applied voltage to a motor according to a predetermined required output, a current command value calculation unit that calculates a current command value according to the required output, and an F / F compensator that calculates a feedforward compensation voltage that defines the applied voltage based on the current command value, The F / F compensator comprises: a response current calculation unit that calculates a response current by performing a filter process on the current command value in accordance with a response characteristic of a control system; Estimating a time change amount of the response current; a transient state voltage calculation unit that calculates a transient voltage command value corresponding to a voltage generated by a change in the response current based on the amount of change over time of the response current and motor characteristic parameters; a steady-state voltage calculation unit that calculates a steady-state voltage command value corresponding to a voltage that occurs when it is assumed that the response current is steadily maintained, calculating the feedforward compensation voltage based on the transient voltage command value and the steady-state voltage command value; the motor characteristic parameter is set to a variable value according to the response current; Motor control device.

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