Methods for controlling electric motors and electric motor control devices.

Abstract

Invention details;

Description

Electric motor control method and electric motor control device

[0001] The present invention relates to an electric motor control method and an electric motor control device.

[0002] JP2012-75257A proposes an electric motor control method for a vehicle that performs vibration suppression control to suppress vibrations caused by the torsional vibration characteristics of the drivetrain. Furthermore, this electric motor control method employs control that limits the vibration suppression function associated with the vibration suppression control in a specific operating range of the electric motor where such noise may occur, in order to suppress abnormal noise generated in the gears of the reducer due to repeated positive and negative inversions of the torque command.

[0003] It is expected that situations will arise in which it is necessary to limit the vibration damping function that suppresses torsional vibrations in the drivetrain, depending on the operating state of the electric vehicle, the electric motor, or the control system for the electric motor, such as the occurrence of abnormal noise in the gears described above. However, limiting the vibration damping function in such situations may result in insufficient suppression of torsional vibrations in the drivetrain, which may cause discomfort to the occupants.

[0004] Therefore, an object of the present invention is to provide an electric motor control method and an electric motor control device that can suppress torsional vibrations even under limitations of the vibration suppression function that suppresses torsional vibrations in a drive transmission system.

[0005] According to one aspect of the present invention, there is provided a method for controlling an electric motor based on a first torque command value corresponding to a required output of the electric motor. The method includes a vibration suppression step of calculating a second torque command value by correcting the first torque command value with a vibration compensation torque, a limiting step of limiting the vibration compensation torque based on a limit request suggestion amount, a limit level determination step of determining a limit level indicating the degree of limit on the vibration compensation torque, and a torque control step of calculating a voltage command value by feeding back the torque suggestion amount indicating the electric motor torque to the second torque command value. In particular, the vibration compensation torque is a torque correction value that suppresses vibration in the electric motor rotation speed. Furthermore, the limit request suggestion amount indicates a situation in which suppression of vibration in the electric motor rotation speed should be limited. Furthermore, the voltage command value is a command value for a voltage supplied to the electric motor from a predetermined power source. Then, in the torque control step, a feedback gain of the torque suggestion amount is determined by referring to the limit level.

[0006] FIG. 1 is a block diagram illustrating the configuration of an electric motor control device that executes an electric motor control method according to each embodiment of the present invention. FIG. 2 is a block diagram illustrating the configuration of a vibration suppression control unit. FIG. 3 is a diagram illustrating a dynamic system model that provides an equation of motion for a torsional vibration system. FIG. 4 is a graph showing the filter characteristics of a bandpass filter H(s). FIG. 5 is a block diagram illustrating the configuration of a torque control unit. FIG. 6 is a block diagram illustrating the configuration of a current vector control unit. FIG. 7 is a block diagram illustrating the configuration of a torque compensator. FIG. 8 is a block diagram illustrating the configuration of a voltage phase control unit. FIG. 9 is a block diagram illustrating the configuration of a PWM control unit. FIG. 10 is a block diagram illustrating the configuration of a synchronous PWM control unit. FIG. 11 is a timing chart illustrating processing in asynchronous PWM control and synchronous PWM control. FIG. 12 is a flowchart illustrating each processing in the vibration suppression control unit, torque control unit, and PWM control unit. FIG. 13 is a block diagram illustrating the configuration of a vibration suppression control unit according to another embodiment.

[0007] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0008] (First embodiment) Fig. 1 is a block diagram illustrating an electric motor control device 10 that executes an electric motor control method. As shown in Fig. 1, the electric motor control device 10 drives a motor 106 with power supplied from a battery 113 and controls the operating state of the motor. In particular, the electric motor control device 10 is mounted on a vehicle such as an electric vehicle or a hybrid vehicle that uses the motor 106 as a driving source.

[0009] The battery 113 is a secondary battery such as a lithium ion battery that functions as a power supply source for the motor 106 and other components of the vehicle. In this embodiment, the battery 113 is a DC power supply. In addition, in this embodiment, the voltage output by the battery 113 (hereinafter referred to as "DC voltage V ｄｃ ”) is detected by a voltage sensor 112 .

[0010] The motor 106 is configured, for example, by an IPM (Interior Permanent Magnet) three-phase synchronous electric motor. In particular, the motor 106 (more specifically, the rotor of the motor 106) is connected to the drive wheels via a driving force transmission system of the vehicle, including an output shaft, gears, and a drive shaft (not shown).

[0011] The motor control device 10 mainly includes a vibration suppression control unit 101 , a torque control unit 102 , a PWM (Pulse Width Modulation) control unit 103 , a speed calculation unit 110 , and a coordinate conversion unit 111 .

[0012] The vibration suppression control unit 101 determines the first torque command value T ＊ １ , and the mechanical angular velocity ω of the motor 106 ｍ Based on this, a vibration suppression control calculation is performed to suppress vibrations (vibrations in the motor rotation speed) caused by the driving force transmission system, and the second torque command value T ＊ ２ The first torque command value T ＊ １is a basic torque command value determined from the required output of the motor 106. The required output of the motor 106 is determined according to the required driving force based on the operation of the vehicle by the driver (operation of the accelerator pedal) or a command from a higher-level controller (not shown) such as a predetermined automatic driving control device.

[0013] Furthermore, the vibration suppression control unit 101 outputs a limit level signal S as a flag indicating the result of the determination as to whether or not a certain limit or more is imposed on the vibration suppression control calculation. Ｈ／Ｌ Then, the vibration suppression control unit 101 generates the second torque command value T ＊ ２ and the limit level signal S Ｈ／Ｌ to the torque control unit 102. Details of the processing in the vibration suppression control unit 101 will be described later.

[0014] The torque control unit 102 controls the DC voltage V ｄｃ , limit level signal S Ｈ／Ｌ , the second torque command value T ＊ ２ , the electrical angular velocity ω of the motor 106 ｅ , d-axis current i ｄ , and the q-axis current i ｑ is input, and the command value of the voltage to be supplied to the motor 106 (d-axis voltage command value v ＊ ｄ and the q-axis voltage command value v ｑ ) is calculated. The torque control unit 102 then calculates the calculated d-axis voltage command value v ＊ ｄ and the q-axis voltage command value v ＊ ｑ to the PWM control unit 103. Details of the processing in the torque control unit 102 will be described later.

[0015] In the following, for the sake of simplicity, the components of each parameter expressed in the dq-axis coordinate system will be represented by the symbol "x" (x = d or q) as appropriate. For example, the d-axis current i ｄ and q-axis current i ｑ Inclusively, "dq axis current i ｘ " etc.

[0016] The PWM control unit 103 controls the DC voltage V ｄｃ , voltage command value v＊ ｘ , and the electrical angle θ of the motor 106 is input, and a drive signal D for driving the switching elements of the inverter 104 is generated. ＊ ｕｕ ~D ＊ ｗｌ Then, the PWM control unit 103 generates the generated drive signal D ＊ ｕｕ ~D ＊ ｗｌ to the inverter 104. The details of the processing in the PWM control unit 103 will be described later.

[0017] The inverter 104 includes a plurality of semiconductor switching elements and a drive circuit (not shown) for driving these switching elements. ＊ ｕｕ ~D ＊ ｗｌ Each switching element is driven in response to the DC voltage V ｄｃ is the three-phase AC voltage (v ｕ , v ｖ , v ｗ ) and is supplied to the motor 106. That is, the motor 106 operates in response to the desired torque command value T ＊ The motor is driven to output an actual torque corresponding to the torque.

[0018] The current sensor 105 detects the three-phase AC current (i ｕ , i ｖ , i ｗ 1, the current sensor 105 is configured as a plurality of individual sensors for detecting each phase component of the u-phase current i ｕ and v-phase current i ｖ In this case, the remaining w-phase current i ｗ By utilizing the fact that the sum of the three-phase components is 0, the u-phase current i ｕ and v-phase current i ｖ The current sensor 105 may be configured as individual sensors provided for all three phases. The current sensor 105 outputs the detected current value of each phase to the coordinate conversion unit 111.

[0019] The resolver 107 functions as a rotor position detector that detects the rotor position of the motor 106. In particular, the resolver 107 transmits and receives excitation / modulation signals to and from an RDIC (resolver / digital conversion circuit) 108.

[0020] Based on the excitation / modulation signal, the RDIC 108 generates an ABZ signal (digital angle information of the motor 106) consisting of up / down counter pulses A and B and an origin signal pulse Z. The RDIC 108 outputs the generated ABZ signal to an ABZ counter 109.

[0021] The ABZ counter 109 calculates the electrical angle θ based on the ABZ signal, and outputs the calculated electrical angle θ to the PWM control unit 103, the speed calculation unit 110, and the coordinate conversion unit 111.

[0022] The speed calculation unit 110 calculates the electrical angular speed ω of the motor 106 from the amount of change per time of the electrical angle θ. ｅ and mechanical angular velocity ω ｍ Then, the speed calculation unit 110 calculates the calculated electrical angular speed ω ｅ is input to the torque control unit 102, and the mechanical angular velocity ω ｍ are output to the vibration suppression control unit 101.

[0023] The coordinate conversion unit 111 converts the three-phase AC current (i ｕ , i ｖ , i ｗ ) to the dq axis current i ｘ Convert to.

[0024]

[0025] That is, the dq-axis current i corresponding to the current detection value in the dq-axis coordinate system is calculated by the formula (1). ｘ Then, the coordinate conversion unit 111 converts the calculated d-axis current i ｘ is output to the torque control unit 102.

[0026] The motor control device 10 is realized by a computer that includes a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM), and an input / output interface (I / O interface) and is programmed to be able to execute the above-mentioned components. The motor control device 10 can also be configured by multiple computer hardware that executes each process in a distributed manner.

[0027] Next, I. details of the processing in the vibration suppression control unit 101, II. details of the processing in the torque control unit 102, and III. details of the processing in the PWM control unit 103 will be described.

[0028] [I. Vibration suppression control unit 101] Fig. 2 is a block diagram illustrating the configuration of vibration suppression control unit 101. As shown in the figure, vibration suppression control unit 101 includes an absolute value processing unit 201, a limiter 202, a mechanical angular velocity estimating unit 203, a vibration torque estimating unit 204, and a gain unit 205.

[0029] In particular, the mechanical angular velocity estimation unit 203, the vibration torque estimation unit 204, and the gain unit 205 mainly calculate the vibration compensation torque T ｆｂ It functions as a configuration for obtaining the vibration compensation torque T ｆｂ is the first torque command value T ＊ １ In particular, the torque correction value for the vibration compensation torque T ｆｂ is the first torque command value T according to the required output of the motor 106. ＊ １ is determined so as to eliminate vibrations in the motor rotation speed caused by torsional vibrations in the driving force transmission system.

[0030] More specifically, the mechanical angular velocity estimation unit 203 estimates the second torque command value T ＊ ２ The transfer characteristic G obtained from the vehicle transfer system model described later for the feedback value of ｐ (s) to estimate the mechanical angular velocity ω^ ｍ Then, the vibration torque estimation unit 204 calculates the estimated mechanical angular velocity ω^ ｍ and the mechanical angular velocity ω corresponding to the detected value described above ｍ The deviation of the input is used as the transfer characteristic G ｐ(s) and a band-pass filter H(s) to obtain a transfer function for the vibration torque T ｖｉｂ Furthermore, the gain section 205 calculates the vibration torque T ｖｉｂ Vibration control gain K ｆｂ (0≦K ｆｂ ≦1) to obtain the vibration compensation torque T ｆｂ is calculated and output to the limiter 202.

[0031] On the other hand, the absolute value processing unit 201 and the limiter 202 limit the vibration compensation torque T ｆｂ_ｌｉｍ It functions as a configuration for determining the limit vibration compensation torque T ｆｂ_ｌｉｍ is the vibration compensation torque T under predetermined conditions determined in consideration of suppressing abnormal noise caused by gear backlash. ｆｂ This is the value obtained by limiting

[0032] More specifically, the absolute value processing unit 201 calculates the first torque command value T ＊ １ The absolute value of the first torque command value T is processed, and the upper and lower limit values ​​of the absolute value are set as the upper and lower limit values ​​(hereinafter, these are also collectively referred to as the "upper and lower limit values") in the limiter 202. That is, in this embodiment, the first torque command value T ＊ １ The limiter 202 functions as a limit request suggestion amount that indicates a situation where the suppression of torsional vibration in the driving force transmission system should be limited (particularly, a situation where abnormal noise due to gear backlash may occur). ｆｂ By performing limit processing based on the upper and lower limit values ​​defined by the absolute value processing unit 201, the limit vibration compensation torque T ｆｂ_ｌｉｍ Here, the first torque command value T ＊ １ is 0, the upper limit value and the lower limit value of the limiter 202 are both set to 0. Therefore, the limit vibration compensation torque T ｆｂ_ｌｉｍ Therefore, in this case, the vibration compensation torque T ｆｂ This suppresses the occurrence of abnormal gear noise and the deterioration of control stability, which are caused by the torque being output without being restricted.

[0033] Furthermore, the restriction level determination unit 206 determines the vibration compensation torque Tｆｂ and a restriction level signal S containing the determined restriction level as information. Ｈ／Ｌ Generate.

[0034] More specifically, the restriction level determination unit 206 determines the first torque command value T ＊ １ , and determines whether the limiting level is relatively high or relatively low based on a comparison between the absolute value (i.e., the upper and lower limit values ​​in the limiter 202) and a predetermined reference value. The limiting level determining unit 206 then outputs a binary signal ("High" or "Low") corresponding to the relative high or low of the limiting level as the limiting level signal S Ｈ／Ｌ Generate it as:

[0035] For example, the first torque command value T ＊ １ and the limit level signal S Ｈ／Ｌ The relationship can be defined as shown in Table 1 below.

[0036]

[0037] According to the example of Table 1, the first torque command value T ＊ １ If the absolute value of is less than 20N, the limit level for vibration compensation is determined to be relatively high and the limit level signal S Ｈ／Ｌ is set to High. On the other hand, the first torque command value T ＊ １ If the absolute value of is 20N or more, the limit level for vibration compensation is determined to be relatively low and the limit level signal S Ｈ／Ｌ is set to Low.

[0038] Next, the transfer characteristic G ｐ (s) will be explained.

[0039] 3 is a diagram illustrating a dynamic system model that provides an equation of motion for a torsional vibration system. The parameters shown in FIG. 3 are as follows:

[0040] J ｍ : Motor inertia J ｗ : Inertia of drive wheels M: Vehicle weight K Ｄ: Torsional rigidity of drive system K Ｔ : Coefficient of friction between tire and road surface N: Overall gear ratio r: Tire load radius ω ｍ : Motor mechanical angular velocity T ｍ : Motor output shaft torque T Ｄ : Torque of the drive wheels F: Force applied to the vehicle V: Vehicle speed ω ｗ : Angular velocity of the drive wheels

[0041] From FIG. 3, the equations of motion of the electric vehicle are expressed by the following equations (2) to (6).

[0042] Based on the above equations of motion (2) to (6), the transfer characteristic G from the motor torque to the motor mechanical angular velocity is ｐ (s) is expressed as the following equations (7) to (15).

[0043]

[0044] Note that "s" in equation (7) represents the Laplace operator. Furthermore, by modifying equation (7), the following equation (16) is obtained.

[0045]

[0046] Note that each coefficient a' in equation (16) １ ~a' ３ , and b' ０ ~b' ２ is each coefficient a defined in equations (8) to (15). １ ~a ４ , and b ０ ~b ３ The value is determined by

[0047] Here, the transfer characteristic G ｐ When the poles and zeros of (s) are examined, they show very small values. This means that α and β in equation (16) show values ​​that are very close to each other. Therefore, by performing pole-zero cancellation (approximation processing with α=β) on equation (16), the transfer characteristic G ｐ (s) can be expressed as a rational function with a quadratic numerator and a cubic denominator as shown in the following equation (17).

[0048]

[0049] However, "ω" in equation (17) ｐ " is the transfer characteristic G ｐ (s) represents the torsional resonance angular frequency, and "ζ ｐ " is the transfer characteristic G ｐ (s) represents the damping coefficient. Furthermore, for convenience in computer processing, it is preferable to discretize (z-transform) Equation (17) using a variable z expressed by the following Equation (18). Note that "T" in Equation (18) represents the sampling time of control.

[0050]

[0051] Next, the bandpass filter H(s) will be described. The bandpass filter H(s) is configured to have a filter characteristic that functions as a feedback element that selectively reduces torsional vibrations in the drivetrain.

[0052] 4 is a graph showing the filter characteristics of the bandpass filter H(s). In the filter characteristics shown in FIG. 4, the attenuation characteristics on the low-pass side and the high-pass side are the same, and the torsional resonance frequency f ｐ is set to be in the center of the pass band on a logarithmic axis (log scale). By giving the band-pass filter H(s) such filter characteristics, the effect of selectively reducing torsional vibration in the drivetrain can be enhanced. More specifically, the band-pass filter H(s) can be configured by combining a first-order low-pass filter and a high-pass filter as shown in the following equation (19).

[0053]

[0054] [II. Torque Control Unit 102] Fig. 5 is a block diagram illustrating the configuration of the torque control unit 102. The torque control unit 102 includes a current vector control unit 501, a voltage phase control unit 502, an output controller 503, a modulation factor calculation unit 504, and a control switching determination unit 505.

[0055] The current vector control unit 501 outputs a limit level signal S Ｈ／Ｌ , the second torque command value T ＊ ２ , electrical angular velocity ωｅ , DC voltage V ｄｃ , and the dq axis current i ｘ is used as an input, and the d-axis voltage command value v is obtained by current vector control. ＊ ｄｉ－ｆｉｎ and the q-axis voltage command value v ＊ ｑｉ－ｆｉｎ Calculate the following.

[0056] The voltage phase control unit 502 outputs the limit level signal S Ｈ／Ｌ , the second torque command value T ＊ ２ , electrical angular velocity ω ｅ , DC voltage V ｄｃ , dq-axis current i ｘ , and the modulation factor M are input, and the d-axis voltage command value v is calculated by voltage phase control. ＊ ｄｖ－ｆｉｎ and the q-axis voltage command value v ＊ ｑｖ－ｆｉｎ Calculate the following.

[0057] The output controller 503 receives the mode selection signal S generated by the control switching determination unit 505. ＭＯ is input, and the dq axis voltage command value v based on the current vector control is ｘｉ－ｆｉｎ and the dq-axis voltage command value v based on the voltage phase control ｘｖ－ ＊ ｆｉｎ Either one of these is used as the final dq axis voltage command value v ＊ ｘ Output as

[0058] The modulation factor calculation unit 504 calculates the DC voltage V ｄｃ and the dq axis voltage command value v ＊ ｘ is input, the modulation factor M is calculated based on the following equation (20), and is output to the voltage phase control unit 502 and the control switching determination unit 505.

[0059]

[0060] The control switching determination unit 505 determines the control mode (current vector control or voltage phase control) and modulation mode to be executed based on the modulation factor M. ＭＯ For example, the control switching determination unit 505 generates the mode selection signal S ＭＯGenerate.

[0061]

[0062] The current vector control unit 501 and the voltage phase control unit 502 will be described in further detail below.

[0063] II-1. Current Vector Control Unit 501 Fig. 6 is a block diagram illustrating the configuration of the current vector control unit 501. In Fig. 6, for the sake of simplicity, the q-axis voltage command value v ＊ ｑｉ－ｆｉｎ However, the omitted part is the d-axis voltage command value v ＊ ｄｉ－ｆｉｎ The configuration is the same as that relating to the calculation of

[0064] As shown in the figure, the current vector control unit 501 includes a torque compensator 601 , an interference voltage calculation unit 602 , a filter unit 603 , a current command value calculation unit 604 , and a voltage command value calculation unit 605 .

[0065] The torque compensator 601 calculates the second torque command value T ＊ ２ The torque command value T ＊ (hereinafter referred to as "third torque command value T ＊ ３ ”) and outputs it to the interference voltage calculation unit 602 and the current command value calculation unit 604.

[0066] The interference voltage calculation unit 602 calculates the third torque command value T ＊ ３ , electrical angular velocity ω ｅ , and DC voltage V ｄｃ is input, and the d-axis interference voltage v is calculated by referring to a look-up interference voltage table prepared in advance. ＊ ｄ－ｄｃｐｌ and q-axis interference voltage v ＊ ｑ－ｄｃｐｌ The stored values ​​of the look-up interference voltage table are determined in advance by experiment or analysis and stored in a predetermined storage area.

[0067] The filter unit 603 filters the d- and q-axis interference voltages v obtained by the interference voltage calculation unit 602. ＊ ｘ－ｄｃｐｌThe d- and q-axis decoupling voltage vx-dcpl-fit is calculated by applying a low-pass filter determined by the following equation (21) to the ｘ represents the nominal response time constant of

[0068]

[0069] The current command value calculation unit 604 calculates the third torque command value T ３ ＊ , electrical angular velocity ω ｅ , and DC voltage V ｄｃ is input, and a lookup current table prepared in advance is referenced to obtain the d-axis current command value i ｄ ＊ and the q-axis current command value i ｑ ＊ The stored values ​​of the look-up current table are determined in advance by experiment or analysis and stored in a predetermined storage area.

[0070] The voltage command value calculation unit 605 calculates the dq axis current command value i ｘ ＊ , dq-axis decoupling voltage vx-dcpl-fit, and dq-axis current i equivalent to the detected value ｘ is input, and the dq-axis voltage command value v of the current vector control is calculated based on the following equations (22) and (23). ＊ ｘｉ－ｆｉｎ Ask for.

[0071] In addition, "k ｐｘ " is the proportional gain, "k ｉｘ " means integral gain. Also, "v ｘｉ－ｐｉ " is the basic dq axis control voltage when the interference voltage component is not taken into consideration. Furthermore, the proportional gain k ｐｘ and integral gain k ｉｘ is determined by, for example, the following equation (24).

[0072] In addition, "L ｘ " is the self-inductance of each axis component, "R" is the winding resistance, and "τ" is the same dq axis current i as in equation (21). ｘ and the reference response time constants, respectively.

[0073] Next, the torque compensator 601 will be described in detail.

[0074] 7 is a block diagram illustrating the configuration of the torque compensator 601. As shown in the figure, the torque compensator 601 has a torque calculator 701, a torque compensation value calculator 702, a high gain permission determiner 703, and a gain setter 704.

[0075] The torque calculator 701 calculates the dq axis current i ｘ is input, and a torque estimation value T ｅｓｔ The stored values ​​of the look-up torque table are determined in advance by experiment or analysis and stored in a predetermined storage area.

[0076] The torque compensation value calculation unit 702 calculates the second torque command value T ＊ ２ , torque estimate T ｅｓｔ , and the gain k １ is input, and the torque compensation value ΔT is calculated based on the following equation (25): ＊ Calculate the following.

[0077]

[0078] On the other hand, the high gain permission determination unit 703 determines the second torque command value T ＊ ２ , electrical angular velocity ω ｅ , DC voltage V ｄｃ , and a relatively high gain k based on the modulation factor M. １ The high gain permission determination unit 703 then outputs a high gain permission signal S as a binary signal indicating the result of the determination as to whether the high gain setting is permitted or not. ＨＰ For example, the high gain permission determination unit 703 generates the high gain permission signal S according to the logic shown in Table 3 below. ＨＰ Generate.

[0079]

[0080] In particular, in the example shown in Table 3, in the overmodulation region (M>100) where the PWM waveform changes easily and sharply, and in the low torque region where there is a relatively large gain margin and room for a high gain, a high gain setting is permitted. ｄｃ or electrical angular velocity ω ｅ If the value is outside the range guaranteed by the system, the system protection is given priority and high gain setting is not permitted.

[0081] The logic for determining whether to permit or prohibit the setting of high gain is not limited to the mode shown in Table 3. In particular, for each parameter shown in Table 3, the threshold value for distinguishing between permitting and prohibiting the setting of high gain can be set to an appropriate preferable value, taking into consideration the balance between control stability and system protection.

[0082] Next, the gain setting unit 704 sets the limit level signal S Ｈ／Ｌ and high gain enable signal S ＨＰ Based on this, the gain k used in the above equation (25) １ The gain setting unit 704 determines the value of the gain k using the logic shown in Table 4 below. １ Determine.

[0083]

[0084] Then, the torque compensator 601 calculates the second torque command value T ＊ ２ Torque compensation value ΔT ＊ The value obtained by adding the above is the third torque command value T ３ ＊ Output as

[0085] Next, the configuration of the voltage phase control unit 502 will be described.

[0086] II-3. Voltage Phase Control Unit 502 Fig. 8 is a block diagram illustrating the configuration of voltage phase control unit 502. As shown in the figure, voltage phase control unit 502 has a current command value calculation unit 801, a magnetic flux calculation unit 802, a limiter 803, a voltage phase calculation unit 804, a filter processing unit 805, a high gain permission determination unit 806, a gain setting unit 807, a torque calculation unit 808, a voltage phase command value calculation unit 809, and a vector converter 810.

[0087] The current command value calculation unit 801 calculates the second torque command value T ＊ ２ , electrical angular velocity ω ｅ , and DC voltage V ｄｃ is input, and a lookup table similar to that used in the current command value calculation unit 604 is referenced to calculate the dq axis current command value i ｘ ＊ Ask for.

[0088] The magnetic flux calculation unit 802 calculates the d-axis current command value i ｘ ＊ Enter the value of the magnetic flux norm φ by referring to the look-up magnetic flux table prepared in advance. ０_ｒｅｆ The stored values ​​in the look-up magnetic flux table are determined in advance by experiment or analysis and stored in a predetermined storage area. Then, the obtained magnetic flux norm value φ ０_ｒｅｆ With respect to the electrical angular velocity ω ｅ The provisional voltage norm V obtained by multiplying the absolute value of ａ ' is output to the limiter 803.

[0089] The limiter 803 calculates the provisional voltage norm V based on the following equation (26): ａ ' to the voltage norm command value V ａ ＊ Ask for.

[0090]

[0091] That is, the voltage norm command value V ａ ＊ is the provisional voltage norm V ａ ' is the voltage norm V corresponding to the square wave drive ａ The fundamental wave component value (√6 / π・V ｄｃ ) is determined as a limited value.

[0092] The voltage phase calculation unit 804 calculates the voltage norm command value V ａ ＊ , electrical angular velocity ω ｅ , and the second torque command value T ＊ ２ is input, and the voltage phase α is calculated by referring to a look-up voltage phase table prepared in advance. ｆｆThe look-up voltage phase table is determined in advance by experiment or analysis and stored in a predetermined storage area.

[0093] On the other hand, the filter processing unit 805 calculates the second torque command value T ＊ ２ is filtered through a first-order low-pass filter with the time constant τ to obtain the torque reference value T ｒｅｆ That is, the torque reference value T ｒｅｆ is the second torque command value T ＊ ２ is determined as the expected nominal torque response.

[0094] The high gain permission determination unit 806 determines the torque reference value T ｒｅｆ , DC voltage V ｄｃ , and the modulation factor M, the gain k ２ A high gain permission signal S indicates whether or not it is permitted to relatively increase the gain. ＨＰ The high gain enable signal S ＨＰ The logic shown in Table 3 can be similarly applied to generate the second torque command value T ＊ ２ " to "Torque reference value T ｒｅｆ " and the logic of Table 3 can be used.

[0095] The gain setting unit 807 outputs the limit level signal S Ｈ／Ｌ and high gain enable signal S ＨＰ Based on this, the gain k ２ The value of the gain k ２ The logic shown in Table 4 can be applied to determine the gain k １ " to "Gain k ２ " can be replaced and the logic of Table 4 can be used.

[0096] The torque calculator 808 calculates the dq axis current i ｘ is input, and a look-up torque table similar to that used in the torque calculator 701 is referenced to calculate the torque estimate T ｅｓｔ Ask for.

[0097] The voltage phase command value calculation unit 809 calculates the voltage phase α ｆｆ , torque estimate T ｅｓｔ , and gain k ２ is input, and the voltage phase compensation value α is calculated based on the following equations (27) and (28). ｆｂ and voltage phase command value α ＊ Calculate the following.

[0098]

[0099] In addition, the gain k in equation (27) ２ is determined so that its basic value (low gain) coincides with the reciprocal of the design value of the torque feedback response time constant in voltage phase control. ３ is a constant that indicates the sensitivity of the voltage phase α to the torque. In particular, the gain k ３ is determined appropriately depending on the characteristics of the motor 106.

[0100] The vector converter 810 converts the voltage norm command value V ａ ＊ , voltage phase command value α ＊ , and the voltage phase compensation value α ｆｂ is input, and the dq-axis voltage command value v of the current phase control is calculated based on the following equation (29). ｘｖ－ ＊ ｆｉｎ Ask for.

[0101]

[0102] 9 is a block diagram illustrating the configuration of the PWM control unit 103. As shown in the figure, the PWM control unit 103 has a coordinate conversion unit 901, an asynchronous PWM control unit 902, an asynchronous PWM signal generator 903, a vector conversion unit 904, a synchronous PWM control unit 905, a synchronous PWM signal generator 906, a modulation switching determination unit 907, and a PWM output switcher 908.

[0103] The coordinate conversion unit 901 converts the d-axis and q-axis voltage command values ​​v ＊ ｘ , and execute coordinate transformation based on the following equation (30) to obtain the three-phase voltage command value (v ＊ ｕ, v ＊ ｖ , v ＊ ｗ ) is required.

[0104]

[0105] The asynchronous PWM control unit 902 controls the DC voltage V ｄｃ and three-phase voltage command value (v ＊ ｕ , v ＊ ｖ , v ＊ ｗ ) is input, and the duty command values ​​(Duty_u, Duty_v, Duty_w) are calculated based on the following equation (31).

[0106]

[0107] The asynchronous PWM signal generator 903 receives duty command values ​​(Duty_u, Duty_v, Duty_w) as input and generates an asynchronous drive signal D that drives each of the six elements (upper arm elements and lower arm elements of each of the three phases) of the inverter 104. ＊ ｕｕａ ~D ＊ ｗｌａ More specifically, the asynchronous PWM signal generator 903 generates a carrier triangular wave (carrier signal C ａ ) and the duty command values ​​(Duty_u, Duty_v, Duty_w) of each phase to generate the asynchronous drive signal D ＊ ｕｕａ ~D ＊ ｗｌａ In addition, the asynchronous drive signal D ＊ ｕｕａ ~D ＊ ｗｌａ The first subscript "u", "v", and "w" represent the respective phases UVW. The second subscript "u" and "l" represent the upper arm element ("u") or the lower arm element ("l") of the inverter 104. The third subscript "a" indicates that the signal is an asynchronous PWM signal.

[0108] On the other hand, the vector conversion unit 904 converts the dq-axis voltage command value v ＊ ｘis input, and the final voltage norm command value V is calculated based on the following equation (32): ＊ ａ－ｆｉｎ and the final voltage phase command value α ＊ ｆｉｎ Ask for.

[0109]

[0110] The synchronous PWM control unit 905 calculates the final voltage norm command value V ＊ ａ－ｆｉｎ and DC voltage V ｄｃ is used as an input, and the carrier signal C used in synchronous PWM control ｓ A comparison value Th[m] (m=1, 2, 3, . . . ) to be compared with is determined.

[0111] 10 is a block diagram illustrating the configuration of the synchronous PWM control unit 905. As shown in the figure, the synchronous PWM control unit 905 has a modulation factor calculation unit 1001 and a comparison value calculation unit 1002.

[0112] The modulation factor calculation unit 1001 calculates the final voltage norm command value V ＊ ａ－ｆｉｎ and DC voltage V ｄｃ From this, the modulation factor M is calculated based on the following equation (33).

[0113]

[0114] The comparison value calculation unit 1002 inputs the modulation factor M and references a prepared comparison value table to determine multiple comparison values ​​Th[m]. The comparison value table stores, as each comparison value Th[m], the ON / OFF phases of the synchronous PWM pulses determined in advance for each modulation factor M through experimental or numerical calculations based on a predetermined analysis method to suppress harmonic currents. Examples of predetermined analysis methods include the selected harmonic elimination ("SHE") method, which adjusts the number of switching times to eliminate harmonics of specific orders. In this embodiment, the comparison value table stores ten comparison values ​​Th[1], Th[2], ..., Th

[10] . The number of comparison values ​​Th[n] can be adjusted as needed, for example, depending on the number of pulses per cycle of the desired electrical angle θ.

[0115] Returning to FIG. 9, the synchronous PWM signal generator 906 generates a final voltage phase command value α ＊ ｆｉｎ , the comparison value Th [m], and the electrical angle θ are input, and the synchronous drive signal D ＊ ｕｕｓ ~D ＊ ｗｌｓ In particular, the synchronous PWM signal generator 906 generates the electrical angle θ and the final voltage phase command value α ＊ ｆｉｎ A carrier signal C generated by combining ｓ and the comparison value Th[m], the synchronous drive signal D ＊ ｕｕｓ ~D ＊ ｗｌｓ The synchronous drive signal D ＊ ｕｕｓ ~D ＊ ｗｌｓ The first subscript "u", "v", and "w" represent the respective phases UVW. The second subscript "u" and "l" represent the upper arm element ("u") or the lower arm element ("l") of the inverter 104. The third subscript "s" indicates that the signal is a synchronous PWM signal.

[0116] For example, the synchronous PWM signal generator 906 generates the carrier signals C for the U, V, and W phases based on the following equation (34): ｕｓ , C ｖｓ , C ｗｓ Generate.

[0117]

[0118] FIG. 11 is a timing chart for explaining an outline of the operations in asynchronous PWM control and synchronous PWM control.

[0119] In the asynchronous PWM control shown in FIG. 11(A), the carrier signal C ａ The frequency of the asynchronous PWM signal can be set arbitrarily, regardless of the position (electrical angle θ) and drive frequency of the motor 106. On the other hand, the arrangement interval of pulses in the asynchronous PWM signal is limited to the control period Δt. In the asynchronous PWM control, the interruption of each control calculation and the updating of each parameter according to the results of these control calculations are performed every control period Δt (carrier signal C ａIt is executed every 1 / 2 period of the

[0120] On the other hand, in the synchronous PWM control shown in FIG. 11(B), the arrangement interval of pulses in the synchronous PWM signal is almost independent of the control period Δt and can be adjusted substantially arbitrarily. Therefore, when the motor 106 is driven in the overmodulation region and the rectangular wave region where the number of pulses is limited, there is an advantage that harmonics and ripples in the current can be easily reduced. Note that, in the synchronous PWM control, as in the asynchronous PWM control, interrupts of each control calculation and updates of each parameter according to the results of these control calculations are performed every control period Δt (carrier signal C ｓ It is executed every 1 / 2 period of the

[0121] Returning to FIG. 9, the modulation switching decision unit 907 receives the modulation factor M as an input and outputs the mode selection signal S ＭＯ Then, the modulation switching determination unit 907 generates a modulation mode command signal S for commanding the execution of the selected modulation mode. ＭＯＤ Generate.

[0122] The PWM output switch 908 receives the modulation mode command signal S ＭＯＤ is used as input, and the asynchronous drive signal D ＊ ｕｕａ ~D ＊ ｗｌａ and synchronous drive signal D ＊ ｕｕｓ ~D ＊ ｗｌｓ Either one of these is used as a driving signal D of the switching element. ＊ ｕｕ ~D ＊ ｗｌ and outputs it to the inverter 104.

[0123] FIG. 12 shows a flowchart of the processes in the vibration suppression control unit 101, the torque control unit 102, and the PWM control unit 103 described above.

[0124] The motor control method of the present embodiment described above and the resulting effects will now be described.

[0125] In this embodiment, the first torque command value T ＊ １ A motor control method is provided for controlling a motor 106 based on the

[0126] This electric motor control method includes: ＊ １ Vibration compensation torque T ｆｂ The second torque command value T ＊ ２ a vibration damping process (particularly, a mechanical angular velocity estimation unit 203, a vibration torque estimation unit 204, and a gain unit 205) for calculating the vibration compensation torque T ｆｂ is the limit request suggestion amount (first torque command value T ＊ １ ) based on the limiting process (particularly, the absolute value processing section 201 and the limiter 202), and the vibration compensation torque T ｆｂ The restriction level (restriction level signal S Ｈ／Ｌ ) and a torque suggestion amount (torque estimate value T ｅｓｔ ) is used as the second torque command value T ＊ ２ is fed back to the voltage command value v ＊ ｘ and a torque control process (particularly, the torque compensator 601 or the voltage phase control unit 502) that calculates the above.

[0127] In particular, the vibration compensation torque T ｆｂ is a torque correction value that suppresses vibrations in the motor rotation speed (vibrations caused by torsional vibrations in the driving force transmission system). The limit request suggestion amount is a parameter that suggests a situation in which suppression of vibrations in the motor rotation speed should be limited (such as a situation in which abnormal gear noise may occur or a situation in which system protection should be prioritized). Furthermore, the voltage command value v ＊ ｘ is a command value of the voltage supplied to the motor 106 from a predetermined power source (battery 113).

[0128] In the torque control process, the limit level signal S Ｈ／Ｌ With reference to the feedback gain of the torque suggestion amount (gain k １or gain k ２ ) is determined (high gain permission determining unit 703 and gain setting unit 704 in FIG. 7, or high gain permission determining unit 806 and gain setting unit 807 in FIG. 8).

[0129] As a result, in vibration suppression control that suppresses torsional vibrations in the driving force transmission system, the feedback gain of the torque suggestion amount correlated with the electric motor torque is appropriately adjusted depending on the degree of restriction on the vibration suppression function. As a result, it is possible to appropriately identify situations in which the vibration suppression function should be restricted, such as situations in which abnormal noise due to gear backlash should be suppressed, and increase the feedback gain. Therefore, even in situations in which the torsional vibration suppression function of the driving force transmission system is restricted, it is possible to reduce torque fluctuations and suppress torsional vibrations in the driving force transmission system.

[0130] Furthermore, in the torque control process (particularly, the high gain permission determination unit 806 and the gain setting unit 807), the feedback gain (gain k １ or gain k ２ In particular, the operating point suggestion quantity includes the motor rotation speed (mechanical angular velocity ω ｍ or electrical angular velocity ω ｅ ) and the electric motor torque (second torque command value T ＊ ２ ) is included (see Table 3 and Table 4).

[0131] This makes it possible to determine a feedback gain that takes control stability into consideration in accordance with the operating point of the motor 106. In particular, the feedback gain can be determined so as to ensure control stability while exerting the effect of suppressing torsional vibration.

[0132] In addition, the operating point suggestion quantity includes the voltage of the power supply (DC voltage V ｄｃ ) the voltage command value v ＊ ｘ (In particular, the final voltage norm command value V ＊ ａ－ｆｉｎ ) and the feedback gain (particularly, the gain k ２ ) to be determined.

[0133] As a result, the operating point of the motor 106 is changed to the DC voltage V ｄｃ voltage command value v ＊ ｘ The gain k is determined by taking into consideration whether the torque fluctuation is likely to occur due to the large ２ Therefore, even in a motor control system that is premised on the use of the overmodulation region, the feedback gain can be determined so as to ensure control stability while exerting the effect of suppressing torsional vibration.

[0134] Furthermore, in the torque control process, the DC voltage V ｄｃ Refer to the feedback gain (gain k １ or gain k ２ ) to be determined.

[0135] This allows the DC voltage V ｄｃ It is possible to determine an appropriate feedback gain by taking into consideration the state of the system (whether it is within the system guarantee range, etc.).

[0136] Furthermore, the above-mentioned motor control method includes: ＊ ｘ DC voltage V ｄｃ The power conversion process (particularly, the modulation switching determination unit 907) selects a modulation method (asynchronous PWM control or synchronous PWM control) in the PWM control in accordance with the operating point (modulation factor M) of the motor 106. Then, in the torque control process, a feedback gain (particularly, the gain k ２ ) is determined (see Tables 2 and 3).

[0137] This allows the gain k to be adjusted by taking into account the transition between multi-pulse driving and square wave driving, which is particularly large in the overmodulation region. ２ Therefore, in a motor control system that assumes utilization of the overmodulation region, a more specific control logic is realized for determining a feedback gain that can achieve both the effect of suppressing torsional vibration and ensuring control stability.

[0138] Furthermore, in the vibration damping process (particularly the gain unit 205) of this embodiment, the motor rotation speed (particularly the mechanical angular velocity ω ｍ ) with a predetermined damping gain K ｆｂ By applying the above, the vibration compensation torque T ｆｂ In the limiting step (particularly, the limiter 202), the first torque command value T ＊ １ The vibration control gain K ｆｂ By adjusting the upper and lower limits of ｆｂ Then, in the restriction level determination step (particularly, the restriction level determination unit 206), the first torque command value T ＊ １ Based on the limit level (limit level signal S Ｈ／Ｌ ) is determined (see Table 1).

[0139] This realizes a more specific control logic that enables detection of a scene in which the torsional vibration suppression effect may be insufficient and determination of an appropriate feedback gain for that scene.

[0140] Furthermore, in the torque control process of this embodiment (particularly, the voltage phase command value calculation unit 809 in FIG. 8), an estimated or detected value of the motor torque (estimated torque value T ｅｓｔ ) is fed back as the torque suggestion amount to obtain the voltage phase command value α ＊ is calculated, and the voltage phase command value α ＊ Based on the voltage command value v ＊ ｘ (In particular, the dq axis voltage command value v ＊ ｘｖ－ｆｉｎ ) is calculated.

[0141] As a result, in voltage phase control, which is generally more difficult to achieve both control stability and high-response feedback gain setting than current vector control, the limit level signal S Ｈ／Ｌ The feedback gain (especially the gain k ２ More specifically, the limit level signal S Ｈ／Ｌ When is Low, the gain k ２ is made low (low gain), while the limiting level signal SＨ／Ｌ When is High, the gain k is set within a range that does not impair control stability. ２ By increasing (setting the gain high), it is possible to suppress torsional vibration and ensure control stability at the same time.

[0142] Furthermore, in the torque control process of this embodiment (particularly the torque compensator 601 in FIG. 7), an estimated or detected value of the motor torque (estimated torque value T ｅｓｔ ) is fed back as the torque suggestion amount to obtain the second torque command value T ＊ ２ is corrected, and the corrected second torque command value T ＊ ２ (Third torque command value T ３ ＊ ) based on the voltage command value v ＊ ｘ (In particular, the dq axis voltage command value v ＊ ｘｉ－ｆｉｎ ) is calculated.

[0143] As a result, the voltage command value v ＊ ｘ In the calculation of ｅｓｔ Even in the case of a control method such as current vector control that does not have a configuration for feeding back the limit level signal S Ｈ／Ｌ The feedback gain (gain k １ More specifically, the limit level signal S Ｈ／Ｌ When is Low, the gain k １ while lowering the limit level signal S Ｈ／Ｌ When is High, the gain k is set within a range that does not impair control stability. １ By increasing the value of the torque, it is possible to suppress torsional vibration and ensure control stability at the same time.

[0144] Moreover, in this embodiment, an electric motor control device 10 suitable for executing the electric motor control method is provided.

[0145] In particular, the motor control device 10 determines the first torque command value T ＊ １ Vibration compensation torque T ｆｂThe second torque command value T ＊ ２ and a vibration damping unit (particularly, a mechanical angular velocity estimation unit 203, a vibration torque estimation unit 204, and a gain unit 205) that calculates the vibration compensation torque T ｆｂ is the limit request suggestion amount (first torque command value T ＊ １ ) and a limiting unit (particularly, an absolute value processing unit 201 and a limiter 202) that limits the vibration compensation torque T ｆｂ The restriction level (restriction level signal S Ｈ／Ｌ ) and a limit level determination unit 206 that determines the torque suggestion amount (torque estimate value T ｅｓｔ ) is used as the second torque command value T ＊ ２ is fed back to the voltage command value v ＊ ｘ and a torque control unit (particularly, a torque compensator 601 or a voltage phase control unit 502) that calculates the above.

[0146] Then, the torque control unit 102 outputs the limit level signal S Ｈ／Ｌ With reference to the feedback gain of the torque suggestion amount (gain k １ or gain k ２ ) is determined (high gain permission determining unit 703 and gain setting unit 704 in FIG. 7, or high gain permission determining unit 806 and gain setting unit 807 in FIG. 8).

[0147] Second Embodiment A second embodiment will now be described. Elements similar to those in the first embodiment are designated by the same reference numerals, and their description will be omitted. In particular, the motor control method of this embodiment is realized by a vibration suppression control unit 101 different from that of the first embodiment.

[0148] 13 is a block diagram illustrating the configuration of the vibration suppression control unit 101 according to this embodiment. The vibration suppression control unit 101 of this embodiment controls the vibration compensation torque T ｆｂ The configuration for calculating the angular velocity includes a mechanical angular velocity estimation unit 1303, a vibration torque estimation unit 1304, and a gain unit 1305. Note that the functions of these units are similar to those of the mechanical angular velocity estimation unit 203, the vibration torque estimation unit 204, and the gain unit 205 in the first embodiment.

[0149] The vibration suppression control unit 101 also controls the vibration compensation torque T ｆｂ From limit vibration compensation torque T ｆｂ_ｌｉｍ Furthermore, the vibration suppression control unit 101 includes a limiter 1302 for determining the limit level signal S Ｈ／Ｌ The control gain setting unit 1301 is provided as a configuration for generating the control gain.

[0150] The functions of the mechanical angular velocity estimator 1303 and the vibration torque estimator 1304 are similar to those of the mechanical angular velocity estimator 203 and the vibration torque estimator 204 in the first embodiment. On the other hand, the gain unit 1305 in this embodiment calculates a vibration damping gain K ｆｂ Generate.

[0151] The limiter 1302 is a vibration suppression gain K ｆｂ limit processing based on predetermined upper and lower limit values ​​is performed on the limit vibration compensation torque T ｆｂ_ｌｉｍ In particular, in this embodiment, the upper and lower limit values ​​used in the limiting process are fixed values ​​that are appropriately determined from the viewpoint of suppressing overflows and the like in the control.

[0152] The control gain setting unit 1301 sets the first torque command value T ＊ １ , mechanical angular velocity ω ｍ , and DC voltage V ｄｃ is used as input, and the vibration suppression gain K ｆｂ (setting of upper and lower limits in the limiter 1302) and limit level signal S Ｈ／Ｌ In particular, the control gain setting unit 1301 generates the first torque command value T ＊ １ is within a predetermined range from the viewpoint of suppressing instability of control due to gear backlash, the vibration damping gain K ｆｂ The control gain setting unit 1301 corrects the mechanical angular velocity ω ｍ In a scene where the magnitude of the vibration damping gain K exceeds a predetermined range, and the torque that can be output by the motor 106 decreases, ｆｂThe control gain setting unit 1301 corrects the first torque command value T ＊ １ and / or mechanical angular velocity ω ｍ Based on the vibration damping gain K ｆｂ When the limit level signal S is set to be smaller than the basic value, Ｈ／Ｌ As a result, the gain k used in the torque compensator 601 of the current vector control unit 501 is １ , and the gain k used in the voltage phase control unit 502 ２ is set to a high value, so that torsional vibrations in the driving force transmission system are suitably suppressed.

[0153] On the other hand, the control gain setting unit 1301 sets the DC voltage V ｄｃ becomes less than the predetermined system lower limit voltage, the limit level signal S Ｈ／Ｌ is set to Low, and the vibration suppression gain K ｆｂ The system lower limit voltage is set to be smaller than the basic value. ｄｃ Thus, the DC voltage V ｄｃ When the system voltage is lower than the lower limit, the vibration suppression gain K ｆｂ By reducing the limit level signal S, it is possible to suppress the deterioration of control stability caused by the abnormality in the power system. Ｈ／Ｌ By setting it to Low, unnecessary vibration compensation torque T ｆｂ This will prevent situations in which restrictions are placed on the use of certain services.

[0154] That is, in this embodiment, the first torque command value T ＊ １ and mechanical angular velocity ω ｍ This function functions as a limit requirement suggestion quantity that indicates a situation where the suppression of torsional vibration in the driving force transmission system should be limited (particularly, a situation where abnormal noise due to gear backlash may occur). ｄｃ However, it functions as a limit requirement suggestion quantity that indicates a situation where the suppression of torsional vibration in the drive force transmission system should be limited (particularly a situation where system protection should be prioritized).

[0155] The control gain setting unit 1301 sets the vibration suppression gain K using the logic shown in Table 5, for example.ｆｂ and limiting level signal S Ｈ／Ｌ Configure the settings.

[0156]

[0157] The motor control method of the present embodiment described above and the resulting effects will now be described.

[0158] In the vibration damping process of this embodiment, the rotation speed of the electric motor (particularly, the mechanical angular velocity ω ｍ ) with a predetermined damping gain K ｆｂ By applying the above, the vibration compensation torque T ｆｂ In the limiting step (particularly, the control gain setting unit 1301), the mechanical angular velocity ω ｍ , the first torque command value T ＊ １ , and DC voltage V ｄｃ The vibration damping gain K ｆｂ By adjusting the vibration compensation torque T ｆｂ Then, in the restriction level determination step (particularly, the control gain setting unit 1301), the adjusted vibration suppression gain K ｆｂ mechanical angular velocity ω ｍ , the first torque command value T ＊ １ , and DC voltage V ｄｃ The limit level signal S Ｈ／Ｌ The following is established.

[0159] This realizes a more specific control logic that enables detection of a scene in which the torsional vibration suppression effect may be insufficient and determination of an appropriate feedback gain for that scene.

[0160] In addition, the vibration control gain K ｆｂ By adjusting the vibration compensation torque T ｆｂ Instead of the control logic limiting the vibration compensation torque T ｆｂ Alternatively, a control logic may be employed that limits the upper and lower limit values ​​themselves to a predetermined base value.

[0161] 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.

[0162] Furthermore, the specific numerical values ​​shown in each table are merely examples, and the technical scope of the present invention is not limited to the specific numerical values. Furthermore, the limit request suggestion amount is not limited to the aspects described in the above embodiment, and any parameter representing the operating state of the motor 106, the state of the control system including the motor 106, and / or the running state of the vehicle equipped with the motor 106 can be used, as long as it functions to suggest a situation in which the suppression of torsional vibration in the driving force transmission system should be limited. Furthermore, the operating point suggestion amount is not limited to the aspects described in the above embodiment, and any parameter capable of defining the operating point of the motor 106 can be used.

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