Abstract: With a motor in rotation, 0 is set as each of a d-axis current command and a q-axis current command, and offset learning is carried out. Then, in carrying out offset learning, a transmission is controlled such that a shift stage of the transmission falls within a low vehicle speed-side predetermined shift stage range. Thus, the rotational speed of the motor can be more reliably made high to a certain extent, and offset learning can be carried out. As a result, the accuracy of offset learning can be restrained from decreasing.

Abstract: Basic current commands of a d-axis and a q-axis are set based on a torque command of a motor. Subsequently, when the rotation speed of the motor is high, an electric angle compensation amount is set to be larger than that when the rotation speed of the motor is low, and a corrected predicted electric angle is set by adding the electric angle compensation amount to a predicted electric angle predicted from an electric angle based on a rotation position of a rotor of the motor from a rotation position detection sensor. Then, current commands of the d-axis and the q-axis are set by multiplying the basic current commands of the d-axis and the q-axis by a correction coefficient based on the corrected predicted electric angle, and an inverter is controlled using the current commands.

Abstract: With a motor in rotation, 0 is set as each of a d-axis current command and a q-axis current command, and offset learning is carried out. Then, in carrying out offset learning, a transmission is controlled such that a shift stage of the transmission falls within a low vehicle speed-side predetermined shift stage range. Thus, the rotational speed of the motor can be more reliably made high to a certain extent, and offset learning can be carried out. As a result, the accuracy of offset learning can be restrained from decreasing.

Abstract: Basic current commands of a d-axis and a q-axis are set based on a torque command of a motor. Subsequently, when the rotation speed of the motor is high, an electric angle compensation amount is set to be larger than that when the rotation speed of the motor is low, and a corrected predicted electric angle is set by adding the electric angle compensation amount to a predicted electric angle predicted from an electric angle based on a rotation position of a rotor of the motor from a rotation position detection sensor. Then, current commands of the d-axis and the q-axis are set by multiplying the basic current commands of the d-axis and the q-axis by a correction coefficient based on the corrected predicted electric angle, and an inverter is controlled using the current commands.