Abstract: A motor control system includes an inverter, and a control calculation unit that feedback-controls the inverter. The control calculation unit includes a voltage control calculation unit that calculates a voltage command value indicating a voltage to be applied to the motor from the inverter on the basis of a current deviation between a current command value and an actual current detection value, a torque ripple compensation calculation unit that adds a compensation value for compensating a torque ripple in the motor to a signal value on at least one of an upstream side and a downstream side in a signal flow that passes through the voltage control calculation unit, and a current limit calculation unit that limits the current command value by adaptive control based on an actual angular velocity value indicating an angular velocity at which the motor rotates.

Abstract: A motor control system includes an inverter, a voltage control calculating a voltage command value indicating a voltage to be applied to a motor from the inverter based on a deviation between the current command value and the actual current detection value, and a torque ripple compensation unit adding a compensation value for compensating a torque ripple in the motor to a signal value on an upstream side in a signal flow that passes through the voltage control unit. The torque ripple compensation unit includes a phase compensator calculating a compensation value component in the voltage control unit based on an actual angular velocity value indicating an angular velocity at which the motor rotates, and an inverse characteristic processor calculating a compensation value component for compensating the torque ripple based on an inverse characteristic of an open loop transfer function in a feedback control.

Abstract: A control device includes: an angular velocity detection unit that detects an angular velocity of a motor; a vibration component removal unit that removes a vibration component in a predetermined band from the angular velocity detected by the angular velocity detection unit by filtering; and a current command calculation unit that calculates a current command value of a drive current for driving the motor according to a torque command value and the angular velocity from which the vibration component has been removed by the vibration component removal unit.

Abstract: A torque control of an in-vehicle motor is performed in consideration of a slip prevention control. Filtering processing is performed by a first filter processor on a high-order torque command value from a high-order device, and filtering processing is performed by a second filter processor on an angular velocity detected by an angular velocity detector. A driving torque command value to drive an electric motor is calculated based on filtering processing results. Each of the filter processors changes a time constant of the filtering processing according to a road surface friction coefficient as disturbance information.

Abstract: A control device to perform feedback control based on a current value, and output a first voltage value includes a feedforward controller using an inverse model of a plant; a feedforward voltage corrector to correct a voltage disturbance due to a modeling error between the plant and a model of the plant; a repetitive controller to learn periodic current disturbances; and a switch. The switch is ON when the current response is in a steady state, and the repetitive controller learns the disturbances and corrects a command current value. A feedback controller outputs the first voltage value by performing the feedback control based on a current value from the corrected command current value, and inputs the command current value to the inverse model to generate a second voltage value. The control device outputs a sum of the first and the second voltage value as a command voltage value.

Abstract: One aspect of a noise compensation adjustment method includes: a measurement step of driving a motor to measure noise with respect to a coupled system including the motor and a driving body coupled to the motor and driven by the motor; an order identification step of, based on noise measured in the measurement step, identifying an order B of a component contributing to compensation of the noise from a k-th component and a 1/k-th component (k is an integer) in the rotation of the motor; an adjustment step of controlling driving of the motor using a component of the order B identified in the order identification step as a compensation value, and adjusting a component value of the order B to reduce the noise; and a recording step of recording the component value of the order B adjusted in the adjustment step as a compensation value for reducing the noise.

Abstract: A control device includes: an angular velocity detection unit that detects an angular velocity of a motor; a vibration component removal unit that removes a vibration component in a predetermined band from the angular velocity detected by the angular velocity detection unit by filtering; and a current command calculation unit that calculates a current command value of a drive current for driving the motor according to a torque command value and the angular velocity from which the vibration component has been removed by the vibration component removal unit.

Abstract: A control device includes angular velocity detecting circuitry, feedback circuitry, torque command calculation circuitry, a limiter, a drive controller, and correction circuitry. The angular velocity detecting circuitry detects an angular velocity of a motor. The feedback circuitry obtains a feedback value from the angular velocity. The torque command calculation circuitry obtains a torque command value according to a superordinate torque command value supplied from a superordinate device and the feedback value. The limiter limits the torque command value obtained by the torque command calculation circuitry so as not to exceed a preset torque upper limit value. The drive controller performs a drive control of the motor according to the limited torque command value. The correction circuitry corrects the superordinate torque command value or the torque command value according to the feedback value and the superordinate torque command value.

Abstract: A motor control system includes an inverter, and a control unit that feedback-controls the inverter. The control unit includes a voltage control unit that calculates a voltage command value indicating a voltage to be applied to the motor from the inverter based on a current deviation between a current command value and an actual current detection value, and a torque ripple compensation unit that adds a compensation value for compensating a torque ripple in the motor to a signal value on at least one of an upstream side and a downstream side in a signal flow passing through the voltage control unit. The torque ripple compensation unit calculates the compensation value based on an actual angular velocity at which the motor rotates and the target current command value, and based on advance angle control for compensating a response delay of the motor control system with respect to the compensation value.

Abstract: A control device that outputs a command voltage value includes: a feedback controller to perform feedback control based on a current value, and output a first voltage value; a feedforward controller established by using an inverse model of a plant to be controlled; a feedforward voltage corrector to correct a voltage disturbance that occurs due to a modeling error between a plant model and the actual plant; a repetitive controller to learn periodic current disturbances; and a switch to control input/output to the repetitive controller. The switch is turned ON when the current response is in a steady state, and the repetitive controller learns the current disturbances and corrects a command current value. The feedback controller outputs the first voltage value by performing the feedback control based on a current value that is acquired from the corrected command current value. The feedforward controller inputs the command current value to the inverse model to generate a second voltage value.

Abstract: A motor control system includes an inverter, and a control unit that feedback-controls the inverter. The control unit includes a voltage control unit that calculates a voltage command value indicating a voltage to be applied to the motor from the inverter based on a current deviation between a current command value and an actual current detection value, and a torque ripple compensation unit that adds a compensation value for compensating a torque ripple in the motor to a signal value on at least one of an upstream side and a downstream side in a signal flow passing through the voltage control unit. The torque ripple compensation unit calculates the compensation value based on an actual angular velocity at which the motor rotates and the target current command value, and based on advance angle control for compensating a response delay of the motor control system with respect to the compensation value.

Abstract: A motor control system includes an inverter and a control calculation unit. The control calculation unit includes a voltage control calculation unit that calculates a voltage command value indicating a voltage to be applied to a motor from the inverter on the basis of a current deviation between the current command value and the actual current detection value, and a compensation calculation unit that compensates at least one of a k-th component and a 1/k-th component in the motor with respect to a signal value on at least one of an upstream side and a downstream side in a signal flow that passes through the voltage control calculation unit. The compensation calculation unit calculates a compensation value on the basis of an actual angular velocity value indicating an angular velocity at which the motor rotates and the target current command value, while also taking into account advance angle control.

Abstract: A motor control system includes an inverter, a voltage control calculating a voltage command value indicating a voltage to be applied to a motor from the inverter based on a deviation between the current command value and the actual current detection value, and a torque ripple compensation unit adding a compensation value for compensating a torque ripple in the motor to a signal value on an upstream side in a signal flow that passes through the voltage control unit. The torque ripple compensation unit includes a phase compensator calculating a compensation value component in the voltage control unit based on an actual angular velocity value indicating an angular velocity at which the motor rotates, and an inverse characteristic processor calculating a compensation value component for compensating the torque ripple based on an inverse characteristic of an open loop transfer function in a feedback control.

Abstract: One aspect of a noise compensation adjustment method includes: a measurement step of driving a motor to measure noise with respect to a coupled system including the motor and a driving body coupled to the motor and driven by the motor; an order identification step of, based on noise measured in the measurement step, identifying an order B of a component contributing to compensation of the noise from a k-th component and a 1/k-th component (k is an integer) in the rotation of the motor; an adjustment step of controlling driving of the motor using a component of the order B identified in the order identification step as a compensation value, and adjusting a component value of the order B to reduce the noise; and a recording step of recording the component value of the order B adjusted in the adjustment step as a compensation value for reducing the noise.

Abstract: A motor controller includes an inverter that drives a motor, an operation controller that controls the inverter according to a current command value, and a torque ripple compensation generator that adds a compensation value to compensate for a torque ripple in the motor to the current command value. The operation controller uses, as the current command value, a q-axis current command value indicating a q-axis current in a rotational coordinate system of the motor, and also uses, as the current command value, at least temporarily a d-axis current command value indicating a d-axis current in the rotational coordinate system, and the torque ripple compensation generator calculates a phase difference of the compensation value with respect to the q-axis current command value according to an equation using the q-axis current command value and the d-axis current command value as variables.

Abstract: A motor control system includes an inverter, and a control calculation unit that feedback-controls the inverter. The control calculation unit includes a voltage control calculation unit that calculates a voltage command value indicating a voltage to be applied to the motor from the inverter on the basis of a current deviation between a current command value and an actual current detection value, a torque ripple compensation calculation unit that adds a compensation value for compensating a torque ripple in the motor to a signal value on at least one of an upstream side and a downstream side in a signal flow that passes through the voltage control calculation unit, and a current limit calculation unit that limits the current command value by adaptive control based on an actual angular velocity value indicating an angular velocity at which the motor rotates.

Abstract: A motor control apparatus includes a first circuit that determines a d-axis 0th-order current and a q-axis 0th-order current, a second circuit that determines a d-axis 6th-order harmonic current and a q-axis 6th-order harmonic current according to a position of the rotor, and a third circuit that determines, respectively, a value obtained by superposing the d-axis 6th-order harmonic current on the d-axis 0th-order current and a value obtained by superposing the q-axis 6th-order harmonic current on the q-axis 0th-order current as a d-axis current command value and a q-axis current command value.

Abstract: A control device includes angular velocity detecting circuitry, feedback circuitry, torque command calculation circuitry, a limiter, a drive controller, and correction circuitry. The angular velocity detecting circuitry detects an angular velocity of a motor. The feedback circuitry obtains a feedback value from the angular velocity. The torque command calculation circuitry obtains a torque command value according to a superordinate torque command value supplied from a superordinate device and the feedback value. The limiter limits the torque command value obtained by the torque command calculation circuitry so as not to exceed a preset torque upper limit value. The drive controller performs a drive control of the motor according to the limited torque command value. The correction circuitry corrects the superordinate torque command value or the torque command value according to the feedback value and the superordinate torque command value.

Abstract: A motor controller includes an inverter that drives a motor, an operation controller that controls the inverter according to a current command value, and a torque ripple compensation generator that adds a compensation value to compensate for a torque ripple in the motor to the current command value. The operation controller uses, as the current command value, a q-axis current command value indicating a q-axis current in a rotational coordinate system of the motor, and also uses, as the current command value, at least temporarily a d-axis current command value indicating a d-axis current in the rotational coordinate system, and the torque ripple compensation generator calculates a phase difference of the compensation value with respect to the q-axis current command value according to an equation using the q-axis current command value and the d-axis current command value as variables.

Abstract: A motor control apparatus includes a first circuit that determines a d-axis 0th-order current and a q-axis 0th-order current, a second circuit that determines a d-axis 6th-order harmonic current and a q-axis 6th-order harmonic current according to a position of the rotor, and a third circuit that determines, respectively, a value obtained by superposing the d-axis 6th-order harmonic current on the d-axis 0th-order current and a value obtained by superposing the q-axis 6th-order harmonic current on the q-axis 0th-order current as a d-axis current command value and a q-axis current command value.