Abstract: A system for managing motor torque in a vehicle determines a stall metric corresponding to motor speed and determines a torque limit based on the stall metric. The system determines a desired torque value, and determines whether to generate a modification to one or more baseline torque commands based on the desired torque value and the torque limit. If the baseline torque command is not to be modified, the system generates the one or more baseline torque commands corresponding to one or more motors. If the baseline torque is to be modified, the system generates one or more modified torque commands corresponding to the one or more motors based on the modification and on the one or more baseline torque commands. The modified torque command may include a minimum value that is less than the torque limit and a maximum value that corresponds to a wheel slip torque.

Abstract: A windshield wiper system (WWS) is provided. The WWS includes a brushless direct current (BLDC) motor, a wiper arm and blade, a gearbox/converter operably interposed between the BLDC motor and the wiper arm and blade and a smart motor drive configured to determine a WWS failure condition and to operate the BLDC motor according to the determination.

Abstract: A motor control system with adjustable voltage harmonic and a method for correcting the motor control system is disclosed. Based on the input modulation order, the motor control system drives and controls a motor. The motor control system includes: a control order selection unit to generate a control order based on the modulation order, a modulation signal control unit used to generate a pulse output duty ratio modulation signal, a harmonic voltage weight selection unit used to select the weight value of the harmonic wave, a pulse modulation part to generate a control signal based on the modulation signal indicating the pulse output duty ratio, the weight value of the harmonic wave, and the pulse modulation carrier frequency signal. Based on the control signal, the inverter circuit adds the harmonic voltage into the motor-driving voltage to drive the motor, so as to reduce the noise or vibration of the motor.

Abstract: A plurality of power supply circuits include a second power supply circuit for a CPU included in a control unit and a first power supply circuit for another circuit. An output voltage from the first power supply circuit is higher than an output voltage from the second power supply circuit. A range of input voltage is divided into three levels of voltage sub-ranges in accordance with a requirements specification. When the input voltage falls within a lower level voltage sub-range, both of an output function of the first power supply circuit and an output function of the second power supply circuit are stopped. When the input voltage falls within an intermediate level voltage sub-range, the output function of the first power supply circuit is stopped. When the input voltage falls within an upper level voltage sub-range, all circuits are controlled so as to operate.

Abstract: A motor control system configured to detect a pinch condition of a structure actuated by a motor includes a pinch detection module configured to receive a current signal indicative of a motor current, determine a rate of change of current based on the current signal, and generate a pinch signal indicative of the pinch condition in response to either one of the motor current being greater than a current threshold and the rate of change of current being greater than a rate of change threshold. The motor control system further includes a position control module configured to control the motor to actuate the structure in response to an input and at least one of stop and reverse the motor in response to the pinch signal.

Abstract: A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.

Abstract: A method for continuous condition monitoring of an electric motor having a rotor and a stator and at least two motor phases, wherein, a first energy loss is associated with the first motor phase and a second energy loss is associated with the second motor phase. The temperature during operation of the electric motor is determined by firstly carrying out a first temperature calculation in order to estimate a temperature of the first motor phase, the first temperature calculation incorporating an energy loss estimation, and a temperature estimation in which a temperature of the first motor phase depends on the estimated energy loss. A second temperature calculation in order to estimate a temperature of the second motor phase utilizes the first temperature value and an energy loss difference between the first and the second energy loss.

Abstract: A resolver decoder circuit includes: a first filter circuit configured to calculate a first weighted sum of a first digital signal over a pre-determined period of time, where the first digital signal includes first digital samples of a first analog signal from a sine winding of a resolver; a second filter circuit configured to calculate a second weighted sum of a second digital signal over the pre-determined period of time, where the second digital signal includes second digital samples of a second analog signal from a cosine winding of the resolver, where the first and the second analog signals are configured to be induced by a sine signal applied to an input winding of the resolver; and a rectifier configured to generate a first output and a second output by adjusting a first sign of the first weighted sum and adjusting a second sign of the second weighted sum, respectively.

Abstract: An object of the present invention is to enhance the reliability of an autonomous driving system. The autonomous driving system includes: a higher-level control device 1 that outputs a control target value of an actuator group based on an action plan of a vehicle; and a lower-level control device 2 that controls the actuator group of the vehicle based on a command from the higher-level control device 1. The lower-level control device 2 holds the control target value of the vehicle provided by the higher-level control device 1 over a specific period. When the higher-level control device 1 does not satisfy a desired function, the lower-level control device 2 is configured to be controlled based on the held control target value. The action plan is followed by determining and correcting a difference between an actual action value and the control target value of the vehicle.

Abstract: A machine learning device which learns fault prediction of one of a main shaft of a machine tool and a motor driving the main shaft, including a state observation unit observing a state variable including at least one of data output from a motor controller controlling the motor, data output from a detector detecting a state of the motor, and data output from a measuring device measuring a state of the one of the main shaft and the motor; a determination data obtaining unit obtaining determination data upon determining one of whether a fault has occurred in the one of the main shaft and the motor and a degree of fault; and a learning unit learning the fault prediction of the one of the main shaft and the motor in accordance with a data set generated based on a combination of the state variable and the determination data.

Abstract: Various embodiments of a two-stage on-board battery charger that can generate a wide range of output voltages is described herein. Generally, the battery charger employs a first stage buck and boost Power Factor Correction (PFC) converter, and a second stage DC-DC converter. The buck and boost PFC converter is capable of generating variable intermediate DC-link voltages which allow the on-board battery charger to efficiently generate the wider range of output voltages.

Abstract: According to one or more embodiments, a motor control system that provides torque ripple compensation includes a current regulator that receives a first current command corresponding to an input torque command. The current regulator further generates a first voltage command based on the first current command using a first transformation matrix. The current regulator further receives a second current command corresponding to a torque ripple to be compensated. The current regulator further generates a second voltage command based on the second current command using a second transformation matrix. The current regulator further computes a final voltage command using the first voltage command and the second current command, the final voltage command being applied to a motor.

Abstract: A system for production of liquid food (P) comprises a food processing arrangement (2) and a computer device (3), e.g. a PLC. The computer device (3) sequentially executes a control program (5A) to control the food processing arrangement (2) to perform processing steps for producing the liquid food (P) from one or more ingredients in accordance with a predefined recipe. The program comprises command instructions that each allocates a respective processing step to a predefined control command among a predefined set. To enable parallelism, despite the sequential execution by the computer device (3), the set of control commands comprises a start command which is associated, by the computer device (3), with an action of: starting the food processing step that is allocated to the start command and proceeding, without waiting for the food processing step to be completed, to a subsequent instruction in the list of instructions.

Abstract: The present invention realizes a vehicle control device that, even when power characteristics of a power generation device and a power transmission device changes, senses degradation of vehicle components, corrects a drive instruction to the power transmission device, and is thereby capable of stabilizing vehicle behavior over a long term. The present invention, in a predetermined vehicle environment state, measures fluctuation in drive power and acceleration in a transient region by using vehicle behavior sensors 4, performs comparison with a reference fluctuation, and thereby senses degradation of vehicle components. The drive instruction to the transmission 16-side is corrected in accordance with the degradation of vehicle components that is sensed.

Abstract: Disclosed herein is a method and system for dynamically generating a secure navigation path for navigation of an autonomous vehicle. The method comprises detecting disproportional acceleration of the autonomous vehicle when the autonomous vehicle is navigating from a source point to a destination point based on a predefined trajectory plan. The method comprises determining direction values of the autonomous vehicle for reaching a secure path point in the predefined trajectory plan. Based on the determined direction values, distance values are determined. The method includes detecting position of the secure path point for navigation of the autonomous vehicle based on the determined direction values and the distance values. The present disclosure uses secure path point to realign the autonomous vehicle in the predefined trajectory plan to overcome the disproportional acceleration of the autonomous vehicle due to narrow roads, upward slope, or downward slope.

Abstract: A surgical instrument includes: an end effector; a power source; a motor coupled to the power source, the motor configured to actuate the end effector; and a controller operatively coupled to the motor and configured to control the motor based on a current draw of the motor and an angular velocity of the motor.

Abstract: A power tool and method of detecting impacts of a power tool that includes a motor driving a hammer to impact an anvil. A motor control unit is configured to determine a motor characteristic indicative of a speed of the motor. When the motor characteristic indicates that the speed of the motor is below a speed threshold, the motor control unit employs an acceleration-based technique to detect a first impact based on a change in motor acceleration and generate a first impact indication in response to detecting the first impact. When the motor characteristic indicates that the speed is above the speed threshold, the motor control unit employs a time-based technique to detect a second impact based on an elapsed time and generates a second impact indication in response to detecting the second impact.

Abstract: A method and a device for controlling an electric motor (9), in particular for moving an endodontic instrument. The device has a first sensor (8) and a control unit (2). The control unit (2) has a drive unit (4), a second sensor (6) and a processing unit (3). The processing unit (3) is configured to cause the endodontic instrument (7) to perform a sequence of movements (M1, M2). The sequence of movements (M1, M2) includes a continuous forward movement (M1) and at least one alternating movement (M2). The sequence may include an additional alternating movement (M3) and/or a reverse movement (M4). The number and order of movements to be performed in a sequence depends on a set of predefined threshold values reflecting the torque load applied to the instrument, as measured by one of the sensors.

Abstract: A method for operating a steer-by-wire steering system of a motor vehicle is proposed. The steer-by-wire steering system includes a steering wheel, a force feedback actuator coupled to the steering wheel, a steering actuator coupled to a steerable wheel, and a control system. The method includes a) the determination of steering information while taking into account a steering wheel angle and/or a driver's steering torque applied to the steering wheel by the driver; b) controlling the steering actuator while taking into account the steering information to adjust a desired wheel steering angle of the steerable wheel; c) controlling the force feedback actuator for setting a steering wheel torque; and d) providing a threshold value associated with steering wheel torque and/or the wheel steering torque; e) generating a torque value representing or reproducing the steering wheel torque and/or the wheel steering torque; and f) outputting an overshoot signal if the torque value reaches the threshold value.

Abstract: A power-steering device includes a steering wheel and an assistance motor controlled by a controller which uses at least one closed-loop control law ensuring an adjustment of the steering wheel torque, the controller including at least one feedback arm which calculates a drift component by measuring or assessing an actual force parameter corresponding to the actual steering wheel torque, by next calculating a time drift value of the actual force parameter, and then multiplying the time drift value by a drift gain, wherein the controller uses three-dimensional cartography to adjust the drift gain according to a portion of the actual force parameter and the longitudinal velocity of the vehicle, according to a first domain, referred to as “parking domain”, which extends from a longitudinal vehicle velocity of zero to a predetermined longitudinal velocity threshold, and a second domain, referred to as “driving domain”, which extends beyond the longitudinal velocity threshold.

Abstract: A control system for an electric motor includes a power input calculating module configured to calculate power input to the electric motor. A power output calculating module is configured to calculate power output by the electric motor. A power loss calculating module is configured to calculate power loss in the electric motor based on the power input and the power output. A fault module is configured to compare the power loss in the electric motor to one or more predetermined power loss thresholds and to selectively alter operation of the electric motor based on the comparison.

Abstract: A method for controlling an electrical motor taking in account slip frequency. The method including determining amplitude, phase and frequency of the stator voltage from voltage measurements, determining estimates for current components from current measurement and stator voltage phase, determining estimate for torque from voltage amplitude, frequency, current amplitude and motor data, determining estimate for speed from torque, frequency and motor data, and determining over-estimation of speed from speed estimate, torque estimate and slip frequency. The over-estimation may be used to improve functional safety of the motor.

Abstract: An electric power steering apparatus includes a high-frequency compensation unit that outputs a high-frequency compensation signal obtained by filtering the high-frequency components of an assist torque command signal and multiplying the filtered high-frequency components by a gain; a corrected steering torque signal obtained by negatively or positively feeding back the high-frequency compensation signal to a steering torque signal is inputted to an assist torque command calculation unit; the assist torque command calculation unit outputs the assist torque command signal in accordance with the corrected steering torque signal.

Abstract: Provided are a driving force control method and device for a hybrid vehicle, each capable of effectively absorbing torque fluctuation of an engine while suppressing deterioration in energy efficiency. The driving force control device for a hybrid vehicle comprises a PCM configured to: estimate an average torque output by an engine; estimate a torque fluctuation component of the torque output by the engine; set a countertorque for suppressing the estimated torque fluctuation component; and control an electric motor to output the set countertorque, wherein the PCM is operable, under a condition that the average torque output by the engine is constant, to set the countertorque such that, as an engine speed of the engine becomes larger, the absolute value of the countertorque becomes larger.

Abstract: A control device for a power assist wheelchair which includes a compensation turning torque calculation unit that calculates a compensation turning torque value for compensating for at least a part of the shortage or excess of the actual turning torque value with respect to the predicted turning torque value, in which the compensation turning torque value is smaller when the vehicle speed is a first speed than when the vehicle speed is a second speed faster than the first speed; a first target current determination unit that determines a target current of the first electric motor based upon the first manual torque value and the compensation turning torque value; and a second target current determination unit that determines a target current of the second electric motor based upon the second manual torque value and the compensation turning torque value.

Abstract: A method for controlling a motor-driven pump in communication with a fluid system is provided. Preferably the method employs a frequency drive system to control the motor-driven pump. The control method is characterized in that the operating frequency of the motor can be adjusted very quickly and it is ensured to be operated in a safe frequency range no more than a rated current.

Abstract: An elevator system includes a component adapted to perform a function, a sensor, and a control configuration. The sensor is configured to detect an operating parameter associated with the function. The control configuration is configured to receive a parameter signal from the sensor, and extract a predesignated feature from data associated with the parameter signal. The predesignated feature is then aggregated by the control configuration and machine learning is applied to determine a degradation level of the function associated with the predesignated feature.

Abstract: The present invention relates to a method for operating a food processor, where at least one processing device of the food processor is controlled, in a preparation mode, so as to at least partially automatically prepare food, and where a monitoring device performs an identification of temporally successive acquisition values at the food processor at least during the preparation mode, where the acquisition values are specific to at least one preparation parameter of the food processor, where at least one analysis information is determined dependent upon the temporally successive acquisition values, and a frequency distribution of the analysis information is identified by a time-dependent analysis, whereby an analysis result specific to a preparation state is determined, where dependent upon the analysis result, at least one control signal is emitted for influencing the preparation mode.

Abstract: A motor controller for a draft inducer motor that operates an inducer blower in a furnace is provided. The motor controller includes a communication interface operable to receive a signal from a system controller. The signal represents a command to operate the draft inducer motor. The motor controller includes a processor operable to operate the draft inducer motor in accordance with a predefined motor speed profile during at least one of an ignition stage and a combustion stage of the furnace.

Abstract: There are described methods and system for managing machine tool maintenance. The method comprises assessing health data for the machine tool over health assessment cycles, the health data indicative of a performance of the machine tool; triggering first level maintenance events on the machine tool when the health data falls outside of a tolerance; modulating a time interval between the health assessment cycles as a function of an occurrence of first level maintenance events, wherein the time interval is reduced after first level maintenance events and increased after a given number of consecutive health assessment cycles without first level maintenance events; and triggering second level maintenance events on the machine tool when second level maintenance event conditions are met.

Abstract: A motor driving circuit for a single phase motor and a motor driving method for the same are provided. The motor driving circuit includes a motor driver, a Hall sensor, a Hall commutation detection circuit, a period recording circuit, a motor current detection circuit, a cut-off angle adjustment circuit, an angle calculation circuit and a control circuit. The motor current detection circuit detects a motor current value at a commutation point after the single phase motor operates normally. The cut-off angle adjustment circuit generates a cut-off angle adjustment signal indicating a cut-off adjustment angle according to the motor current value when the single phase motor passes the commutation point. The control circuit processes the commutation signal and the cut-off signal generated by the angle calculation circuit to generate a control signal group to control the motor driver to generate an output signal group to drive the motor.

Abstract: A drive system includes at least one electrical machine and a plurality of rotating components, which are interconnected via shafts. A method for damping torsional oscillations in the drive system includes: determining angular speeds for at least one of the shafts based on measurements in the drive system; determining a damping torque from the angular speeds with a function that models at least some of the electrical machine, the rotating components and the shafts; adapting a reference torque for the at least one electrical machine by adding the damping torque; and controlling the at least one electrical machine with the adapted reference torques.

Abstract: A valve timing controller includes: a driving-side rotation member synchronously rotating with respect to a crankshaft of an internal combustion engine; a driven-side rotation member disposed coaxially with a rotation axis of the driving-side rotation member, and rotating integrally with a camshaft of the engine; a phase setting mechanism setting a relative rotation phase between the driving-side and driven-side rotation members; a brushless motor driving the phase setting mechanism; a control portion controlling the brushless motor by electrifying an inverter having three sets of arm portions having high-side and low-side switching elements connected to each other in series between a first power supply line and a second power supply line connected to a potential lower than a potential of the first power supply line; and a command information acquisition section acquiring holding command information indicating a command for holding a rotor of the brushless motor in a non-rotating state.

Abstract: Systems and methods for extracting motor operational state parameters from an electric motor for improved motor control and motor fault or failure detection are discussed. An exemplary system includes an excitation circuit to apply a drive voltage to an electric motor, and a processor circuit to measure a resulting winding current, extract a current waveform by oversampling the winding current in an entire PWM frame at a sampling rate higher than the PWM frequency, and fit the current waveform in the PWM period to a parametric model. The processor circuit can determine a motor operational state parameter using one or more of the applied drive voltage or the parametric model of the winding current.

Abstract: Systems and methods for robust control of a sensorless interior permanent magnet synchronous motor during severe operating conditions that causes motor parameter variation. A multi-model flux observer and a dynamic direct flux motor controller act in concert to generate driving commands. The flux observer transitions between providing flux-based rotor characteristic estimates based on different motor models. DHFI filtered currents can be utilized to obtain flux-based characteristic estimates using a motor magnetic model that are unaffected by motor parameter variations. The multi-model flux observer can be configured to transition between suitable estimation methods to reduce, minimize, or eliminate the effects of motor parameter variations.

Abstract: A motor drive utilizes redundant current feedback to monitor force being produced by a motor and to provide safe limited force producing operation of the motor. A first set of current sensors provides a first current measurement, and a second set of current sensors provides a second current measurement. The two current measurements are provided to two diverse force producing calculations, where each force producing calculation provides a value of the force produced by the motor. The motor drive compares the output of the two algorithms to each other. If the output of the two force producing calculations is the same, within an acceptable band, the controller continues operating as commanded. If the output of the two force producing calculations differs beyond the acceptable band, then the controller may generate a fault message provided back to a central controller, stop operation of the motor, or a combination thereof.

Abstract: A powertrain system includes one or more torque devices associated with the control of the driving force of a vehicle, and a control device configured to control the one or more torque devices. The control device is configured to act as: a first manipulated variable determination section that solves a linear programming problem to determine, based on one or more linear state equations that define a relationship between one or more state quantities controlled by the powertrain system and one or more manipulated variables of the one or more torque devices, the one or more manipulated variables such that one or more target state quantities are maximally achieved within one or more constraints of the powertrain system; and a torque device control section that controls the one or more torque devices in accordance with the one or more manipulated variables determined by the first manipulated variable determination section.

Abstract: In a motor driving apparatus including a DC power supply circuit of variable output voltage value, an inverter of variable frequency, and a connection switching device for selecting connection, switching of the connection switching device is performed in a state where an output voltage of the DC power supply circuit is increased, a rotational speed of a motor is increased, and a current flowing through the motor is made not greater than a predetermined threshold. For example, the switching of the connection switching device is performed in a state where the current through the motor is made zero. For example, the switching is performed in a state where the output voltage of the DC power supply circuit is set at a value corresponding to the rotational speed of the motor during the switching. It is possible to prevent increase in apparatus size and switch the connection of windings while the motor is rotating.

Abstract: The control device for controlling a robot having a force detector includes an input device, a display, a memory, and a processor. The processor executes a program to repeat receiving of an input via the input device, selecting of an object of operation objects based on the input, and displaying of the selected object a predetermined number of times to complete an object operation flow. The processor converts the completed object operation flow into a control program for controlling the operations of the robot. The display displays a selection for selecting whether an integrator is applied to a difference between time series target force and time series measuring force for a specific control direction. The processor receives an adjusting input via the input device for adjusting an integral gain of the integrator when a result of the execution of the control program is in a predetermined condition.

Abstract: There is provided a driving system including a motor; an inverter configured to drive the motor; a power storage device connected with the inverter via a power line; a smoothing capacitor mounted to the power line; a voltage sensor configured to detect a voltage of the smoothing capacitor; a current sensor configured to detect an electric current of each phase of the motor; and a control device configured to control the inverter, based on a detected value of the current sensor. The control device performs Fourier series expansion of a detected value of the voltage sensor to calculate an electrical first variation component of the voltage of the smoothing capacitor. The control device controls the inverter, such that the electrical first variation component of the voltage of the smoothing capacitor becomes equal to a value 0.

Abstract: Presented are model predictive control (MPC) systems, methods, and devices for regulating operation of hybrid powertrains. A method of controlling a hybrid powertrain includes a controller determining path plan data, including a vehicle origin, destination, and predicted path. Based on this path plan data, the controller estimates vehicle velocities for multiple rolling road segments of the predicted path and, based on the estimated velocities, determines an estimated power request—transmission input torque and/or vehicle axle torque—for each road segment. The controller calculates a minimum cost function such that total fuel consumption to generate the engine power output is minimized. Minimizing the cost function is subject to battery pack current limits and state of charge (SOC) terminal costs at the ends of the rolling road segments. Command signals are sent to the engine and motor to output engine and motor torque based on the calculated minimum cost function.

Abstract: An MDPS (Motor Driven Power Steering) system may include: a vehicle speed sensor configured to sense vehicle speed; a yaw rate sensor configured to sense a tilted state of the vehicle, and output a yaw rate value; a lateral acceleration sensor configured to sense lateral acceleration which acts in a lateral direction of the vehicle; and an MDPS controller configured to receive the vehicle speed, the yaw rate value and the lateral acceleration from the vehicle speed sensor, the yaw rate sensor and the lateral acceleration sensor, respectively, and calculate assist torque by estimating column torque.

Abstract: A motor driving device that drives a motor with an alternating-current power converted from a direct-current power supply, includes an inverter that receives a pulse-width modulation signal and supplies the alternating-current power to the motor, and an inverter control unit that generates the pulse-width modulation signal and supplies the pulse-width modulation signal to the inverter. The inverter control unit reduces the number of pulses of the pulse-width modulation signal generated during a first period within one period of a mechanical angle of the motor to be lower than the number of pulses of the pulse-width modulation signal generated during a second period within the one period of the mechanical angle of the motor. The first period is a period during which a load torque is lower than a load torque during the second period.

Abstract: A torque-sensing and transmitting device is provided. The device includes a transmission body, two vibration-damping members, two inner casings, two outer casings, a first circuit board module, and a battery module. The two inner casings are disposed on a shaft of the transmission body, and a vibration-damping member is disposed between the inner casing and the shaft. The first circuit board module is disposed in one of the two inner casings, and the first circuit board module is covered by a vibration-damping layer. The battery module is disposed on the other inner casing, and the battery module is covered by a vibration-damping layer. With the configuration of the vibration-damping member and the vibration-damping layer, this device solves the problem of the first circuit board module and the battery module being damaged due to vibration.

Abstract: A heating, ventilation, and/or air conditioning (HVAC) system includes a motor configured to drive rotation of a fan, and an HVAC controller configured to control operation of the HVAC system. The HVAC controller is configured to determine an operating mode target value of the HVAC system, calculate an operating parameter target value of the motor based on the operating mode target value of the HVAC system and a control algorithm of the HVAC controller, and control operation of the motor toward or at the operating parameter target value.

Abstract: The vehicle includes an engine comprising a crankshaft, a crankshaft position sensor (CKP) configured to generate a pulse signal corresponding to a rotation of the crankshaft, a battery, a hybrid starter generator (HSG) configured to start the engine based on a power of the battery and charge the battery, and a motor controller unit (MCU) configured to determine a rotation angle of the crankshaft based on the pulse signal received from the CKP, and control the HSG based on the determined rotation angle.

Abstract: A vehicle includes connecting/disconnecting mechanisms (20,30) disposed on power transmission paths between first rotating electric machines (3,4) mounted on the vehicle and an output shaft (12) that drives a wheel, a first rotating electric machine speed sensor (43,44) that detects a rotation speed of the first rotating electric machine (3,4) as a first rotation speed (Nm,Ng), and a wheel speed sensor (42) that detects a rotation speed of the wheel as a wheel speed (Nw).

Abstract: [Problem] An object of the present invention is to provide a vector control type motor control unit that compensates a dead time of an inverter without a tuning operation, improves a distortion of a current waveform and responsibility of the current control, and suppresses sound, vibration and a torque ripple.

Abstract: A motor control unit that vector-controls a 3-phase brushless motor based on a d-axis voltage command value and a q-axis voltage command value via an inverter with feedback-controlling, comprises: a central processing unit which comprises: a dq-axes dead time compensating section to calculate dq-axes dead time compensation values of the inverter and perform a dead time compensation; and a dq-axes disturbance estimating observer to input a d-axis current command value, a q-axis current command value, a motor rotational number, a motor angular velocity, a d-axis feedback current, a q-axis feedback current, the d-axis voltage command value and the q-axis voltage command value and calculate a d-axis disturbance compensation value and a q-axis disturbance compensation value, which cannot be compensated by the dead time compensation, by respectively adding the d-axis disturbance compensation value and the q-axis disturbance compensation value to the d-axis voltage command value and the q-axis voltage command value.

Abstract: A speed estimation apparatus for an AC motor includes a model deviation calculation unit, first and second angular velocity estimation units, and an adder. The deviation calculation unit calculates a model deviation based on a voltage, a current, and an estimated angular velocity of the motor. The first angular velocity estimation unit calculates a first estimated angular velocity as a low-frequency component including a DC component of a real angular velocity based on the model deviation. The second angular velocity estimation unit calculates a second estimated angular velocity as a high-frequency component of a real angular velocity based on a specific high-frequency component of the model deviation. The adder adds the first and second estimated angular velocities together. An addition value of the first and second estimated angular velocities is fed back as the estimated angular velocity to the deviation calculation unit.