Motor control apparatus having part for phase compensation

摘要

This disclosure discloses a motor control apparatus including a current conversion part, a voltage control part, a current detection part, and a current estimation part. The current conversion part generates a voltage command on the basis of a current deviation between a current command and an estimated current. The voltage control part controls an output voltage to a motor. The current detection part detects a motor current. The current estimation part inputs the detected motor current and the voltage command and outputs the motor current in which an influence by a disturbance has been compensated for as the estimated current.

主权项

1. A motor control apparatus comprising:
a current conversion part configured to generate a voltage command on the basis of a current deviation between a current command and an estimated current; a voltage control part configured to control an output voltage to a motor on the basis of the voltage command; a current detection part configured to detect a motor current to be supplied to the motor; and a current estimation part configured to input the detected motor current and the voltage command and to output the motor current in which an influence by a disturbance has been compensated for as the estimated current, wherein the current estimation part includes:
a voltage equation model of the motor configured to input the voltage command and to output the estimated current;a first observer gain and a second observer gain that are multiplied by a difference between the detected motor current and the estimated current; andan integrator configured to integrate an output of the second observer gain, and wherein an output of the first observer gain is added to the voltage equation model of the motor and an output of the integrator is added to the voltage command.