MOTOR DRIVE CONTROL DEVICE

摘要

PROBLEM TO BE SOLVED: To reduce the gear rattling noise of a reduction gear while avoiding an increase in the size of the reduction gear and an increase in the number of components.SOLUTION: A motor ECU controls a motor to generate a reverse set torque Tn if a target torque T* is reversed (time t1). The motor ECU sequentially calculates backlashes B of a counter gear mechanism, and sets a period D1 for controlling the motor to generate the reverse set torque Tn and a period D2 for controlling the motor to generate a return set torque Tp so that the backlash B at a current time point is equal to a time integral value (corresponding to an area A) of an estimated relative velocity (V2-V1) before re-contact. It is thereby possible to contact tooth of a first gear of the counter gear mechanism with tooth of a second gear of the counter gear mechanism at timing at which a circumferential velocity of the tooth of the first gear is equal to a circumferential velocity of the tooth of the second gear.