| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to suppress a rotational speed fluctuation in an MG (motor generator) with less influence of an output error of a rotational angle sensor or a current sensor.SOLUTION: In a motor rotational speed control, a basic torque command value Tpi is calculated so as to decrease a deviation &Dgr;Nm between a target rotational speed Nt of an MG 12 and an actual rotational speed Nm thereof, a disturbance torque Tobs is calculated on the basis of previous values of the actual rotational speed Nm and the torque command value Tm, and a disturbance torque correction for correcting the basic torque command value Tpi is made using this disturbance torque Tobs to obtain a final torque command value Tm. At this time, if a rotational sensor error learning or a current sensor error learning is not completed yet, the disturbance torque correction is restricted (response to the disturbance torque correction is reduced by decreasing gain at the time of calculating the disturbance torque). This can suppress a periodic fluctuation in a disturbance torque calculated value due to an influence of an output error of a rotational angle sensor or a current sensor. |
