Motor control device

摘要

A motor control device including: a following control unit that calculates a pre-correction torque command based on a difference between an operation command signal for commanding an operation of a motor and a detection signal resulting from detecting an operation of the motor; an adder that outputs a post-correction torque command by adding the pre-correction torque command to a correction torque command; and an electric-current control unit that outputs a drive current driving the motor based on the post-correction torque command, wherein the motor control device executes control so that the detection signal matches the operation command signal, and further including: a reference-periodic-signal computation unit; an amplitude/phase estimation unit; and a correction-torque computation unit, so that the correction torque command is updated such that a difference between the correction torque command and the post-correction torque command becomes smaller.

主权项

1. A motor control device comprising:
a following control unit that calculates a pre-correction torque command based on a difference between an operation command signal for commanding an operation of a motor and a detection signal that is a result of detecting an operation of the motor; an adder that outputs a post-correction torque command by adding the pre-correction torque command to a correction torque command; and an electric-current control unit that outputs a drive current for driving the motor based on the post-correction torque command, wherein the motor control device executes control so that the detection signal matches the operation command signal, and wherein the motor control device further comprises: a reference-periodic-signal computation unit that calculates, based on the detection signal, a reference periodic signal with a period that is same as that of a torque ripple caused by the motor and that is dependent on a position of the motor an amplitude/phase estimation unit that sequentially estimates an amplitude of the post-correction torque command and a phase of the post-correction torque command relative to the reference periodic signal based on the reference periodic signal and the post-correction torque command that is an output from the adder, and a correction-torque computation unit that sequentially updates the correction torque command input to the adder so that a difference between the correction torque command input to the adder and the post-correction torque command output from the adder becomes small, by using an amplitude and a phase of the post-correction torque command that are estimated by the amplitude/phase estimation unit.