| 摘要 |
<p>PROBLEM TO BE SOLVED: To prevent the occurrence of vibration and noise in a driving system due to a torque ripple when a load torque of a motor shaft decreases.SOLUTION: A motor control device comprises a torque command generation part (12) for generating a first torque command on the basis of vehicle information, a position and speed detection part (11) for detecting a rotational position and a rotational speed of a motor, a torque ripple compensation part (13) for generating a torque ripple compensation signal on the basis of the first torque command and the rotational position, an addition part (14) for adding the first torque command to the torque ripple compensation signal to generate a second torque command, a torque limitation part (15) for generating a torque that the size of the second torque command is limited as a third torque command on the basis of the first torque command, and current control parts(16 and 17) for controlling a motor current flowing in the motor on the basis of the rotational position, the rotational speed and the third torque command.</p> |
