| 摘要 |
Provided is a device for stable control that prevents overcompensation, vibrational instability and interference due to torque pulsation compensation signals, etc. while making the learning of pulsation compensation signals reliable and easy. A controller (5) performs a Fourier transform on the detected axial torque value of an electric motor (1) that is driven by an inverter (7), detects torque pulsation components with two Fourier coefficients, learns a compensation current that suppresses torque pulsations by means of a PID learning controller, and suppresses torque pulsations by superimposing the torque pulsation compensation current on the d and q axial current command values id* and iq* in vector control. The controller (5) configures the torque pulsation suppression learning control system by detection of the two Fourier coefficients with a complex vector plane. The controller also uses the frequency characteristics of the controlled system or the system identification results and represents same in the complex vector plane as complex vectors and decouples the real part and imaginary part of the complex vectors from the pulsation compensation current and electric motor driving system based on the interaction term of the two Fourier coefficients. |
