MOTOR-RIPPLE INHIBITING APPARATUS AND MOTOR-RIPPLE INHIBITING METHOD

摘要

Provided is a motor-ripple inhibiting apparatus that can estimate an error in a system identification model. The motor-ripple inhibiting apparatus is provided with: a Periodic Disturbance Observer (PDO) that estimates disturbance torque by multiplying an axis torque (Tn) of a motor (actual plant (Pn)) driven by vector control of an inverter, by an inverse function of a frequency transfer function from a torque-ripple compensation-current command value to a detected axis-torque value; an error estimator (100) that compares an axis torque (Tn) in initial state just before starting torque-ripple inhibiting control, and an estimated axis-torque value (T^n) estimated from a system identification model (P^n) at the final state when torque ripples have been negated sufficiently after starting the torque-ripple inhibiting control, assuming the estimated-disturbance value (dI^n) estimated by the PDO to be a disturbance, and obtains a system-identification-model error (?Pn); and a memory (110) for storing the error (?Pn). The system identification model (P^n) of the PDO is corrected using the error (?Pn) within the memory (110).