| 摘要 |
<P>PROBLEM TO BE SOLVED: To suppress the occurrence of torque vibration while at the same time achieving a damping effect. <P>SOLUTION: A first term of a second torque target value is output according to a torque command value by a first filtering (transfer characteristic H(s)). A second term of the second torque target value is output according to the rotational speed of a motor by a second filtering (transfer characteristic H(s)/Gp(s)). Based on a deviation between the first term and the second term of the second torque target value, the second torque target value for calculating the torque command value is calculated. In this case, a second term calculation means uses an attenuation coefficient ζ set at a value larger than an identification value ζz of a transfer characteristic model Gp(s) in the second filtering. <P>COPYRIGHT: (C)2011,JPO&INPIT |
