| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motor control apparatus for controlling a motor by means of a new control system without using a rotational angle sensor. <P>SOLUTION: The motor control apparatus drives a motor with a γ-axis current I<SB>γ</SB>of a γδ coordinate system which is a virtual rotational coordinate system. The γδ coordinate system is a coordinate system which follows a control angle θ<SB>C</SB>which is a rotational angle on control. A difference between the control angle θ<SB>C</SB>and a rotor angle θ<SB>M</SB>is a load angle θ<SB>L</SB>. An assist torque T<SB>A</SB>corresponding to the load angle θ<SB>L</SB>occurs. Meanwhile, a steering torque T is fed back and an addition angle α is generated to bring the steering torque T near an indicated steering torque T<SP>*</SP>. By adding the addition angle α to a last value θ<SB>C</SB>(n-1) of the control angle θ<SB>C</SB>, a this-time value θ<SB>C</SB>(n) of the control angle θ<SB>C</SB>is obtained. The addition angle α is limited by the addition angle limiter 24. A limit value ω<SB>max</SB>of the addition angle limiter 24 is changed with a symbol of a multiplication value ΔT*T' obtained by multiplying a torque deviation ΔT by a steering torque differentiated value T'. <P>COPYRIGHT: (C)2010,JPO&INPIT |
