| 摘要 |
Energization stages are formed by first and second sensor groups and a torque constant is defined for each of the stages. A target current value is computationally determined so as to drive a motor under control. As a torque command showing a target torque of the motor is input to the controller, the target current value is computationally determined for each stage according to a torque constant map, which provides a table of torque constants for different phases and different stages. The rotor angle of the motor is detected by Hall sensors and the current stage is computationally determined on the basis of the detected rotor angle. Then, a target current value is defined as a function of the target torque for each stage on the basis of the current stage and the motor is driven by the driver under PID control based on the target current value.
|
