| 摘要 |
PROBLEM TO BE SOLVED: To provide a controlling apparatus of an electric motor to balance various trade-off such as properties for damping, accelerating, resisting noise and robustness to variations of characteristics. SOLUTION: A controller K corrects a target torque w1 by using a correcting quantity based on a motor rotating speed Nm to find an indicating torque T and controls the electric motor in accordance with the indicating torque T. The target torque w1 is made one of inputs w, and the difference z1 between an output from an actual model psys which is model of actual characteristics of the electric motor and a reference model rsys which has ideal properties for tracking and damping is made one of controlling quantities z. The variations of characteristics, a torque ripple and sensor noise caused by differences between types of vehicles are represented as weighting functions wm1, wm2 and wn, respectively. A perturbation output w2 and the sensor noise w3 are treated as inputs w, and the output of the weighting function wm2 is treated as the controlled quantity z. The controller is determined by solving an H∞control problem which makes the H∞ norm of a transfer function from the inputs w to the controlled quantities z to be less than a predetermined value. |
