| 摘要 |
A torque command Tcmd1 is determined (S1). Unless the torque command exceeds a given limit value K0 during acceleration, the torque command Tcmd1 is output as it is as a torque command (current command) Tcmd2 to the current loop (S2, S3, S9, and S10). If it exceeds the limit value K0, the amplitude I0 of the actual current is determined (S5). A limit value L is determined from the magnitude R (T) of the torque command Tcmd2 determined one cycle before and the limited value K0 (S6). The torque command Tcmd1 is clamped by the limit value L to output it to the current loop as a torque command Tcmd2. During deceleration, the above-mentioned processes from Step S4 to Step S8 are executed. During acceleration, the limit value L can be determined by the amplitude ratio between the current command and the actual current, clamped at this value, and used as the torque command Tcmd. Therefore, the amplitude of the actual current is not reduced, and the output torque is increased. In deceleration, if the actual current is increased due to the counter-electromotive force, the limit value L is reduced to make the command small, so that the actual current does not exceed the limit value. <IMAGE> |
