Motor control device, motor control method, steering system, and vehicle drive system
A motor control device includes: an inverter circuit that drives a motor; and a control unit that generates a current command value on the basis of a torque command to the motor, and outputs a PWM pulse to the inverter circuit on the basis of the current command value to control the inverter circuit, and the control unit sets a phase shift amount of a carrier wave of the PWM pulse, estimates a fluctuating torque according to the phase shift amount, and corrects the current command value on the basis of the fluctuating torque.
1 . A motor control device, comprising:
an inverter circuit that drives a motor; and
a control unit that generates a current command value on a basis of a torque command to the motor, and outputs a PWM pulse to the inverter circuit on a basis of the current command value to control the inverter circuit,
wherein the control unit sets a phase shift amount of a carrier wave of the PWM pulse, estimates a fluctuating torque according to the phase shift amount, corrects the current command value on a basis of the fluctuating torque, and includes a carrier frequency selecting unit that selects a carrier frequency of the carrier wave and a number of synchronization pulses of the PWM pulse per electrical angle cycle, and
wherein the carrier frequency selecting unit sets the number of synchronization pulses to a positive integer.
2 . The motor control device according to claim 1 , wherein the carrier frequency selecting unit sets the number of synchronization pulses to an odd number.
3 . The motor control device according to claim 1 , wherein
the control unit includes a phase shift amount setting unit that sets the phase shift amount on a basis of a DC voltage input to the inverter circuit, the number of synchronization pulses, the carrier frequency, and the torque command, and
the phase shift amount setting unit selects one of torque pulsation generated in a circumferential direction of the motor and an electromagnetic exciting force generated in a radial direction of the motor, and sets the phase shift amount so as to reduce the selected torque pulsation or the electromagnetic exciting force.
4 . The motor control device according to claim 3 , wherein the control unit includes a fluctuating torque estimating unit that estimates the fluctuating torque on a basis of the DC voltage input to the inverter circuit, the carrier frequency, the torque command, a rotation speed of the motor, and the phase shift amount.
5 . The motor control device according to claim 4 , wherein the control unit includes a carrier wave generating unit that generates the carrier wave on a basis of the carrier frequency and the phase shift amount.
6 . The motor control device according to claim 5 , wherein the control unit includes a current command value correcting unit that corrects the current command value on a basis of the DC voltage input to the inverter circuit, the rotation speed of the motor, the torque command, and the fluctuating torque.
7 . The motor control device according to claim 6 , wherein the current command value correcting unit changes a ratio between a d-axis current command value and a q-axis current command value of the current command value according to the rotation speed of the motor.
8 . The motor control device according to claim 6 , wherein the current command value correcting unit sets the current command value on a basis of a voltage amplitude ratio between an amplitude of the DC voltage input to the inverter circuit and an amplitude of a voltage command value to be output.
9 . The motor control device according to claim 1 , further comprising:
a DC power supply that supplies a DC voltage to the inverter circuit; and
a booster circuit that boosts the DC voltage of the DC power supply.
10 . A steering system, comprising:
the motor control device according to claim 1 ; and
the motor controlled by the motor control device,
wherein the motor controls a steering of a vehicle.
11 . A vehicle drive system, comprising:
the motor control device according to claim 1 ; and
the motor controlled by the motor control device,
wherein the motor drives and controls a vehicle.
12 . A vehicle drive system, comprising:
the motor control device according to claim 1 ;
an internal combustion engine; and
the motor controlled by the motor control device,
wherein the motor and the internal combustion engine drive and control a vehicle.
13 . A motor control method for controlling an inverter circuit by generating a current command value on a basis of a torque command to a motor and outputting a PWM pulse to the inverter circuit on a basis of the current command value, the motor control method comprising:
selecting a carrier frequency of a carrier wave and a number of synchronization pulses of the PWM pulse per electrical angle cycle,
setting the number of synchronization pulses to a positive integer,
setting a phase shift amount of the carrier wave of the PWM pulse,
estimating a fluctuating torque according to the phase shift amount, and
correcting the current command value on a basis of the fluctuating torque.