Controller circuit of motor and control method
The present disclosure provides a controller circuit, which is a controller circuit of a motor. The controller circuit includes: a compensator, configured to generate a manipulated amount corresponding to an error between a detected value of a control amount of the motor and a command value of the control amount; and a disturbance observer. The disturbance observer has a transfer function of a system in which the command value is an input, and the control amount is an output. The disturbance observer is configured to generate a virtual control amount by inputting the command value to the transfer function and correct the command value based on a disturbance estimated value according to a difference between the virtual control amount and the detected value of the control amount.
1 . A controller circuit, which is a controller circuit of a motor, comprising:
a compensator, configured to generate a manipulated amount corresponding to an error between a detected value of a control amount of the motor and a corrected command value of the control amount; and
a disturbance observer,
having a transfer function of a system in which a command value of the control amount is an input, and the control amount is an output,
configured to generate a virtual control amount by inputting the command value to the transfer function, and
configured to correct the command value so as to generate the corrected command value based on a disturbance estimated value according to a difference between the virtual control amount and the detected value of the control amount.
2 . The controller circuit of claim 1 , wherein the control amount is a current flowing through a coil of the motor.
3 . The controller circuit of claim 1 , wherein the control amount is a rotational speed of the motor.
4 . A controller circuit, which is a controller circuit of a motor, comprising:
a major controller, configured to control a minor loop using a current flowing through the motor as a control amount; and
a minor controller, configured to control a major loop using a rotational speed of the motor as a control amount, wherein
at least one of the major controller and the minor controller includes:
a compensator, configured to generate a manipulated amount corresponding to an error between a detected value of a control amount of the motor and a corrected command value of the control amount; and
a disturbance observer,
having a transfer function of a system in which a command value of the control amount is an input and the control amount is an output,
configured to generate a virtual control amount by inputting the command value to the transfer function, and
configured to correct the command value so as to generate the corrected command based on a disturbance estimated value according to a difference between the virtual control amount and the detected value of the control amount.
5 . A control method, which is a control method of a motor, comprising:
generating a manipulated amount corresponding to an error between a detected value of a control amount of the motor and a corrected command value of the control amount;
generating a virtual control amount by inputting a command value of the control amount to a filter having a transfer function of a system in which the command value is an input, and the control amount is an output; and
correcting the command value so as to generate the corrected command value based on a disturbance estimated value according to a difference between the virtual control amount and the detected value of the control amount.