Motor controller and electric power steering apparatus

1. A motor controller comprising a DUTY instruction value generation section, a PWM output section, and a PWM inverter, the DUTY instruction value generation section generating a DUTY instruction value through a feedback control based on a deviation of an actual current value from a current command value, the PWM output section outputting a gate ON/OFF signal according to comparison between the DUTY instruction value and a carrier wave, the PWM inverter being formed of a plurality of switching element circuits connected in parallel, each switching element circuit being formed of a pair of switching elements connected in series, wherein, when each switching element is turned on and off based on the gate ON/OFF signal, the PWM inverter converts a direct-current power supply to three-phase drive power, and supplies the three-phase drive power to a brushless motor, wherein dead time is set to prevent arm short circuits due to ON/OFF switching of each switching element, and wherein the gate ON/OFF signal is renewed at every predetermined cycle, the motor controller, further comprising:

a current direction determination section that determines the direction of current of each phase;

a rotation angular velocity computation section that computes a rotation angular velocity of the brushless motor;

a compensation amount determination section that determines a compensation amount for correcting the DUTY instruction value based on the rotation angular velocity, wherein the greater the absolute value of the rotation angular velocity, the smaller the compensation amount determined by the compensation amount determination section becomes,

a dead time compensation section that selectively adds the compensation amount to and subtracts the compensation amount from the DUTY instruction value according to the current direction of each phase; and

a gain determination section that determines a feedback gain of the feedback control based on the rotation angular velocity, wherein the gain determination section changes the feedback gain such that the greater the absolute value of the rotation angular velocity, the higher the responsivity of the feedback control becomes.

2. The motor controller according to claim 1 , wherein the DUTY instruction value generation section includes a d/q transformation section, a feedback control section, a d/q inverse transformation section, and a PWM computation section,

wherein the d/q transformation section transforms three phase current values into a d-axis current value and a q-axis current value of a d/q coordinate system,

wherein the feedback control section performs a feedback control based on deviation of the d-axis current value and the q-axis current value from a d-axis current command value and a q-axis current command value, thereby computing a d-axis voltage command value and a q-axis voltage command value,

wherein the d/q inverse transformation section transforms the d-axis voltage command value and the q-axis voltage command value into three phase voltage command values,

wherein the PWM computation section computes a DUTY instruction value based on the phase voltage command values, and

wherein the gain determination section determines, as feedback gains, a proportionality gain and an integration gain each corresponding to one of the d-axis and the q-axis.

3. A motor controller comprising a DUTY instruction value generation section, a PWM output section, and a PWM inverter, the DUTY instruction value generation section generating a DUTY instruction value through a feedback control based on a deviation of an actual current value from a current command value, the PWM output section outputting a gate ON/OFF signal according to comparison between the DUTY instruction value and a carrier wave, the PWM inverter being formed of a plurality of switching element circuits connected in parallel, each switching element circuit being formed of a pair of switching elements connected in series, wherein, when each switching element is turned on and off based on the gate ON/OFF signal, the PWM inverter converts a direct-current power supply to three-phase drive power, and supplies the three-phase drive power to a brushless motor, wherein dead time is set to prevent arm short circuits due to ON/OFF switching of each switching element, and wherein the gate ON/OFF signal is renewed at every predetermined cycle, the motor controller, further comprising:

a current direction determination section that determines the direction of current of each phase;

a rotation angular velocity computation section that computes a rotation angular velocity of the brushless motor;

a compensation amount determination section that determines a compensation amount for correcting the DUTY instruction value based on the rotation angular velocity, wherein the greater the absolute value of the rotation angular velocity, the smaller the compensation amount determined by the compensation amount determination section become;

a dead time compensation section that selectively adds the compensation amount to and subtracts the compensation amount from the DUTY instruction value according to the current direction of each phase; and

a gain determination section that determines a feedback gain of the feedback control based on the rotation angular velocity, wherein the greater the absolute value of the rotation angular velocity, the greater the value of the feedback gain determined by the gain determination section becomes.

4. The motor controller according to claim 3 , wherein the DUTY instruction value generation section includes a d/q transformation section, a feedback control section, a d/q inverse transformation section, and a PWM computation section,

wherein the d/q transformation section transforms three phase current values into a d-axis current value and a q-axis current value of a d/q coordinate system;

wherein the feedback control section performs a feedback control based on deviation of the d-axis current value and the q-axis current value from a d-axis current command value and a q-axis current command value, thereby computing a d-axis voltage command value and a q-axis voltage command value,

wherein the d/q inverse transformation section transforms the d-axis voltage command value and the q-axis voltage command value into three phase voltage command values,

wherein the PWM computation section computes a DUTY instruction value based on the phase voltage command values, and

wherein the gain determination section determines, as feedback gains, a proportionality gain and an integration gain each corresponding to one of the d-axis and the q-axis.

5. A motor controller comprising a DUTY instruction value generation section, a PWM output section, and a PWM inverter, the DUTY instruction value generation section generating a DUTY instruction value through a feedback control based on a deviation of an actual current value from a current command value, the PWM output section outputting a gate ON/OFF signal according to comparison between the DUTY instruction value and a carrier wave, the PWM inverter being formed of a plurality of switching element circuits connected in parallel, each switching element circuit being formed of a pair of switching elements connected in series, wherein, when each switching element is turned on and off based on the gate ON/OFF signal, the PWM inverter converts a direct-current power supply to three-phase drive power, and supplies the three-phase drive power to a brushless motor, wherein dead time is set to prevent arm short circuits due to ON/OFF switching of each switching element, and wherein the gate ON/OFF signal is renewed at every predetermined cycle, the motor controller, further comprising:

a current direction determination section that determines the direction of current of each phase;

a rotation angular velocity computation section that computes a rotation angular velocity of the brushless motor;

a compensation amount determination section that determines a compensation amount for correcting the DUTY instruction value based on the rotation angular velocity, wherein, when the absolute value of the rotation angular velocity is greater than a predetermined value, the compensation amount determination section determines the compensation amount such that the compensation amount is smaller than the compensation amount in a case where the absolute value of the rotational angular velocity is less than the predetermined value;

a dead time compensation section that selectively adds the compensation amount to and subtracts the compensation amount from the DUTY instruction value according to the current direction of each phase; and

a gain determination section that determines a feedback gain of the feedback control based on the rotation angular velocity, wherein the greater the absolute value of the rotation angular velocity, the greater the value of the feedback gain determined by the gain determination section becomes.

6. The motor controller according to claim 5 , wherein the compensation amount determination section determines the compensation amount such that the compensation amount is zero when the absolute value of the rotational angular velocity is greater than the predetermined value.

7. The motor controller according to claim 5 , wherein the DUTY instruction value generation section includes a d/q transformation section, a feedback control section, a d/q inverse transformation section, and a PWM computation section,

wherein the d/q transformation section transforms three phase current values into a d-axis current value and a q-axis current value of a d/q coordinate system,

wherein the feedback control section performs a feedback control based on deviation of the d-axis current value and the q-axis current value from a d-axis current command value and a q-axis current command value, thereby computing a d-axis voltage command value and a q-axis voltage command value,

wherein the d/q inverse transformation section transforms the d-axis voltage command value and the q-axis voltage command value into three phase voltage command values,

wherein the PWM computation section computes a DUTY instruction value based on the phase voltage command values, and

wherein the gain determination section determines, as feedback gains, a proportionality gain and an integration gain each corresponding to one of the d-axis and the q-axis.

8. An electric power steering apparatus having a motor controller, wherein the motor controller includes:

a DUTY instruction value generation section that generates a DUTY instruction value through a feedback control based on a deviation of an actual current value from a current command value;

a PWM output section that outputs a gate ON/OFF signal according to comparison between the DUTY instruction value and a carrier wave;

a PWM inverter that is formed of a plurality of switching element circuits connected in parallel, each switching element circuit being formed of a pair of switching elements connected in series, wherein, when each switching element is turned on and off based on the gate ON/OFF signal, the PWM inverter converts a direct-current power supply to three-phase drive power, and supplies the three-phase drive power to a brushless motor;

wherein dead time is set to prevent arm short circuits due to ON/OFF switching of each switching element,

wherein the gate ON/OFF signal is renewed at every predetermined,cycle,

a current direction determination section that determines the direction of current of each phase;

a rotation angular velocity computation section that computes a rotation angular velocity of the brushless motor;

a compensation amount determination section that determines a compensation amount for correcting the DUTY instruction value based on the rotation angular velocity, wherein the greater the absolute value of the rotation angular velocity, the smaller the compensation amount determined by the compensation amount determination section become;

a dead time compensation section that selectively adds the compensation amount to and subtracts the compensation amount from the DUTY instruction value according to the current direction of each phase; and

a gain determination section that determines a feedback gain of the feedback control based on the rotation angular velocity, wherein the gain determination section changes the feedback gain such that the greater the absolute value of the rotation angular velocity, the higher the responsivity of the feedback control becomes.

9. The electric power steering apparatus according to claim 8 , wherein the DUTY instruction value generation section includes a d/q transformation section, a feedback control section, a d/q inverse transformation section, and a PWM computation section,

wherein the d/q transformation section transforms three phase current values into a d-axis current value and a q-axis current value of a d/q coordinate system,

wherein the feedback control section performs a feedback control based on deviation of the d-axis current value and the q-axis current value from a d-axis current command value and a q-axis current command value, thereby computing a d-axis voltage command value and a q-axis voltage command value,

wherein the d/q inverse transformation section transforms the d-axis voltage command value and the q-axis voltage command value into three phase voltage command values,

wherein the PWM computation section computes a DUTY instruction value based on the phase voltage command values, and

wherein the gain determination section determines, as feedback gains, a proportionality gain and an integration gain each corresponding to one of the d-axis and the q-axis.

10. An electric power steering apparatus having a motor controller, wherein the motor controller includes:

a DUTY instruction value generation section that generates a DUTY instruction value through a feedback control based on a deviation of an actual current value from a current command value;

a PWM output section that outputs a gate ON/OFF signal according to comparison between the DUTY instruction value and a carrier wave;

a PWM inverter that is formed of a plurality of switching element circuits connected in parallel, each switching element circuit being formed of a pair of switching elements connected in series, wherein, when each switching element is turned on and off based on the gate ON/OFF signal, the PWM inverter converts a direct-current power supply to three-phase drive power, and supplies the three-phase drive power to a brushless motor;

wherein dead time is set to prevent arm short circuits due to ON/OFF switching of each switching element,

wherein the gate ON/OFF signal is renewed at every predetermined cycle,

a current direction determination section that determines the direction of current of each phase;

a rotation angular velocity computation section that computes a rotation angular velocity of the brushless motor;

a compensation amount determination section that determines a compensation amount for correcting the DUTY instruction value based on the rotation angular velocity, wherein the greater the absolute value of the rotation angular velocity, the smaller the compensation amount determined by the compensation amount determination section become;

a dead time compensation section that selectively adds the compensation amount to and subtracts the compensation amount from the DUTY instruction value according to the current direction of each phase; and

a gain determination section that determines a feedback gain of the feedback control based on the rotation angular velocity, wherein the greater the absolute value of the rotation angular velocity, the greater the value of the feedback gain determined by the gain determination section becomes.

11. The electric power steering apparatus according to claim 10 , wherein the DUTY instruction value generation section includes a d/q transformation section, a feedback control section, a d/q inverse transformation section, and a PWM computation section,

wherein the d/q transformation section transforms three phase current values into a d-axis current value and a q-axis current value of a d/q coordinate system,

wherein the feedback control section performs a feedback control based on deviation of the d-axis current value and the q-axis current value from a d-axis current command value and a q-axis current command value, thereby computing a d-axis voltage command value and a q-axis voltage command value,

wherein the d/q inverse transformation section transforms the d-axis voltage command value and the q-axis voltage command value into three phase voltage command values,

wherein the PWM computation section computes a DUTY instruction value based on the phase voltage command values, and

wherein the gain determination section determines, as feedback gains, a proportionality gain and an integration gain each corresponding to one of the d-axis and the q-axis.

12. An electric power steering apparatus having a motor controller, wherein the motor controller includes:

a DUTY instruction value generation section that generates a DUTY instruction value through a feedback control based on a deviation of an actual current value from a current command value;

a PWM output section that outputs a gate ON/OFF signal according to comparison between the DUTY instruction value and a carrier wave;

a PWM inverter that is formed of a plurality of switching element circuits connected in parallel, each switching element circuit being formed of a pair of switching elements connected in series, wherein, when each switching element is turned on and off based on the gate ON/OFF signal, the PWM inverter converts a direct-current power supply to three-phase drive power, and supplies the three-phase drive power to a brushless motor;

wherein dead time is set to prevent arm short circuits due to ON/OFF switching of each switching element,

wherein the gate ON/OFF signal is renewed at every predetermined cycle,

a current direction determination section that determines the direction of current of each phase;

a rotation angular velocity computation section that computes a rotation angular velocity of the brushless motor;

a compensation amount determination section that determines a compensation amount for correcting the DUTY instruction value based on the rotation angular velocity, wherein, when the absolute value of the rotation angular velocity is greater than a predetermined value, the compensation amount determination section determines the compensation amount such that the compensation amount is smaller than the compensation amount in a case where the absolute value of the rotational angular velocity is less than the predetermined value;

a dead time compensation section that selectively adds the compensation amount to and subtracts the compensation amount from the DUTY instruction value according to the current direction of each phase; and

a gain determination section that determines a feedback gain of the feedback control based on the rotation angular velocity, wherein the greater the absolute value of the rotation angular velocity, the greater the value of the feedback gain determined by the gain determination section becomes.

13. The electric power steering apparatus according to claim 12 , wherein the compensation amount determination section determines the compensation amount such that the compensation amount is zero when the absolute value of the rotational angular velocity is greater than the predetermined value.

14. The electric power steering apparatus according to claim 12 , wherein the DUTY instruction value generation section includes a d/q transformation section, a feedback control section, a d/q inverse transformation section, and a PWM computation section,

wherein the d/q transformation section transforms three phase current values into a d-axis current value and a q-axis current value of a d/q coordinate system,

wherein the feedback control section performs a feedback control based on deviation of the d-axis current value and the q-axis current value from a d-axis current command value and a q-axis current command value, thereby computing a d-axis voltage command value and a q-axis voltage command value,

wherein the d/q inverse transformation section transforms the d-axis voltage command value and the q-axis voltage command value into three phase voltage command values,

wherein the PWM computation section computes a DUTY instruction value based on the phase voltage command values, and

wherein the gain determination section determines, as feedback gains, a proportionality gain and an integration gain each corresponding to one of the d-axis and the q-axis.