Motor control device

1. A motor control device, comprising:

a main torque control value calculation unit calculating a main torque control value;

a final control torque value output unit outputting a final control torque value based on said main torque control value and a vibration-suppression torque control value for mitigating torque fluctuation that occurs when a rotating electric machine is operated at said main torque control value; and

a vibration-suppression torque control value calculation unit calculating said vibration-suppression torque control value;

said vibration-suppression torque control value calculation unit including

an original control value calculation unit calculating an original control value serving as a source of said vibration-suppression torque control value,

a guard processing unit performing guard processing for restricting said original control value by using a vibration-suppression guard value, and

a smoothing unit smoothing an angular portion where rate of change is discontinuous, that is generated in a torque control value that has been subjected to said guard processing.

2. The motor control device according to claim 1 , wherein

said main torque control value calculation unit includes

an original main torque control value calculation unit calculating a first control value serving as a source of said main torque control value in accordance with an acceleration request,

a main guard processing unit performing main guard processing for restricting said first control value by using a main guard value, and

a main torque smoothing unit smoothing an angular portion where rate of change is discontinuous, that is generated in the first control value that has been subjected to said main guard processing, and outputting said main torque control value.

3. A motor control device, comprising:

a main torque control value calculation unit calculating a main torque control value;

a final control torque value output unit outputting a final control torque value based on said main torque control value and a vibration-suppression torque control value for mitigating torque fluctuation that occurs when a rotating electric machine is operated at said main torque control value; and

a vibration-suppression torque control value calculation unit calculating said vibration-suppression torque control value;

said vibration-suppression torque control value calculation unit including

an original control value calculation unit calculating an original control value serving as a source of said vibration-suppression torque control value,

a provisional control value calculation unit calculating a provisional vibration-suppression torque control value by performing filtering processing, assuming that a vibration-suppression guard value is provided next time as said original control value to current said vibration-suppression torque control value, and

a vibration-suppression torque control value selection unit selecting said vibration-suppression torque control value based on comparison of said provisional vibration-suppression torque control value with actually provided said original control value.

4. The motor control device according to claim 3 , wherein

said provisional control value calculation unit uses an upper limit value and a lower limit value as said vibration-suppression guard value to calculate first and second provisional vibration-suppression torque control values, and

said vibration-suppression torque control value selection unit selects said original control value as said vibration-suppression torque control value while said actually provided original control value is present between said first and second provisional vibration-suppression torque control values, and selects any one of said first and second provisional vibration-suppression torque control values as said vibration-suppression torque control value, if said actually provided original control value is not present between said first and second provisional vibration-suppression torque control values.

5. The motor control device according to claim 3 , wherein

said main torque control value calculation unit includes

an original main torque control value calculation unit calculating a first control value serving as a source of said main torque control value in accordance with an acceleration request,

a main guard processing unit performing main guard processing for restricting said first control value by using a main guard value, and

a main torque smoothing unit smoothing an angular portion where rate of change is discontinuous, that is generated in the first control value that has been subjected to said main guard processing, and outputting said main torque control value.

6. A motor control device, comprising: means for calculating a main torque control value;

means for outputting a final control torque value based on said main torque control value and a vibration-suppression torque control value for mitigating torque fluctuation that occurs when a rotating electric machine is operated at said main torque control value; and

means for calculating said vibration-suppression torque control value;

said means for calculating said vibration-suppression torque control value including

means for calculating an original control value serving as a source of said vibration-suppression torque control value,

means for performing guard processing for restricting said original control value by using a vibration-suppression guard value, and

means for smoothing an angular portion where rate of change is discontinuous, that is generated in a torque control value that has been subjected to said guard processing.

7. The motor control device according to claim 6 , wherein

said means for calculating the main torque control value includes

means for calculating a first control value serving as a source of said main torque control value in accordance with an acceleration request,

means for performing main guard processing for restricting said first control value by using a main guard value, and

means for smoothing an angular portion where rate of change is discontinuous, that is generated in the first control value that has been subjected to said main guard processing, and outputting said main torque control value.

8. A motor control device, comprising:

means for calculating a main torque control value;

means for outputting a final control torque value based on said main torque control value and a vibration-suppression torque control value for mitigating torque fluctuation that occurs when a rotating electric machine is operated at said main torque control value; and

means for calculating said vibration-suppression torque control value;

said means for calculating said vibration-suppression torque control value including

means for calculating an original control value serving as a source of said vibration-suppression torque control value,

means for calculating a provisional vibration-suppression torque control value by performing filtering processing, assuming that a vibration-suppression guard value is provided next time as said original control value to current said vibration-suppression torque control value, and

means for selecting said vibration-suppression torque control value based on comparison of said provisional vibration-suppression torque control value with actually provided said original control value.

9. The motor control device according to claim 8 , wherein said means for calculating a provisional vibration-suppression torque control value uses an upper limit value and a lower limit value as said vibration-suppression guard value to calculate first and second provisional vibration-suppression torque control values, and

said means for selecting said vibration-suppression torque control value selects said original control value as said vibration-suppression torque control value while said actually provided original control value is present between said first and second provisional vibration-suppression torque control values, and selects any one of said first and second provisional vibration-suppression torque control values as said vibration-suppression torque control value, if said actually provided original control value is not present between said first and second provisional vibration-suppression torque control values.

10. The motor control device according to claim 8 , wherein

said means for calculating a main torque control value includes

means for calculating a first control value serving as a source of said main torque control value in accordance with an acceleration request,

means for performing main guard processing for restricting said first control value by using a main guard value, and

means for smoothing an angular portion where rate of change is discontinuous, that is generated in the first control value that has been subjected to said main guard processing, and outputting said main torque control value.

11. A motor control device mounted on a vehicle, said vehicle including

a rotating electric machine,

a wheel that rotates along with rotation of said rotating electric machine, and

said motor control device controlling said rotating electric machine, wherein

said motor control device

calculates a main torque control value,

calculates an original control value serving as a source of a vibration-suppression torque control value for mitigating torque fluctuation that occurs when said rotating electric machine is operated at said main torque control value,

performs guard processing for restricting said original control value by using a vibration-suppression guard value,

smoothes an angular portion where rate of change is discontinuous, that is generated in a torque control value that has been subjected to said guard processing, and

outputs a final control torque value based on said main torque control value and said vibration-suppression torque control value.

12. A motor control device mounted on a vehicle, said vehicle including

a rotating electric machine,

a wheel that rotates along with rotation of said rotating electric machine, and

said motor control device controlling said rotating electric machine, wherein

said motor control device

calculates a main torque control value,

calculates an original control value serving as a source of a vibration-suppression torque control value for mitigating torque fluctuation that occurs when said rotating electric machine is operated at said main torque control value,

calculates a provisional vibration-suppression torque control value by performing filtering processing, assuming that a vibration-suppression guard value is provided next time as said original control value to current said vibration-suppression torque control value,

selects said vibration-suppression torque control value based on comparison of said provisional vibration-suppression torque control value with actually provided said original control value, and

outputs a final control torque value based on said main torque control value and said vibration-suppression torque control value.