Control apparatus for motor
View Patent ↗A normal revolution number calculation unit calculates a normal revolution number of a driving motor generator in every control period, based on a signal from a rotational position sensor. A moving average calculation unit calculates a moving average revolution number of the normal revolution number given in every control period. A predicted revolution number calculation unit determines whether or not the revolution number of the motor generator is in an increasing state, from the locus of the moving average revolution number. Determining that the revolution number of the motor generator is in the increasing state, the predicted revolution number calculation unit calculates a predicted revolution number based on respective moving average revolution numbers in the present and preceding control periods. The calculated predicted revolution number is set to be used as a control revolution number and output to a motor control unit and a torque command calculation unit.
1. A control apparatus for a motor driving and controlling the motor according to a driving-force command value, the control apparatus comprising:
a revolution number detection unit detecting a number of revolutions of said motor;
a moving average calculation unit calculating a moving average of a detected value of said number of revolutions;
a revolution number estimation unit estimating a predicted number of revolutions at a predetermined control timing, using said calculated moving average;
a driving-force command setting unit using said estimated predicted number of revolutions as a control revolution number and setting said driving-force command value at said predetermined control timing based on said control revolution number; and
a motor drive control unit receiving an electric power from a power supply and driving and controlling said motor such that an output of said motor follows said driving-force command value.
2. The control apparatus for the motor according to claim 1 , wherein
said driving-force command setting unit sets said driving-force command value such that, when said motor operates in a power running mode, an amount of power consumed by said motor according to said control revolution number and said driving-force command value does not exceed an output power limitation value of said power supply, and sets said driving-force command value such that, when said motor operates in a regenerative mode, an amount of power generated by said motor according to said control revolution number and said driving-force command value does not exceed an input power limitation value of said power supply.
3. The control apparatus for the motor according to claim 1 , further comprising a revolution-number varying state determination unit determining whether said number of revolutions is in an increasing state or a decreasing state, based on said moving average, wherein
said revolution number estimation unit estimates said predicted number of revolutions at said predetermined control timing when it is determined that said number of revolutions is in said increasing state, and inhibits estimation of said predicted number of revolutions when it is determined that said number of revolutions is in said decreasing state.
4. The control apparatus for the motor according to claim 3 , wherein
said revolution number estimation unit directly sets and outputs said detected value of the number of revolutions to be used as said predicted number of revolutions, when it is determined that said number of revolutions is in said decreasing state.
5. The control apparatus for the motor according to claim 4 , wherein
said revolution-number varying state determination unit determines that said number of revolutions is in said increasing state when said moving average increases in n (n is a natural number not less than 2) successive control periods, and determines that said number of revolutions is in said decreasing state when said moving average decreases in m (m is a natural number not less than 2) successive control periods.
6. The control apparatus for the motor according to claim 5 , wherein
said revolution number estimation unit sets said predicted number of revolutions larger than said predicted number of revolutions that is estimated based on said moving average and lower than said detected value of the number of revolutions, in a period from start of decrease of said moving average to determination that said number of revolutions is in said decreasing state.
7. The control apparatus for the motor according to claim 5 , wherein
said revolution-number varying state determination unit sets said n relatively smaller as an amount of increase of said moving average in said control periods is larger, and sets said m relatively smaller as an amount of decrease of said moving average in said control periods is larger.
8. The control apparatus for the motor according to claim 2 , further comprising a revolution-number varying state determination unit determining whether said number of revolutions is in an increasing state or a decreasing state, based on said moving average, wherein
said revolution number estimation unit estimates said predicted number of revolutions at said predetermined control timing when it is determined that said number of revolutions is in said increasing state, and inhibits estimation of said predicted number of revolutions when it is determined that said number of revolutions is in said decreasing state.