Motor control apparatus
A manual steering command value generation unit generates a manual steering command value, using a steering torque. A summed angle command value calculation unit calculates a summed angle command value, by adding the manual steering command value to an automatic steering command value. A control unit performs angle control of an electric motor, based on the summed angle command value. The control unit includes a basic torque command value calculation unit that calculates a basic torque command value, a disturbance torque estimation unit that estimates a disturbance torque other than a motor torque of the electric motor applied to an object driven by the electric motor, and a disturbance torque compensation unit that corrects the basic torque command value, based on the disturbance torque. The manual steering command value generation unit uses an estimated torque calculated based on the disturbance torque, when generating the manual steering command value.
1. A motor control apparatus that controls driving of an electric motor for steering angle control, the motor control apparatus comprising:
a processor programed to
generate a manual steering command value using a steering torque;
calculate a summed angle command value by adding the manual steering command value to an automatic steering command value;
perform angle control of the electric motor based on the summed angle command value;
calculate a basic torque command value based on the summed angle command value;
estimate an estimated disturbance torque other than a motor torque of the electric motor applied to an object driven by the electric motor, the estimated disturbance torque including the steering torque, a road surface load torque, and a friction torque;
correct the basic torque command value based on the estimated disturbance torque; and
use the estimated disturbance torque as an input of an equation of motion of a reference model to generate the manual steering command value, the reference model being an inertia model including a portion of a column of a steering system.
2. The motor control apparatus according to claim 1 , wherein the processor generates the manual steering command value further using a virtual spring-damper load.
3. The motor control apparatus according to claim 2 , wherein the road surface load torque is one of (i) a value obtained by subtracting the steering torque from a high-frequency component of the estimated disturbance torque having a frequency higher than a predetermined frequency and (ii) a value obtained by subtracting the steering torque and the friction torque from the high-frequency component of the estimated disturbance torque.
4. The motor control apparatus according to claim 1 , wherein the road surface load torque is calculated using a virtual spring-damper load and a high-frequency component of the estimated disturbance torque having a frequency higher than a predetermined frequency.
5. The motor control apparatus according to claim 1 , wherein the manual steering command value is generated further using one of (i) a value obtained by subtracting the steering torque from the estimated disturbance torque and (ii) a value obtained by subtracting the steering torque and the friction torque from the estimated disturbance torque.