Motor control apparatus

1. A motor control apparatus, comprising:

a current controller for generating a voltage command signal on the basis of a torque command for driving a motor and a fundamental wave current of the motor;

a high frequency voltage generator for generating a high frequency voltage signal for injecting into the voltage command signal;

an inverter for applying a voltage to the motor on the basis of the voltage command signal and the high frequency voltage signal;

an angle estimator for generating an estimated angle of a rotor of the motor on an estimated coordinate system on the basis of a current signal of the motor; and

a compensator for adding a first compensation signal (i comp ) to the current signal (i sig ),

wherein the first compensation signal (i comp ) is related to the torque command and the estimated angle,

wherein the current signal (i sig ) is obtained by extracting a signal corresponding to a frequency of the high frequency voltage signal from the motor current, and

wherein the current signal (i sig ) is an estimated q-axis component of the estimated coordinate system.

2. A motor control apparatus, comprising:

a current controller for generating a voltage command signal on the basis of a torque command for driving a motor and a fundamental wave current of the motor;

a high frequency voltage generator for generating a high frequency voltage signal for injecting into the voltage command signal;

an inverter for applying a voltage to the motor on the basis of the voltage command signal and the high frequency voltage signal;

an angle estimator for generating an estimated angle of a rotor of the motor on an estimated coordinate system on the basis of a current signal of the motor; and

a compensator for adding a first compensation signal (i comp ) to the current signal (i sig ), wherein the first compensation signal (i comp ) is related to the torque command and the estimated angle,

wherein the angle estimator generates the estimated angle of the rotor of the motor on the basis of a first compensation current signal (i sig ′) that is a sum of the current signal and the first compensation signal,

wherein the current signal (i sig ) is a function of the torque command, a position of the rotor of the motor and a first angular error, and the first angular error is a difference between the estimated angle and the position of the rotor, and

wherein the first compensation signal is expressed by the following equation:

first compensation signal ( i comp )=(−1)*current signal ( i sig ), where first angular error=0°.

3. A motor control apparatus, comprising:

a current controller for generating a voltage command signal on the basis of a torque command for driving a motor and a fundamental wave current of the motor;

a high frequency voltage generator for generating a high frequency voltage signal for injecting into the voltage command signal;

an inverter for applying a voltage to the motor on the basis of the voltage command signal and the high frequency voltage signal;

an angle estimator for generating an estimated angle of a rotor of the motor on an estimated coordinate system on the basis of a current signal of the motor;

a compensator for adding a first compensation signal (i comp ) to the current signal (i sig ), and

a reference table storing unit for storing a corresponding relationship reference table of a position of the rotor of the motor and the torque command,

wherein the first compensation signal (i comp ) is related to the torque command and the estimated angle.

4. The motor control apparatus according to claim 3 ,

wherein the compensator generates the first compensation signal on the basis of the corresponding relationship reference table stored in the reference table storing unit and a present torque command.

5. A motor control apparatus, comprising:

a current controller for generating a voltage command signal on the basis of a torque command for driving a motor and a fundamental wave current of the motor;

a high frequency voltage generator for generating a high frequency voltage signal for injecting into the voltage command signal;

an inverter for applying a voltage to the motor on the basis of the voltage command signal and the high frequency voltage signal;

an angle estimator for generating an estimated angle of a rotor of the motor on an estimated coordinate system on the basis of a current signal of the motor;

a compensator for adding a first compensation signal (i comp ) to the current signal (i sig ), and

a first coordinate converter and second coordinate converter,

wherein the first compensation signal (i comp ) is related to the torque command and the estimated angle,

wherein the first coordinate converter performs reference coordinate transformation to a sum of the voltage command signal and the high frequency voltage signal on the basis of the estimated angle from an estimated synchronous coordinate system to a stationary coordinate system, and

wherein the second coordinate converter performs reference coordinate transformation to the fundamental wave current on the basis of the estimated angle from a stationary coordinate system to an estimated synchronous coordinate system.

6. A motor control apparatus, comprising:

a current controller for generating a voltage command signal on the basis of a torque command for driving a motor and a fundamental wave current of the motor;

a high frequency voltage generator for generating a high frequency voltage signal for injecting into the voltage command signal;

an inverter for applying a voltage to the motor on the basis of the voltage command signal and the high frequency voltage signal;

an angle estimator for generating an estimated angle of a rotor of the motor on an estimated coordinate system on the basis of a current signal of the motor; and

a compensator for adding a first compensation signal (i comp ) to the current signal (i sig ),

wherein the first compensation signal (i comp ) is related to the torque command and the estimated angle,

wherein the high frequency voltage generator generates the high frequency voltage signal in an estimated d-axis on the estimated coordinate system, and

wherein the current signal of the motor is an estimated q-axis component on the estimated coordinate system.

7. A motor control apparatus, comprising:

a current controller for generating a voltage command signal on the basis of a torque command for driving a motor and a fundamental wave current of the motor;

a high frequency voltage generator for generating a high frequency voltage signal for injecting into the voltage command signal;

an inverter for applying a voltage to the motor on the basis of the voltage command signal and the high frequency voltage signal;

an angle estimator for generating an estimated angle of a rotor of the motor on an estimated coordinate system on the basis of a current signal of the motor; and

a compensator for adding a first compensation signal (i comp ) to the current signal (i sig ),

wherein the first compensation signal (i comp ) is related to the torque command and the estimated angle,

wherein the fundamental wave current input to the current controller is an estimated d-axis component and an estimated q-axis component on the estimated coordinate system.

8. A motor control apparatus, comprising:

a current controller for generating a voltage command signal on the basis of a torque command for driving a motor and a fundamental wave current of the motor;

a high frequency voltage generator for generating a high frequency voltage signal for injecting into the voltage command signal;

an inverter for applying a voltage to the motor on the basis of the voltage command signal and the high frequency voltage signal;

an angle estimator for generating an estimated angle of a rotor of the motor on an estimated coordinate system on the basis of a current signal of the motor; and

a compensator for adding a first compensation signal (i comp ) to the current signal (i sig ),

wherein the first compensation signal (i comp ) is related to the torque command and the estimated angle,

wherein the high frequency voltage generator generates the high frequency voltage signal in an injected d-axis of an injection coordinate system that is rotated from the estimated coordinate system by an injection angle.

9. The motor control apparatus according to claim 8 ,

wherein the current signal is an injected q-axis component on the injection coordinate system.

10. The motor control apparatus according to claim 8 ,

wherein the current signal is expressed as a function of the torque command, a position of the rotor, the injection angle and a second angular error, and the second angular error is a difference between the injection angle and the position of the rotor.

11. The motor control apparatus according to claim 10 , further comprising:

a compensator for adding a second compensation signal (i comp ′) to the current signal (i sig ),

wherein the angle estimator generates an estimated angle of the rotor of the motor on the basis of a compensation current signal (i sig ″) that is the sum of the current signal and the second compensation signal, and

wherein the second compensation signal is expressed by the following equation:

second compensation signal ( i comp ′)=(−1)*current signal ( i sig ), where first angular error=0°.

12. The motor control apparatus according to claim 8 ,

wherein the injected d-axis is ahead of an estimated d-axis by the injection angle.

13. The motor control apparatus according to claim 11 , further comprising:

a reference table storing unit for storing a corresponding relationship reference table of the torque command according to the position of the rotor of the motor and the injection angle.

14. The motor control apparatus according to claim 13 ,

wherein the compensator generates a second compensation signal on the basis of the corresponding relationship reference table stored in the reference table storing unit and a present torque command.

15. The motor control apparatus according to claim 14 ,

wherein the injection angle is determined within a range in which a first angular error is 0 and a second compensation current signal becomes 0 while having a positive slope on the basis of the first angular error.