Motor control device
Provided is a motor control device capable of suppressing a sudden change in torque due to spike noise. A control device (motor control device) continues motor control using dq-axis current command values Id* and Iq* (current command values) or dq-axis detection current values real_Id and real_Iq before detecting a noise state (detection current values before a current supplied to a motor suddenly changes) instead of dq-axis detection current values real_Id and real_Iq (latest detection current values) when the current changes suddenly.
1. A motor control device that continues motor control using a current command value or a detection current value prior to a current supplied to a motor changes within a predetermined time instead of a latest detection current value when the current changes within the predetermined time, the motor control device comprising:
a sensor;
a memory; and
a processor communicatively coupled to the sensor and the memory, wherein the processor is configured to
convert a torque command into dq-axis current commands,
convert a three-phase AC current detected by a current sensor into dq-axis currents as dq-axis detection currents,
perform feedback control based on the dq-axis current commands and the dq-axis detection currents,
detect a noise state indicating a state in which the three-phase AC current deviates from a sine waveform,
on a condition where the noise state is not detected, the dq-axis detection currents continue as normal, and
on a condition where the noise state is detected, perform a correction by replacing the latest dq-axis detection currents with the dq-axis current commands,
determine that the noise state was not detected or the correction occurred, and
perform normal control based on the sensor.
2. The motor control device according to claim 1 , wherein the processor determines that the noise state has been detected when a three-phase sum of the three-phase AC current exceeds a predetermined value.
3. The motor control device according to claim 1 , wherein the processor determines that the noise state has been detected when a degree of change of the dq-axis detection currents exceeds a predetermined value.
4. The motor control device according to claim 3 , wherein the processor determines that the noise state has been detected when the degree of change of the dq-axis detection currents exceeds the predetermined value, and the degree of change of the dq-axis detection currents deviates from a degree of change of the dq-axis current commands.
5. The motor control device according to claim 2 , wherein the processor replaces the latest dq-axis detection currents with the dq-axis current commands.
6. The motor control device according to claim 2 , wherein the processor replaces the latest dq-axis detection currents with the dq-axis detection currents before detecting the noise state.
7. The motor control device according to claim 2 , wherein the processor shifts to a degeneration mode when the noise state continues for a predetermined time, or when the noise state is intermittently detected a predetermined number of times.