Controller for motor
To provide a controller for motor which can reduce a torque ripple up to high frequency, without amplifying unnecessary noise and vibration. A controller for motor estimates an interlinkage flux based on the applied voltage and the detection value of current; estimates an output torque based on the detection value of current and the estimation value of interlinkage flux; extracts a pulsation component from the estimation value of output torque; calculates a voltage command correction value based on the extraction value of pulsation component; calculates a voltage command after superimposing by superimposing the voltage command correction value on the voltage command basic value; and applies voltage to winding based on the voltage command after superimposing.
1. A controller for motor comprising at least one processor configured to implement:
a basic voltage command calculator that calculates a voltage command basic value;
a current detector that detects a current flowing through a winding of a motor;
a magnetic flux estimator that estimates an interlinkage flux interlinked to the winding, based on an applied voltage applied to the winding and a detection value of the current;
a torque estimator that estimates an output torque of the motor, based on the detection value of the current and an estimation value of the interlinkage flux;
a pulsation extractor that extracts a pulsation component from an estimation value of the output torque;
a pulsation controller that calculates a voltage command correction value, based on an extraction value of the pulsation component;
a superimposer that calculates a voltage command after superimposing by superimposing the voltage command correction value on the voltage command basic value; and
a voltage applicator that applies voltage to the winding, based on the voltage command after the superimposing,
wherein the pulsation extractor calculates Fourier coefficients of a cosine wave and a sine wave by Fourier-transforming the estimation value of the output torque at a pulsation frequency of a preliminarily set rotation order, based on a rotational angle of the motor, and calculates the Fourier coefficients of the cosine wave and the sine wave, as the extraction value of the pulsation component,
wherein the pulsation controller calculates a cosine wave multiplication value by multiplying a cosine wave of the pulsation frequency of the rotation order to the Fourier coefficient of the cosine wave, calculates a sine wave multiplication value by multiplying a sine wave of the pulsation frequency of the rotation order to the Fourier coefficient of the sine wave, and calculates a value obtained by multiplying a control gain to a total value of the cosine wave multiplication value and the sine wave multiplication value, as the voltage command correction value, and
wherein the pulsation controller calculates a phase delay due to calculation delay, based on the rotational angle of the motor, and calculates the cosine wave of the pulsation frequency of the rotation order and the sine wave of the pulsation frequency of the rotation order in which the phase delay is compensated.
2. The controller for motor according to claim 1 ,
wherein the pulsation extractor extracts a component of a pulsation frequency of a preliminarily set rotation order from the estimation value of the output torque.
3. The controller for motor according to claim 1 ,
wherein the magnetic flux estimator calculates the estimation value of the interlinkage flux, based on an integral value of the applied voltage and an integral value of the detection value of the current.
4. The controller for motor according to claim 1 ,
wherein the torque estimator calculates the estimation value of the output torque, based on a multiplication value of the estimation value of the interlinkage flux and the detection value of the current.
5. The controller for motor according to claim 1 ,
wherein the torque estimator calculates the estimation value of the output torque, based on a multiplication value of the detection value of the current and a differential value obtained by differentiating the estimation value of the interlinkage flux by the rotational angle.
6. The controller for motor according to claim 1 ,
wherein the basic voltage command calculator calculates a voltage command basic value of d-axis and a voltage command basic value of q-axis, as the voltage command basic value, and
wherein the superimposer calculates a voltage command of q-axis after superimposing by superimposing the voltage command correction value on the voltage command basic value of q-axis, and
sets the voltage command basic value of d-axis as a voltage command of d-axis after superimposing as it is.
7. A controller for motor comprising at least one processor configured to implement:
a basic voltage command calculator that calculates a voltage command basic value;
a current detector that detects a current flowing through a winding of a motor;
a magnetic flux estimator that estimates an interlinkage flux interlinked to the winding, based on an applied voltage applied to the winding and a detection value of the current;
a torque estimator that estimates an output torque of the motor, based on the detection value of the current and an estimation value of the interlinkage flux;
a pulsation extractor that extracts a pulsation component from an estimation value of the output torque;
a pulsation controller that calculates a voltage command correction value, based on an extraction value of the pulsation component;
a superimposer that calculates a voltage command after superimposing by superimposing the voltage command correction value on the voltage command basic value; and
a voltage applicator that applies voltage to the winding, based on the voltage command after the superimposing,
wherein the pulsation extractor calculates Fourier coefficients of a cosine wave and a sine wave by Fourier-transforming the estimation value of the output torque at a pulsation frequency of a preliminarily set rotation order, based on a rotational angle of the motor, and calculates the Fourier coefficients of the cosine wave and the sine wave, as the extraction value of the pulsation component,
wherein the pulsation controller calculates a control value of cosine wave by performing a control calculation based on the Fourier coefficient of the cosine wave,
calculates a cosine wave multiplication value by multiplying a cosine wave of the pulsation frequency of the rotation order to the control value of cosine wave,
calculates a control value of sine wave by performing a control calculation based on the Fourier coefficient of the sine wave,
calculates a sine wave multiplication value by multiplying a sine wave of the pulsation frequency of the rotation order to the control value of sine wave, and calculates a value obtained totaling the cosine wave multiplication value and the sine wave multiplication value, as the voltage command correction value, and
wherein the pulsation controller calculates a phase delay due to calculation delay, based on the rotational angle of the motor, and calculates the cosine wave of the pulsation frequency of the rotation order and the sine wave of the pulsation frequency of the rotation order in which the phase delay is compensated.