Electric motor control device and electric power steering apparatus using the same
An electric motor control device, capable of suppressing a torque ripple even when electrical characteristics on a motor have errors or variations, comprises: a fundamental electric-current instruction generator for outputting d-axis and q-axis fundamental electric-current instructions for outputting fundamental torque from the motor having saliency; a position dependency component generator for outputting a position dependency component(s) of the motor according to its rotational position; an electric current correction instruction calculator for calculating d-axis and q-axis current correction instructions from the d-axis and q-axis fundamental electric-current instructions, and the position dependency component(s); an electric current correction instruction superposition unit for generating d-axis and q-axis current instructions by performing superposition of the d-axis and q-axis current correction instructions on the d-axis and q-axis fundamental electric-current instructions; and an electric current controller for controlling a current to flow through the motor by an inverter, based on the d-axis and q-axis current instructions.
1. An electric motor control device for controlling an electric motor, having saliency, by an inverter of a vector control scheme, the electric motor control device, comprising:
a fundamental electric-current instruction generator for outputting a d-axis fundamental electric-current instruction and a q-axis fundamental electric-current instruction for thereby outputting fundamental torque from the electric motor;
a position dependency component generator for outputting a position dependency component of the electric motor in accordance with a rotational position of the electric motor;
an electric current correction instruction calculator for calculating a d-axis current correction instruction and a q-axis current correction instruction from said d-axis fundamental electric-current instruction and said q-axis fundamental electric-current instruction, and from said position dependency component;
an electric current correction instruction superposition device for generating a d-axis electric current instruction by performing superposition of said d-axis current correction instruction on said d-axis fundamental electric-current instruction, and for generating a q-axis electric current instruction by performing superposition of said q-axis current correction instruction on said q-axis fundamental electric-current instruction; and
an electric current controller for controlling an electric current to flow through the electric motor by way of the inverter, based on the d-axis electric current instruction and the q-axis electric current instruction, wherein
the electric current correction instruction calculator calculates a ratio being determined in advance to become a magnitude of said d-axis current correction instruction and that of said q-axis current correction instruction, and said ratio is preliminarily specified or specified in accordance with a state of the electric motor.
2. The electric motor control device as set forth in claim 1 , wherein the position dependency component generator outputs a position dependency component of armature interlinkage magnetic-flux of the electric motor, or that of inductance thereof, in accordance with a rotational position of the electric motor.
3. The electric motor control device as set forth in claim 1 , wherein the electric current correction instruction calculator calculates said d-axis current correction instruction, based on armature interlinkage magnetic-flux of the electric motor and inductance thereof, on said d-axis fundamental electric-current instruction and said q-axis fundamental electric-current instruction, and on said q-axis current correction instruction.
4. The electric motor control device as set forth in claim 1 , wherein said ratio is based on a sensitivity setting-value being a ratio between an error of a median value of armature interlinkage magnetic-flux of the electric motor and an error of a median value of inductance thereof.
5. The electric motor control device as set forth in claim 3 , wherein said ratio is based on a sensitivity setting-value being a ratio between an error of a median value of armature interlinkage magnetic-flux of the electric motor and an error of a median value of inductance thereof.
6. The electric motor control device as set forth in claim 4 , wherein the electric current correction instruction calculator calculates said d-axis current correction instruction and said q-axis current correction instruction, based on the sensitivity setting-value, on armature interlinkage magnetic-flux of the electric motor and inductance thereof, and on said d-axis fundamental electric-current instruction and said q-axis fundamental electric-current instruction.
7. The electric motor control device as set forth in claim 5 , wherein the electric current correction instruction calculator calculates said d-axis current correction instruction and said q-axis current correction instruction, based on the sensitivity setting-value, on armature interlinkage magnetic-flux of the electric motor and inductance thereof, and on said d-axis fundamental electric-current instruction and said q-axis fundamental electric-current instruction.
8. The electric motor control device as set forth in claim 1 , wherein a phase of said d-axis current correction instruction and that of said q-axis current correction instruction are equal to each other, or are in a difference of one hundred and eighty degrees from each other.
9. An electric power steering apparatus, comprising:
an electric motor, having saliency, for producing assist torque in order to supplementally support steering of a driver; and
an electric motor control device as set forth in claim 1 .
10. An electric power steering apparatus, comprising:
an electric motor, having saliency, for producing assist torque in order to supplementally support steering of a driver; and
an electric motor control device as set forth in claim 2 .
11. An electric power steering apparatus, comprising:
an electric motor, having saliency, for producing assist torque in order to supplementally support steering of a driver; and
an electric motor control device as set forth in claim 3 .
12. An electric power steering apparatus, comprising:
an electric motor, having saliency, for producing assist torque in order to supplementally support steering of a driver; and
an electric motor control device as set forth in claim 4 .
13. An electric power steering apparatus, comprising:
an electric motor, having saliency, for producing assist torque in order to supplementally support steering of a driver; and
an electric motor control device as set forth in claim 5 .
14. An electric power steering apparatus, comprising:
an electric motor, having saliency, for producing assist torque in order to supplementally support steering of a driver; and
an electric motor control device as set forth in claim 6 .
15. An electric power steering apparatus, comprising:
an electric motor, having saliency, for producing assist torque in order to supplementally support steering of a driver; and
an electric motor control device as set forth in claim 7 .
16. An electric power steering apparatus, comprising:
an electric motor, having saliency, for producing assist torque in order to supplementally support steering of a driver; and
an electric motor control device as set forth in claim 8 .