Motor control device for vehicle

1. A motor control device for a vehicle, comprising:

a first torque generation unit for generating a first torque command value for controlling drive of the motor for traveling according to a state quantity of the vehicle supplied from at least one type of sensor provided on the vehicle;

a second torque generation unit for extracting a frequency component generating a resonance of the vehicle which is one of frequency components of an oscillation source of the vehicle generated when the motor for traveling is driven, and generating a second torque command value serving as a resonance compensation value for the first torque command value based on the extracted frequency component; and

a drive torque generation unit for subtracting the second torque command value generated by the second torque generation unit from the first torque command value generated by the first torque generation unit, thereby outputting a result of the subtraction as a drive torque command value for the motor for traveling,

wherein the motor for traveling is driven based on the drive torque command value, and wherein the second torque generation unit includes a vehicle speed input unit for receiving an input of a speed of the vehicle, and the second torque generation unit switches an operation for generating the second torque command value on and off according to the speed of the vehicle.

2. The motor control device for a vehicle according to claim 1 , wherein:

the second torque generation unit extracts the frequency component generating the resonance of the vehicle from the frequency components of the oscillation source according to a drive state of the motor for traveling so as to generate the second torque command value; and

the drive state of the motor for traveling comprises at least one of a motor electrical angle, an estimated value of the motor electrical angle, a motor speed, an estimated value of the motor speed, a motor torque, and a motor current of the motor for traveling.

3. The motor control device for a vehicle according to claim 1 , wherein:

the motor for traveling includes drive state detection means for detecting the drive state of the motor for traveling; and

the second torque generation unit extracts the frequency component generating the resonance of the vehicle from the frequency components of the oscillation source according to the drive state of the motor for traveling detected by the drive state detection means so as to generate the second torque command value.

4. The motor control device for a vehicle according to claim 1 , wherein the second torque generation unit includes a first-order lead/lag filter, and generates the second torque command value using the first-order lead/lag filter.

5. The motor control device for a vehicle according to claim 1 , wherein the second torque generation unit further includes a limiter for limiting the second torque command value by an upper limit and a lower limit.

6. A motor control device for a vehicle. comprising:

a first torque generation unit for generating a first torque command value for controlling drive of the motor for traveling according to a state quantity of the vehicle supplied from at least one type of sensor provided on the vehicle;

a second torque generation unit for extracting a frequency component generating a resonance of the vehicle which is one of frequency components of an oscillation source of the vehicle generated when the motor for traveling is driven, and generating a second torque command value serving as a resonance compensation value for the first torque command value based on the extracted frequency component: and

a drive torque generation unit for subtracting the second torque command value generated by the second torque generation unit from the first torque command value generated by the first torque generation unit, thereby outputting a result of the subtraction as a drive torque command value for the motor for traveling,

wherein the motor for traveling is driven based on the drive torque command value,

the vehicle includes vehicle-resonance-frequency detection means for detecting a resonance frequency of the vehicle, and

the second torque generation unit includes a first-order lead/lag filter, functions to generate the second torque command value using the first-order lead/lag filter, and changes a time constant of first-order lead/lag filter according to the detected resonance frequency of the vehicle.

7. A method for controlling a motor of a vehicle, comprising:

generating a first torque command value for controlling drive of the motor according to input from at least one sensor;

extracting a frequency component which is one of frequency components of an oscillation source generated when the motor is operated;

generating a second torque command value serving as a resonance compensation value for the first torque command value based on the extracted frequency component;

subtracting the second torque command value from the first torque command value;

outputting a result of the subtraction as a drive torque command value for the motor;

driving the motor based on the drive torque command value;

receiving a speed of the vehicle as input; and

switching an operation for generating the second torque command value on and off according to the speed of the vehicle.