To provide a control device which can improve steering feeling an operator can feel.SOLUTION: A motor control device comprises: a torque controller 210 which is activated based on steering torque and gives input a controlled object that is a motor; and a model following controller 230A which generates correction torque based on output of the controlled object to correct input of the controlled object on the basis of the correction torque. The model following controller 230A includes: a high pass filter 233 having a first cut-off frequency; and a low pass filter 232 having a second cut-off frequency which is larger than the first cut-off frequency. When a transfer function of the low pass filter 232 and a transfer function of the high pass filter 233 are Q(s) and HPF(s), respectively, in a frequency band where a gain in gain characteristics of Q(s) and HPF(s) is 1, transfer functions of the controlled object are restrained by a nominal model.SELECTED DRAWING: Figure 4

    【課題】運転者が感じ得る操舵感を改善することが可能な制御装置を提供する。【解決手段】モータの制御装置は、操舵トルクに基づいて動作し、モータである制御対象に入力を与えるトルク制御器210と、制御対象からの出力に基づいて補正トルクを生成し、制御対象の入力を補正トルクによって補正するモデルフォロイング制御器230Aと、を備える。モデルフォロイング制御器230Aは、第1カットオフ周波数を有するハイパスフィルタ233、および第1カットオフ周波数よりも大きい第2カットオフ周波数を有するローパスフィルタ232を含み、ローパスフィルタ232およびハイパスフィルタ233の伝達関数を、それぞれ、Q(s)およびHPF(s)とするとき、Q(s)・HPF(s)のゲイン特性におけるゲインが1である周波数帯域において、制御対象の伝達関数がノミナルモデルに拘束されるように構成されている。【選択図】図4


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    Title :

    MOTOR CONTROL DEVICE, MOTOR CONTROL METHOD, MOTOR MODULE AND ELECTRIC POWER STEERING DEVICE


    Additional title:

    モータの制御装置、モータの制御方法、モータモジュールおよび電動パワーステアリング装置


    Contributors:
    ENDO SHUJI (author) / MIYAKE SOHEI (author)

    Publication date :

    2023-04-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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