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 230B which generates a first correction torque based on output of the controlled object. The model following controller 230B includes: a high pass filter 233 which removes low frequency components from the first correction torque; a friction compensation calculator 250 which is parallelly connected with the high pass filter 233 and adopts friction compensation for the first correction torque to calculate an estimated value of mechanical friction torque; and an adder AD3 which adds the estimated value of the friction torque to the first correction torque whose low frequency components are removed by the high pass filter 233 to generate a second correction torque. The second correction torque is fed back to the controlled object.SELECTED DRAWING: Figure 12

    【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第1補正トルクを生成するモデルフォロイング制御器230Bとを備える。モデルフォロイング制御器230Bは、第1補正トルクから低周波成分を除去するハイパスフィルタ233と、ハイパスフィルタ233に並列結合され、第1補正トルクに摩擦補償を適用してメカの摩擦トルクの推定値を算出する摩擦補償算出器250と、ハイパスフィルタ233によって低周波成分が除去された第1補正トルクに、摩擦トルクの推定値を加算し、第2補正トルクを生成する加算器AD3とを有し、第2補正トルクを制御対象の入力にフィードバックする。【選択図】図12


    Access

    Download


    Export, share and cite



    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



    Motor control device, motor control method, motor module, and electric power steering device

    ENDO SHUJI / MIYAKE SOHEI | European Patent Office | 2024

    Free access

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

    ENDO SHUJI / MIYAKE SOHEI | European Patent Office | 2023

    Free access

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

    ENDO SHUJI / MIYAKE SOHEI | European Patent Office | 2025

    Free access

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

    ENDO SHUJI / MIYAKE SOHEI | European Patent Office | 2023

    Free access

    Motor control device, motor control method, motor module, and electric power steering device

    ENDO SHUJI / MIYAKE SOHEI | European Patent Office | 2025

    Free access