A motor control device includes a torque controller to operate based on a steering torque and to give an input to a control target that is a motor, and a model following controller to generate a first correction torque based on an output from the control target. A model following controller includes a high-pass filter to remove a low frequency component from a first correction torque, a friction compensation calculator that is coupled in parallel to the high-pass filter to apply friction compensation to the first correction torque to calculate an estimated value of a mechanical friction torque, and an adder to add the estimated value of the friction torque to the first correction torque from which the low frequency component is removed by the high-pass filter to generate a second correction torque and feed back the second correction torque to an input to the control target.
Motor control device, motor control method, motor module, and electric power steering device
2025-01-21
Patent
Electronic Resource
English
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