Patent ID: 11936311
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Electrical machinery, apparatus, energy (Electrical engineering)
Classification: CPC H | IPC H

Claim 0:
1. A controller for motor comprising at least one processor configured to implement:
a basic voltage command calculator that calculates a voltage command basic value;
a current detector that detects a current flowing through a winding of a motor;
a magnetic flux estimator that estimates an interlinkage flux interlinked to the winding, based on an applied voltage applied to the winding and a detection value of the current;
a torque estimator that estimates an output torque of the motor, based on the detection value of the current and an estimation value of the interlinkage flux;
a pulsation extractor that extracts a pulsation component from an estimation value of the output torque;
a pulsation controller that calculates a voltage command correction value, based on an extraction value of the pulsation component;
a superimposer that calculates a voltage command after superimposing by superimposing the voltage command correction value on the voltage command basic value; and
a voltage applicator that applies voltage to the winding, based on the voltage command after the superimposing,
wherein the pulsation extractor calculates Fourier coefficients of a cosine wave and a sine wave by Fourier-transforming the estimation value of the output torque at a pulsation frequency of a preliminarily set rotation order, based on a rotational angle of the motor, and calculates the Fourier coefficients of the cosine wave and the sine wave, as the extraction value of the pulsation component,
wherein the pulsation controller calculates a cosine wave multiplication value by multiplying a cosine wave of the pulsation frequency of the rotation order to the Fourier coefficient of the cosine wave, calculates a sine wave multiplication value by multiplying a sine wave of the pulsation frequency of the rotation order to the Fourier coefficient of the sine wave, and calculates a value obtained by multiplying a control gain to a total value of the cosine wave multiplication value and the sine wave multiplication value, as the voltage command correction value, and
wherein the pulsation controller calculates a phase delay due to calculation delay, based on the rotational angle of the motor, and calculates the cosine wave of the pulsation frequency of the rotation order and the sine wave of the pulsation frequency of the rotation order in which the phase delay is compensated.