Patent Document ID: 9184681
Application ID: 13964640
Patent Flag: 1

Claim One:
1. A vehicle comprising: a motor having a rotor; a resolver configured to detect a rotation angle of the rotor; and a control device configured to execute rectangular-wave control over the motor using the rotation angle of the rotor, the rotation angle being detected by the resolver, the control device being configured to execute zero learning for learning a deviation between an origin of an actual rotation angle of the rotor and an origin of the detected rotation angle of the rotor and then correct the detected rotation angle of the rotor on the basis of a result of the zero learning, and the control device being configured to execute avoidance control for avoiding a rapid variation in output of the motor when the zero learning has not been completed yet, wherein the control device is configured to calculate an estimated torque of the motor using the detected rotation angle of the rotor and then execute feedback control over the motor on the basis of a deviation between the estimated torque and a command torque of the motor when the rectangular-wave control is executed, the control device is configured to set an upper limit of the command torque during the rectangular-wave control to a first line after the zero learning has been completed, and the avoidance control is control for decreasing the upper limit of the command torque during the rectangular-wave control to below the first line.