CN115864927A

CN115864927A - Control method and system for motor rotating speed control response

Info

Publication number: CN115864927A
Application number: CN202211505563.7A
Authority: CN
Inventors: 潘忠亮; 范雨卉; 段立华; 李岩; 李健
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-11-28
Filing date: 2022-11-28
Publication date: 2023-03-28

Abstract

The application provides a control method and a system for controlling response of motor rotating speed, wherein the method comprises the following steps: calculating a torque instruction of a motor rotating speed ring according to the motor rotating speed instruction and the actual rotating speed of the motor; inputting a motor rotating speed instruction, the actual rotating speed of the motor and a torque instruction of a motor rotating speed ring into a torque estimation value module; subtracting the output of the torque estimation value module from the torque of the motor rotating speed ring, and carrying out torque limitation to obtain a motor torque instruction; inputting a motor torque instruction, a motor rotating speed instruction, a difference value of the actual rotating speed of the motor and a torque instruction of a motor rotating speed ring into a rotating speed estimation value module to obtain a motor torque estimation value; and acquiring a current instruction according to the estimated value of the motor torque. The difference between the output torque of the motor rotating speed and the motor rotating speed is subtracted, the rest part of motor torque instructions are cancelled with the motor torque instructions, finally, the adjustment relation between the motor rotating speed instructions and the actual rotating speed of the motor before and after PI is only changed, and the response time of rotating speed control is prolonged.

Description

Control method and system for motor rotating speed control response

Technical Field

One or more embodiments of the present disclosure relate to the field of automotive technologies, and in particular, to a method and a system for controlling a motor speed control response.

Background

In engineering practice, the motor is required to have a rotation speed control mode, and in the rotation speed control mode, the motor is required to have a high rotation speed response characteristic. However, in the current motor speed control mode, the response speed of the motor is low, which affects the use of the vehicle.

Disclosure of Invention

In view of this, an object of one or more embodiments of the present disclosure is to provide a method and a system for controlling a rotational speed control response of a motor, so as to improve a response speed of the motor.

In a first aspect, a method for controlling a motor speed control response is provided, where the method for controlling the motor speed control response includes the following steps:

acquiring a motor rotating speed instruction and the actual rotating speed of the motor;

calculating a torque instruction of a motor rotating speed ring according to the motor rotating speed instruction and the actual rotating speed of the motor;

inputting a motor rotating speed instruction, the actual rotating speed of the motor and a torque instruction of a motor rotating speed ring into a torque estimation value module;

subtracting the output of the torque estimation value module from the torque of the motor speed ring, and carrying out torque limitation to obtain a motor torque instruction;

inputting the motor torque instruction, the motor rotating speed instruction, the difference value of the actual rotating speed of the motor and the torque instruction of the motor rotating speed ring into the rotating speed estimation value module to obtain a motor torque estimation value;

and acquiring current commands of the d axis and the q axis according to the estimated motor torque value.

In the scheme, the difference between the output torque of the motor rotating speed and the motor rotating speed is subtracted, the rest part of motor torque instructions are offset with the motor torque instructions, and finally the adjustment relation between the motor rotating speed instructions and the actual rotating speed of the motor before and after the PI is only changed, so that the response time of rotating speed control is greatly prolonged.

In a specific embodiment, the method further comprises:

and filtering the motor rotating speed instruction, and eliminating a step part in the motor rotating speed instruction.

In a specific possible implementation scheme, the d-axis and q-axis current commands are obtained according to the motor torque command; the method specifically comprises the following steps:

and decoupling corresponding d-axis current and q-axis current through a calibration look-up table in the MTPA to serve as d-axis current instructions and q-axis current instructions for current closed-loop control.

In a specific possible implementation scheme, the torque command of the motor speed loop is calculated according to the motor speed command and the actual motor speed; the method comprises the following specific steps:

and carrying out PI control on the motor rotating speed command and the actual rotating speed of the motor after filtering to obtain a torque command of a motor rotating speed ring.

In a specific implementation scheme, the output of the torque estimation module is subtracted from the torque of the motor speed ring, and the torque is limited to obtain a motor torque instruction; the method specifically comprises the following steps:

and subtracting the output of the torque estimation value module from the torque value of the rotating speed closed loop after PI processing, performing torque limitation, and finally outputting the torque value as a motor torque instruction.

In a specific implementation, the difference between the motor speed command and the actual motor speed; the method comprises the following specific steps:

and calculating the acceleration torque according to the actual rotating speed change rate of the motor, and making a difference between the acceleration torque and the torque caused by the absolute difference value of the motor rotating speed instruction and the actual rotating speed of the motor.

In a second aspect, there is provided a control system for a rotational speed control response of a permanent magnet synchronous motor, the system comprising:

the detection module is used for acquiring a motor rotating speed instruction and the actual rotating speed of the motor;

the data processing module is used for calculating a torque instruction of a motor rotating speed ring according to the motor rotating speed instruction and the actual rotating speed of the motor;

In a specific possible implementation, the data processing module is further configured to filter the motor speed command and reject a step portion in the motor speed command.

In a specific possible implementation, the data module is further configured to determine an estimated torque command value for the album rotation speed control according to the actual motor rotation speed, a deviation between the motor rotation speed command value and the actual motor value, and a torque command of the motor rotation speed loop.

In a specific implementation, the data processing module is further specifically configured to perform PI control on the filtered motor rotation speed command and the actual motor rotation speed to obtain a torque command of the motor rotation speed loop.

In a third aspect, an automobile is provided, which comprises an automobile body and a control system which is arranged in the automobile body and is used for controlling and responding to the rotating speed of the permanent magnet synchronous motor.

In the technical scheme, the difference between the output torque of the motor rotating speed and the motor rotating speed is subtracted, the rest motor torque commands are cancelled with the motor torque commands, finally, the adjustment relation between the motor rotating speed command and the actual rotating speed of the motor before and after the PI is only changed, and the response time of rotating speed control is greatly prolonged.

In a fourth aspect, an electronic device is provided, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method of performing the first aspect and any one of the possible designs of the first aspect when executing the program.

In a fifth aspect, there is provided a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the first aspect and any one of the possible design methods of the first aspect.

In a sixth aspect, there is also provided a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any one of the possible designs of the first aspect and the first aspect of the present application.

In addition, for technical effects brought by any one of the possible design manners in the fourth aspect to the sixth aspect, reference may be made to effects brought by different design manners in the method portion, and details are not described herein again.

Drawings

In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only one or more embodiments of the present specification, and that other drawings may be obtained by those skilled in the art without inventive effort from these drawings.

Fig. 1 is a control block diagram of a permanent magnet synchronous motor according to an embodiment of the present application;

fig. 2 is a block diagram of a structure of a control method for controlling response of motor speed control according to an embodiment of the present disclosure;

FIG. 3 is a schematic illustration of torque limiting provided by an embodiment of the present application;

FIG. 4 is a schematic illustration of torque estimation provided by an embodiment of the present application;

fig. 5 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present specification should have the ordinary meaning as understood by those of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

The invention discloses a control method for improving the rotating speed control response of a motor, which is characterized in that in engineering practice, the motor is required to have a rotating speed control mode, and in the rotating speed control mode, the motor is required to have higher rotating speed response characteristic. As shown in fig. 1, a control block diagram of a permanent magnet synchronous motor is shown, a rotating speed control loop is added in a torque control outer loop based on a rotor magnetic field orientation vector control method, a motor rotating speed instruction and a motor actual rotating speed are input, a motor torque instruction is output, and corresponding dq-axis current is decoupled through a calibration lookup table in MTPA and is used as a dq-axis current instruction for current closed-loop control.

The method disclosed in the application comprises the following steps:

step 01: acquiring a motor rotating speed instruction and the actual rotating speed of the motor;

specifically, the motor speed command and the actual motor speed can be obtained through a controller and a sensor. For example, when the controller sends a motor speed command, the command may be directly obtained. In addition, when the actual rotating speed of the motor is obtained, the rotating speed of the motor can be detected through a sensor.

Step 02: calculating a torque instruction of a motor rotating speed ring according to the motor rotating speed instruction and the actual rotating speed of the motor;

specifically, the motor rotating speed instruction is filtered, and a step part in the motor rotating speed instruction is eliminated.

And when the torque instruction of the motor rotating speed ring is obtained specifically, carrying out PI control on the motor rotating speed instruction and the actual rotating speed of the motor after filtering to obtain the torque instruction of the motor rotating speed ring.

Step 03: inputting a motor rotating speed instruction, the actual rotating speed of the motor and a torque instruction of a motor rotating speed ring into a torque estimation value module;

step 04: subtracting the output of the torque estimation value module from the torque of the motor speed ring, and carrying out torque limitation to obtain a motor torque instruction;

specifically, the output of the torque estimation value module is subtracted from the torque value of the rotating speed closed loop after PI processing, torque limitation is carried out, and finally the torque value is output as a motor torque instruction.

Step 05: inputting the motor torque instruction, the motor rotating speed instruction, the difference value of the actual rotating speed of the motor and the torque instruction of the motor rotating speed ring into the rotating speed estimation value module to obtain a motor torque estimation value;

specifically, the difference between the motor speed command and the actual motor speed is as follows: and calculating the acceleration torque according to the actual rotating speed change rate of the motor, and making a difference between the acceleration torque and the torque caused by the absolute difference value of the motor rotating speed instruction and the actual rotating speed of the motor.

Step 06: and acquiring current commands of the d axis and the q axis according to the estimated motor torque value.

Specifically, the corresponding d-axis and q-axis currents are decoupled through a calibration lookup table in the MTPA and are used as d-axis and q-axis current instructions for current closed-loop control.

To facilitate understanding of the above method, referring to fig. 2, fig. 2 shows a rotation speed control mode portion of a permanent magnet synchronous motor. In the period, spdcmd is a motor rotating speed instruction, the motor rotating speed instruction is filtered through an average filter, a rotating speed instruction step part of a motor is removed, PI control is carried out on the rotating speed instruction step part and the actual rotating speed of the motor, and an output torque value of a Trqspd rotating speed loop part is input to a torque estimation value module. The input of the torque estimation value module is the actual rotating speed of the motor, the deviation of a motor rotating speed instruction value and the actual value of the motor, and the torque instruction of a motor rotating speed ring is output as a torque instruction estimation value for controlling the rotating speed of the motor.

And subtracting the output of the torque estimation value module from the torque value of the rotating speed closed loop after PI processing, and performing a torque limiting module, wherein the torque limiting module is used for limiting the torque output capacity of the motor, namely the output capacities of the motor torques are different when the bus voltage and the motor rotating speed are given. Fig. 3 is a schematic diagram of a torque limit module, which varies with voltage and actual motor speed.

With continued reference to FIG. 2, the motor torque command Trqcmd is obtained by the torque limiting module. And inputting the motor torque instruction Trqcmd into the torque estimation value module, inputting the actual rotating speed of the motor into the torque estimation value module and the torque limit value module, and outputting the actual rotating speed of the motor as a Trqest torque estimation value after common processing.

Referring to fig. 4, fig. 4 is a schematic diagram of a torque estimation module, which uses a motor rotation speed difference as a torque module input of a rotation speed part, and a motor torque part and a motor torque command part related to an actual rotation speed of a motor. Referring to fig. 4, where Trqspd = inertia × absolute angular acceleration, absolute angular acceleration = [ Spdcmd-Spdreal (n ] ]/interval time, F (Spdreal) = inertia × angular acceleration, angular acceleration = [ Spdreal (n) -Spdreal (n-1) ]/interval time.

In summary, it can be seen that the difference between the output torque of the motor speed after passing through the PI in fig. 2 and the motor speed before the PI is subtracted, and the remaining motor torque command is cancelled out with Trqcmd, and finally, only the adjustment relationship between the motor speed command and the actual motor speed before and after the PI is changed, so that the response time of the speed control is greatly improved.

In the embodiment of the application, the motor rotating speed instruction is subjected to PI control with the actual rotating speed of the motor after being filtered, so that a motor rotating speed control torque instruction is obtained, which is a traditional motor rotating speed control method. The motor torque command feedforward function is added on the basis of the original rotation speed control and used as the input of a torque estimation value, and the pressure of a PI ring is reduced. And meanwhile, the acceleration torque is calculated according to the actual rotating speed change rate of the motor, so that the difference is made between the acceleration torque and the torque caused by the absolute difference value of the rotating speed instruction of the motor and the actual rotating speed of the motor, and the pressure output by the PI ring is further reduced. For example, under conventional control conditions, the torque output through the PI controller participates in closed loop control. The invention makes the torque after PI output feedforward, for example, the torque of a certain rotating speed target of the traditional PI controller is 50Nm, the torque value comprises the torque of rotating speed difference and the torque of angular acceleration is 15Nm, at this moment, the output torque is 35Nm (the part accounts for a large proportion), after making feedforward, the torque target of the PI controller is 15Nm, namely, the output pressure (output value) of the PI controller is reduced.

The embodiment of the present application further provides a control system for controlling and responding to the rotating speed of a permanent magnet synchronous motor, and the system includes: the device comprises a detection module and a data processing module. The detection module is used for acquiring data, and the data processing module is used for processing the data acquired by the detection module. To improve the motor response time, which is described separately below.

The detection module is specifically used for acquiring a motor rotating speed instruction and an actual rotating speed of the motor; the data processing module is used for calculating a torque instruction of a motor rotating speed ring according to the motor rotating speed instruction and the actual rotating speed of the motor; inputting a motor rotating speed instruction, the actual rotating speed of the motor and a torque instruction of a motor rotating speed ring into a torque estimation value module; subtracting the output of the torque estimation value module from the torque of the motor rotating speed ring, and carrying out torque limitation to obtain a motor torque instruction; inputting the motor torque instruction, the motor rotating speed instruction, the difference value of the actual rotating speed of the motor and the torque instruction of the motor rotating speed ring into the rotating speed estimation module to obtain a motor torque estimation value; and acquiring current commands of the d axis and the q axis according to the estimated motor torque value. Reference may be made specifically to the description of the above method.

According to the description, the difference between the output torque of the motor rotating speed and the rotating speed difference value of the motor is subtracted, the other part of motor torque instructions are offset with the motor torque instructions, and finally the adjustment relation between the motor rotating speed instructions and the actual rotating speed of the motor before and after PI is only changed, so that the response time of rotating speed control is greatly prolonged.

In a specific possible implementation, the data processing module is further configured to filter the motor speed command and reject a step portion in the motor speed command. Reference may be made in particular to the description of the above-mentioned process.

In a specific possible implementation, the data module is further configured to determine an estimated torque command value for the album rotation speed control according to the actual motor rotation speed, a deviation between the motor rotation speed command value and the actual motor value, and a torque command of the motor rotation speed loop. Reference may be made in particular to the description of the above-mentioned process.

In a specific implementation, the data processing module is further specifically configured to perform PI control on the filtered motor rotation speed command and the actual motor rotation speed to obtain a torque command of the motor rotation speed loop. Reference may be made in particular to the description of the above-mentioned process.

The embodiment of the application also provides an automobile which comprises an automobile body and the permanent magnet synchronous motor rotating speed control response system arranged in the automobile body.

In the technical scheme, the difference between the output torque of the motor rotating speed and the motor rotating speed is subtracted, the rest part of motor torque instructions are offset with the motor torque instructions, and finally the adjustment relation between the motor rotating speed instructions and the actual rotating speed of the motor before and after the PI is only changed, so that the response time of rotating speed control is greatly prolonged.

An embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement a method for performing the first aspect and any one of the possible designs of the first aspect.

The present embodiments provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the first aspect and any one of the possible design methods of the first aspect.

Embodiments of the present application also provide a computer program product, which includes instructions that, when executed on a computer, cause the computer to perform the method according to any one of the first aspect and the possible designs of the first aspect of the present application.

It should be noted that the method of one or more embodiments of the present disclosure may be performed by a single device, such as a computer or server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the devices may perform only one or more steps of the method of one or more embodiments of the present disclosure, and the devices may interact with each other to complete the method.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

For convenience of description, the above devices are described as being divided into various modules by functions, which are described separately. Of course, the functionality of the modules may be implemented in the same one or more software and/or hardware implementations in implementing one or more embodiments of the present description.

The apparatus in the foregoing embodiment is used for implementing the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.

Fig. 5 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the electronic device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via bus 1050.

The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.

The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called to be executed by the processor 1010.

The input/output interface 1030 is used for connecting an input/output module to input and output information. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.

The communication interface 1040 is used for connecting a communication module (not shown in the drawings) to implement communication interaction between the present apparatus and other apparatuses. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, bluetooth and the like).

Bus 1050 includes a path that transfers information between various components of the device, such as processor 1010, memory 1020, input/output interface 1030, and communication interface 1040.

It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.

Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present description as described above, which are not provided in detail for the sake of brevity.

In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present description, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.

While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures, such as Dynamic RAM (DRAM), may use the discussed embodiments.

It is intended that the one or more embodiments of the present specification embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A control method of motor speed control response, comprising the steps of:

subtracting the output of the torque estimation value module from the torque of the motor rotating speed ring, and carrying out torque limitation to obtain a motor torque instruction;

2. The control method of motor speed control response according to claim 1, characterized by further comprising:

3. The control method of motor speed control response according to claim 2, wherein the d-axis and q-axis current commands are obtained in accordance with a motor torque command; the method specifically comprises the following steps:

and decoupling corresponding d-axis and q-axis currents as d-axis and q-axis current instructions of current closed-loop control through a calibration lookup table in the MTPA.

4. The control method of motor speed control response according to claim 3, wherein the calculating a torque command of a motor speed loop based on the motor speed command and an actual motor speed; the method specifically comprises the following steps:

5. The method of claim 4, wherein the motor torque command is obtained by subtracting the output of the torque estimation module from the torque of the motor speed loop and performing torque limitation; the method specifically comprises the following steps:

6. The control method of motor speed control response according to any one of claims 1 to 5, wherein the difference between the motor speed command and the actual motor speed; the method specifically comprises the following steps:

7. A control system for a rotational speed control response of a permanent magnet synchronous motor, comprising:

8. The system of claim 7, wherein the data processing module is further configured to filter the motor speed command and remove a step portion of the motor speed command.

9. The system of claim 8, wherein the data module is further configured to determine an estimated torque command value for the album rotation speed control based on the actual motor rotation speed, a deviation of the motor rotation speed command value from the actual motor value, and a torque command for the motor rotation speed loop.

10. The system according to claim 9, wherein the data processing module is further configured to perform PI control on the filtered motor speed command and the actual motor speed to obtain a torque command of a motor speed loop.

11. An automobile comprising an automobile body and a control system for controlling the response of the rotation speed of a permanent magnet synchronous motor according to any one of claims 7 to 10 provided in the automobile body.

12. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of controlling a motor speed control response according to any one of claims 1 to 6 when executing the program.

13. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the control method of motor speed control response according to any one of claims 1 to 6.