JP2000069783A - Motor controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable accurate torque control by adjusting a feedback gain in an armature current control means depending on amount of manipulation calculated to eliminate deviation from a target supply power and an actual supply power. SOLUTION: If a difference voltage Vas outputted from a difference output circuit 20 is 0 when a reference triangular wave (a) having amplitude A1 and period T1 is inputted to a negative input terminal of a comparator 24 of an armature current control means, the reference voltage Vb of an adder 22 is inputted to a positive input terminal of the comparator 24. Therefore, a pulse signal having the width W1 is outputted from the output terminal. A voltage application time to the armature during the period T1 is regulated and supply current to armature can be controlled by impressing a voltage to the armature when the output of pulse signal C is at a high level and the supply current to the armature is feedback-controlled to eliminate difference depending on difference between the detected value of armature current and the target current value. As a result, accurate torque control can be realized.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device for controlling an output torque of a motor by feedback-controlling a current supplied to an armature of the motor.

[0002]

2. Description of the Related Art Conventionally, as a method of controlling an output torque of a motor, a current flowing through an armature of a motor (hereinafter referred to as an armature current) is detected, and a detected current value is set to a target current value corresponding to an instruction torque. In general, a method of feedback-controlling the current supplied to the armature of the motor so as to coincide with each other is adopted.

Specifically, the armature current is adjusted by, for example, changing the pulse width of the voltage applied to the armature of the motor according to the deviation between the detected value of the armature current of the motor and the target current value. PWM control is used.

Here, the PWM control basically assumes that the amplitude of the voltage applied to the armature of the motor (≒ the power supply voltage of the motor) is kept constant and the armature current of the motor is controlled. To control. Therefore, when the fluctuation of the power supply voltage is relatively small, such as when a constant voltage power supply or a battery is used, good control performance can be obtained.

However, when a power supply having a large fluctuation in output voltage such as an electric double layer capacitor is used as a power supply for the motor, there is a disadvantage that the control performance is deteriorated due to the fluctuation in the power supply voltage. In order to solve this inconvenience, the detected value of the power supply voltage, the detected value of the armature current, the detected value of the motor speed, and the like are input as control parameters, and the voltage applied to the motor armature is Determine pulse width by software calculation and PW
It is conceivable to perform so-called software servo control that performs M control.

However, in order to perform such software servo control, it is necessary to hold a large amount of data in advance to determine the pulse width of the voltage applied to the armature from the value of each control parameter. In order to determine the pulse width of the voltage applied to the armature based on the held data, complicated arithmetic processing is required. Further, the pulse width of the voltage applied to the armature needs to be determined at high speed so as not to cause a control delay of the motor. Therefore, in order to perform software servo control, it is necessary to use a high-performance CPU or DSP capable of performing complicated arithmetic processing at high speed, which complicates the configuration of the motor control device and reduces cost. There was a disadvantage that it would be expensive.

[0007]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a motor control device capable of performing accurate torque control using a power supply having a large output voltage fluctuation and a CPU having a relatively low arithmetic processing capability. With the goal.

[0008]

In order to achieve the above object, the present invention provides a motor, current detecting means for detecting a current flowing through an armature of the motor, and a current value detected by the current detecting means. The present invention relates to an improvement in a motor control device including an armature current control unit that feedback-controls a current supplied to an armature of a motor so as to match a target current value corresponding to a predetermined torque command.

A voltage detecting means for detecting a power supply voltage of the motor; a rotational speed detecting means for detecting a rotational speed of the motor; a voltage value detected by the voltage detecting means and a voltage value detected by the rotational speed detecting means. Target supply power calculation means for calculating target supply power to be supplied to the armature of the motor from the rotation speed obtained and the torque command, and a current value detected by the current detection means and detected by the voltage detection means. Actual supply power calculation means for calculating actual supply power actually supplied to the motor from a voltage value, and operation amount calculation means for calculating an operation amount for eliminating a deviation between the target supply power and the actual supply power And a gain adjusting means for adjusting a feedback gain in the armature current control means according to the operation amount.

The efficiency of the motor (output of the motor / power supplied to the armature of the motor) changes according to the fluctuation of the power supply voltage of the motor. Further, a change in the number of rotations of the motor also affects the efficiency of the motor. Therefore, the target supply power calculation means calculates a target supply power to the motor required to obtain an output of the motor in accordance with the torque command, based on the torque command, the power supply voltage of the motor, and the rotation speed of the motor. I do.

[0011] The gain adjusting means is responsive to an operation amount calculated by the operation amount calculating means for eliminating a deviation between the actual supply power and the target supply power.
The feedback gain by the armature current control means is adjusted. Therefore, even if the power supply voltage of the motor changes and the actual supply power to the motor changes, the current supplied to the motor armature is controlled so that the actual supply power according to the torque command is supplied. You. Thus, accurate motor torque control can be performed even when the fluctuation of the power supply voltage of the motor is large. The operation amount can be calculated by a simple calculation process (for example, PI control calculation process), and the adjustment of the feedback gain can be realized by a simple hardware configuration or the like.
There is no need to use SP. Therefore, the motor control device can be configured using a CPU having relatively low arithmetic performance, and thus it is possible to suppress the complexity of the device configuration and increase in device cost.

As described above, by adjusting the feedback gain in the armature current control means by the gain adjustment means, basically stable torque control can be performed even if the power supply voltage fluctuates. . However, the adjustment range of the feedback gain is limited,
The supply current to the motor armature cannot be adjusted without limit. For this reason, a target current value corresponding to the torque command may not be supplied to the armature of the motor.

Therefore, in the present invention, the operation amount calculated by the operation amount calculation means exceeds a predetermined limit operation amount (for example, set in correspondence with the vicinity of the upper limit of the feedback gain adjustment range). Sometimes, the motor further includes field control means for adjusting a field current supplied to a field pole of the motor to perform field weakening control to weaken a magnetic flux generated in the field pole, and the operation amount calculated by the operation amount calculation means is provided. When the limit operation amount is exceeded, field weakening control is performed by the field control means. Thus, the current value that can be supplied to the armature of the motor can be increased, and the control range of the torque control can be expanded. According to the present invention, the field for weakening the control field (operation amount> limit operation amount) is deduced from the feedback gain control region (operation amount ≦ limit operation amount).
The switching to the control region is performed based on one variable called the operation amount, so that the switching of the control region is performed smoothly, and good control characteristics can be obtained.

Further, the field control means determines an adjustment amount of a field current in the field weakening control according to the magnitude of the operation amount.

According to the present invention, the amount of adjustment of the field current in the field weakening control is determined in accordance with the magnitude of the operation amount, so that the appropriate field weakening control according to the fluctuation of the power supply voltage. Can be performed, and the generated torque of the motor at the time of shifting from the feedback gain control region to the field weakening control region can be smoothly changed.

The armature current control means compares the difference between the current value detected by the current detection means with the target current value and a reference triangular wave to generate a pulse of a voltage applied to the armature. The current supplied to the armature of the motor is controlled by PWM control for determining the width, and the gain adjusting means adjusts the feedback gain by changing the amplitude of the reference triangular wave.

As a method of controlling the current supplied to the motor armature, PWM control for adjusting the pulse width of the voltage applied to the motor armature is widely used. And
According to the present invention, when the pulse width is determined by comparing the difference between the current value detected by the current detection unit and the target current value with the reference triangular wave,
By changing the amplitude of the reference triangular wave, the pulse width determined according to the difference between the current value detected by the current detection means and the target current value is changed, and the feedback gain is easily adjusted. be able to.

Further, an electric double layer capacitor is used as a power supply for the motor. The electric double-layer capacitor has a large effect of applying the present invention, particularly since the output voltage is greatly reduced by a decrease in the remaining charge amount.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to FIGS. 1 is an overall configuration diagram of the motor control device of the present invention, FIG. 2 is an explanatory diagram of the operation of the motor driver shown in FIG. 1, FIG. 3 is a control block diagram of the motor controller shown in FIG. 1, and FIG. FIG. 5 is an explanatory diagram of the operation of the control selection means shown in FIG.

Referring to FIG. 1, the motor control device according to the present embodiment is mounted on a so-called hybrid vehicle that obtains a driving force by a combination of an engine and a motor.
A motor 1 which is a DC brushless motor, and a power source 2 which is an electric double layer capacitor and is a power supply for operating the motor 1
And the motor 1 so that the motor 1 generates a desired torque.
A motor driver 5 for controlling a current supplied to the armature 3 and the field pole 4 of the first embodiment, and a motor controller 6 for giving various control instructions to the motor driver 5.

The motor controller 6 includes a CPU, an RO,
M, a RAM, etc., according to a torque command given from a general controller (not shown) for controlling the operation of the vehicle by inputting the speed of the vehicle, the output voltage of the power supply 2 and the like. Of the current supplied to the motor driver 5 (hereinafter referred to as a target current value), and instructs the motor driver 5 on the target current value.

The armature current control means 7 provided in the motor driver 5 applies three phases (U, V,
A rotating magnetic field is generated by applying the drive voltage W). Then, currents actually flowing through the armature 3 (hereinafter, referred to as armature currents) are detected by the current sensors 8 and 9 (corresponding to current detection means of the present invention), and the detected armature current is set to the target current value. The current supplied to the armature 3 is feedback-controlled so as to coincide with The current supplied to the field pole 4 is normally kept constant by the field current control means 10.

Here, the armature current control means 7 has a PWM
The current supplied to the armature 3 of the motor 1 is controlled by the control. With reference to FIG. 2A, the armature current control means 7
A difference output circuit 20 for outputting a difference voltage _Vas according to a difference between the target current value and the detected value of the armature current (target current value-detected value of the armature current); (For example, an output voltage level when the power supply 2 is fully charged), a reference voltage output circuit 21 that outputs a reference voltage _Vb defined so as to obtain a current supply at the target current value; an adder 22 for adding the reference voltage V _b to be output from the differential voltage V _{the as} a reference voltage output circuit 21 is output from the differential output circuit 20, a triangular wave generating circuit 23 for generating a reference triangular wave, the output of the adder 22 And a comparator 24 for comparing the reference triangular wave output from the triangular wave generation circuit 23 with the comparator 24.

Referring to FIG. 2B, the comparator 24
The operation of the comparator 2 will be described below.
When the reference triangular wave a having the amplitude A ₁ and the period T ₁ is input to the negative input terminal of the comparator 4, for example, when the difference voltage V _as output from the difference output circuit 20 is 0, the comparator 2
The reference voltage _Vb from the adder 22 is input to the positive input terminal of the fourth. Therefore, as shown in from the output terminal of the comparator 24, the pulse signal c of the pulse width W ₁ is output.

By applying a voltage to the armature 3 when the output of the pulse signal c is at a high level, the voltage application time to the armature 3 in the cycle T ₁ is adjusted as shown in FIG. The supply current to the child 3 is controlled.

[0026] Here, when the detected value of the armature current is less than the target current value becomes a differential voltage V _{the as} positive output from the differential output circuit 20, the input from the adder 22 to the positive input terminal of the comparator 24 The voltage level to be applied is the reference voltage V
Since rises than _b, the pulse width of the pulse signal output from the comparator 24 is wider than W _1. Therefore the voltage application time to the armature 3 is increased in the period T _1, the armature current increases.

[0027] Conversely, when the detected value of the armature current is larger than the target current value, the difference voltage V _{the as} output from the differential output circuit 20 is negative are inputted from the adder 22 to the positive input terminal of the comparator 24 Voltage level is the reference voltage V
Since lower than _b, the pulse width of the pulse signal output from the comparator 22 becomes narrower than W _1. Therefore the voltage application time to the armature 3 is reduced in the period T _1, the armature current is reduced.

As described above, according to the difference between the detected value of the armature current and the target current value, the difference is eliminated so that the detected value of the armature current matches the target current value. The current supplied to the child 3 is feedback-controlled.

In the present embodiment, since the electric double layer capacitor 2 is used as the power supply 2 of the motor 1, the output voltage of the power supply 2 is greatly reduced according to the decrease of the remaining charge. For example, with a decrease in the output voltage of the power supply 2, as shown in FIG. 2 (b), the case where the amplitude of the voltage applied to the armature 3 of the motor 1 is reduced from B ₁ to B _2, the adder 22 When the reference voltage _Vb is input to the positive input terminal of the comparator, the voltage waveform applied to the armature 3 of the motor 1 changes from d to e.

As a result, the electric power is supplied to the armature 3 of the motor 1.
Current decreases, and the detected value of the armature current and the target current value
The difference is magnified, and the difference voltage output from the difference output circuit 20 is output.
Pressure V _asIncrease. And the increased differential voltage V_asSolve
In order to cancel, the above-mentioned feedback control
3, the application time of the drive voltage is increased.
When the output voltage of the power supply 2 decreases, the differential voltage V_asIs bigger
In this case, the accuracy of the torque
Lock control cannot be performed.

Further, the efficiency of the motor 1 (output of the motor / power supplied to the armature of the motor) changes depending on the fluctuation of the output voltage of the power supply 2 and the rotation speed of the motor 1. Therefore, in order to perform accurate torque control in consideration of such a change in the output voltage of the power supply 2 and a change in the number of revolutions of the motor 1, the motor controller 6 detects the voltage by the voltage sensor 11 with reference to FIG. Rotation sensor 12 that outputs a pulse signal having a cycle corresponding to the output voltage of power supply 2 and the rotation speed of motor 1
The rotation speed of the motor 1 detected by the rotation speed detection means (corresponding to the rotation speed detection means of the present invention) and the armature current detected by the current sensors 8 and 9 are input. And instructs the motor driver 5 to correct the feedback gain and to correct the field current supplied to the field pole 4 by the field current control means 10.

Hereinafter, the correction processing of the feedback gain and the correction processing of the field current by the motor controller 6 will be described with reference to FIGS. Referring to FIG.
The motor controller 6 includes a target current value calculation unit 30, a target supply power calculation unit 31, an actual supply power calculation unit 32, an operation amount calculation unit 33, a limit operation amount calculation unit 34, a control selection unit 35, a gain adjustment unit 36, Field control means 37
Is provided.

The target current value calculating means 30 calculates a target current value to be supplied to the armature 3 of the motor 1 in accordance with a torque command given from the general controller (not shown), and outputs the target current value to the motor driver 5. I do. The target current value calculating means 30 includes a torque command-target current value correspondence map determined in advance by an experiment, and calculates a target current value from the torque command according to the map.

The target supply power calculation means 31 calculates the torque command, the output voltage of the power supply 2 detected by the voltage sensor 11 (see FIG. 1), and the rotation of the motor 1 detected by the rotation sensor 12 (see FIG. 1). From the numbers, the target supply power which is the power to be supplied to the armature 3 to obtain the torque according to the torque command is calculated.

Here, as described above, the efficiency of the motor (output of the motor / power supplied to the armature of the motor) changes due to a change in the power supply voltage of the motor and a change in the rotation speed of the motor. Therefore, the target supply power calculating means 31 determines whether the power supply 2
The target supply power is calculated in consideration of the influence of the output voltage of the motor 1 and the rotation speed of the motor 1. It has a corresponding map of the target supply power, and calculates the target supply power according to the map.

The actual supply power calculating means 32 is provided by the voltage sensor 1
1 (see FIG. 1), the output voltage of the power supply 2 detected by
The actual power supplied to the armature 3 of the motor 1 is calculated from the armature current detected by the current sensors 8 and 9 (see FIG. 1).

The manipulated variable calculator 33 calculates a deviation ΔP between the target supply power calculated by the target supply power calculator 31 and the actual supply power calculated by the actual supply power calculator 32.
An operation amount α for canceling the power is calculated by the following equation (1) based on PI control.

Α = KP * ΔPower + KI * ∫ΔPower (1) Note that KP and KI are coefficients determined based on the characteristics of the motor 1, the experimental results, and the like.

The limit manipulated variable calculation means 34 calculates the torque command, the output voltage of the power supply 2 detected by the voltage sensor 11 (see FIG. 1), and the rotation of the motor 1 detected by the rotation sensor 12 (see FIG. 1). From the number, the armature 3 of the motor 1
Calculating a limit operation amount alpha _L corresponding to the upper limit value of the current can be supplied to the.

The control selecting means 35 includes an operation amount calculating means 33
And the limit operation amount calculation means 34
Limit operation amount α calculated by_LAnd the gain
Select either the adjusting means 36 or the field control means 37
Activate. Referring to FIG. 4, control selection means 35
Α by the yield calculation means 33_min≦ α ≦ α_maxCalculated in the range
The output operation amount α is calculated by the limit operation amount calculation means 34.
Issued limit operation amount α _LAdjust the gain when
Activate the means 36.

The gain adjusting means 36, the scaling function f ₁ (alpha), the correction value DerutaGain feedback gains in the armature current controller 7 based on the operation amount alpha (see FIG. _{1), G min ≦ ΔGain ≦} G It is calculated in the range of _max and output to the motor driver 5.

On the other hand, when the operation amount α exceeds the limit operation amount α _L , the control selecting means 35 activates the field control means 37. The field control means 37 calculates the scaling function f
The ₂ (alpha), the .DELTA.i _q is a correction value of the current supplied from field current control unit 8 (see FIG. 1) to the field pole 4 of the motor 1 based on the operation amount _{α, Q min ≦ Δi q ≦} Q It is calculated in the range of _max and output to the motor driver 5.

As described above, the control selecting means 35 controls the gain adjusting means 36 with a single parameter of the operation amount α.
To switch between the feedback gain correction control by the controller and the field current correction control by the field controller 37.
Control switching can be performed smoothly.

Next, referring to FIG. 1, armature current control means 7 provided in motor driver 5 is provided with gain adjustment means 36 provided in motor controller 6 (see FIG. 3).
Gain correction value ΔGai output from
Based on n, the feedback gain for feedback-controlling the current supplied to the armature 3 of the motor 1 is changed from the reference value. More specifically, referring to FIG. 2A, the triangular wave generation circuit 23 provided in the armature current control means 7 changes the amplitude of the reference triangular wave according to the indicated value of ΔGain, thereby providing a feedback gain. Is changed.

FIG. 5 shows how the shape of the drive voltage waveform applied to the armature 3 changes when the amplitude of the reference triangular wave is changed in this manner. As shown in FIG. 5, when the amplitude of the reference triangular wave a is changed from A ₃ to A ₄ , the reference voltage V _b is applied to the positive input terminal of the comparator 24 shown in FIG. When input, the pulse signal c output from the comparator 24
The pulse width is increased from W ₃ to W _4. for that reason,
When the output voltage of the power supply 2 decreases and the amplitude of the voltage applied to the armature 3 decreases from B ₃ to B ₄ and the current supplied to the armature 3 decreases, as shown in FIG. Is reduced and the feedback gain is increased to suppress a decrease in the current supplied to the armature 3. Thereby, when the output voltage of the power supply 2 decreases, the difference output circuit 20 is referred to with reference to FIG.
From increasing the differential voltage V _as output from the
Accurate torque control can be performed by preventing the following characteristic of the armature current from deteriorating.

Next, as described above, by correcting the feedback gain in the armature current control means 7 by changing the amplitude of the reference triangular wave, it is possible to suppress the deterioration of the followability of the torque control due to the decrease in the output voltage of the power supply 2. However, the feedback gain in the armature current control cannot be increased without limit. That is, as shown in FIG. 5, the pulse width can not be expanded only to W _5. Note that the above-mentioned limit operation amount α _L is
When the pulse width is set to the maximum (Duty 100%), it is calculated according to the current value that can be supplied to the armature 3.

[0047] Therefore, the control selection means 35, beyond the operation amount calculated by the operation amount calculation unit 33 alpha is a limit operation amount alpha _L, the current supply at the target current value corresponding to the torque command is corrected feedback gains When the control cannot be performed, the control is switched from the correction control of the feedback gain by the gain adjusting unit 36 to the field weakening control by the field control unit 37. As shown in FIG. 4, the field control unit 37 calculates a field current correction value according to the value of the operation amount α, and performs appropriate field weakening control according to a change in the output voltage of the power supply 1. . When performing the field weakening control, the correction value ΔGain of the feedback gain is ΔGain
= F ₂ (α _L ), and the feedback gain in the armature current control means 7 is kept constant.

Referring to FIG. 1, the field current control means 10 provided in the motor driver 5 controls the field pole 4 in accordance with the field current correction value output from the field control means 37 provided in the motor controller 6. Change the current supplied to.
Thereby, the magnetic flux generated in the field pole 4 is weakened. By performing the field weakening control in this manner, the current supplied to the armature 3 can be increased, and the control range of the torque control of the motor 1 in a constant power supply voltage fluctuation range can be expanded. Therefore, referring to FIG. 3, the number of data tables that need to be held in advance by target supply power calculation unit 31 and limit operation amount calculation unit 34 according to the output voltage of power supply 2 can be reduced.

Then, referring to FIG.
Processing the calculated manipulated variable alpha as described above, the calculation of the limit operation amount alpha _L, only simple arithmetic processing scaling such a correction value of the feedback gain and the field current corresponding to the operation amount alpha in. Therefore, the controller 6 can be configured using a CPU having a relatively low arithmetic processing capability.

In the present embodiment, the PWM control section in the armature current control means 7 is constituted by a hardware circuit, but may be constituted by software control by a microprocessor. Although the change of the feedback gain in the armature current control means 7 is performed by changing the amplitude of the reference triangular wave, the change may be performed by changing the coefficient value of the PI control in the armature current control means 7. This may be performed by changing the value of the reference voltage V _b (see FIG. 2A) corresponding to the target current value.

As a method of controlling the current supplied to the armature, other control methods than the PWM control, for example, a method of adjusting the amplitude of the voltage applied to the armature may be used.

Further, in this embodiment, the DC brushless motor in which a current is supplied to the field poles to generate a magnetic flux in the field poles has been described. However, a magnetic flux is applied to the field poles by providing a permanent magnet in the field. The present invention is also applicable to a permanent magnet field type DC brushless motor to be generated. When performing torque control of a permanent magnet field type DC brushless motor, in order to easily perform the control, the motor is placed on the first axis on the q-axis which is the direction of the magnetic flux of the field by the permanent magnet.
A control method is generally adopted in which an equivalent circuit is converted into an equivalent circuit having an armature and a second armature on a d-axis orthogonal to the q-axis, and the equivalent circuit is a control target.

Then, as described above, the permanent magnet field type D
When the torque control is performed by converting the C brushless motor into an equivalent circuit on the dq axes, id flowing through the second armature
The current corresponds to the armature current flowing through the armature of the present invention, and the iq current flowing through the first armature corresponds to the field current flowing through the field pole of the present invention. In other words, by controlling the id current, the motor torque is adjusted, and by controlling the iq current, an effect equivalent to the field weakening control that reduces the magnetic flux of the field poles of the motor is produced. Therefore, the effect of the present invention can be obtained even when torque control is performed on a permanent magnet type DC brushless motor by an equivalent circuit on the dq axes. Further, the present invention can be applied to other types of motors other than the DC brushless motor.

The best effect of the present invention can be obtained by performing both the feedback gain correction control in the armature current feedback control and the field weakening control. However, the feedback gain in the armature current feedback control is obtained. The effect of the present invention can be obtained even if only the correction control is performed.

In this embodiment, the operation amount α
Although the correction amount of the field current in the field weakening control is calculated according to the above, the correction value of the field current in the field weakening control may be fixed in some cases.

In this embodiment, an example is shown in which an electric double-layer capacitor is used as a power supply for a motor. However, even if other types of power supplies have large fluctuations in the output voltage of the power supply, The application of the present invention is effective.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a motor control device of the present invention.

FIG. 2 is an operation explanatory diagram of the motor driver shown in FIG. 1;

FIG. 3 is a control block diagram of the motor controller shown in FIG. 1;

FIG. 4 is an explanatory view of the operation of the control selecting means shown in FIG. 3;

FIG. 5 is an explanatory diagram of correction processing of a feedback gain.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Motor, 2 ... Power supply, 3 ... Armature, 4 ... Field pole, 5 ...
Motor driver, 6 motor controller, 7 armature current control means, 8, 9 current sensor, 10 field current control means, 11 voltage sensor, 12 speed sensor, 1
3 Current sensor, 20 Difference output circuit, 21 Reference voltage output circuit, 22 Adder, 23 Triangular wave generation circuit, 24
... Comparator, 30 ... Target current value calculation means, 31 ... Target supply power calculation means, 32 ... Real supply power calculation means, 33
... Operation amount calculation means, 34 ... Limit operation amount calculation means, 35 ...
Control selection means, 36: Gain adjustment means, 37: Field control means

Claims (5)

[Claims] 1. A motor, a current detecting means for detecting a current flowing through an armature of the motor, and a current value detected by the current detecting means so that the current value coincides with a target current value corresponding to a predetermined torque command. A motor control device comprising: an armature current control unit that feedback-controls a current supplied to an armature of the motor; a voltage detection unit that detects a power supply voltage of the motor; and a rotation that detects a rotation speed of the motor. Number detection means, and target supply power for calculating target supply power to be supplied to the armature of the motor from the voltage value detected by the voltage detection means, the rotation speed detected by the rotation speed detection means, and the torque command. Calculating means for calculating the actual power supplied to the motor from the current value detected by the current detecting means and the voltage value detected by the voltage detecting means; Actual supply power calculation means, an operation amount calculation means for calculating an operation amount for eliminating a deviation between the target supply power and the actual supply power, and feedback in the armature current control means according to the operation amount. A motor control device comprising: a gain adjusting means for adjusting a gain. 2. When the operation amount calculated by the operation amount calculation means exceeds a predetermined limit operation amount, a field current supplied to a field pole of the motor is adjusted to generate a field current. 2. The motor control device according to claim 1, further comprising field control means for performing a field weakening control for weakening a magnetic flux generated. 3. The motor control device according to claim 2, wherein the field control means determines an adjustment amount of a field current in the field weakening control according to the magnitude of the operation amount. 4. The armature current control means compares a difference between the current value detected by the current detection means and the target current value with a reference triangular wave to generate a pulse of a voltage applied to the armature. The current supplied to the armature of the motor is controlled by PWM control for determining a width, and the gain adjustment unit adjusts the feedback gain by changing an amplitude of the triangular wave. The motor control device according to any one of claims 1 to 3. 5. The motor control device according to claim 1, wherein an electric double layer capacitor is used as a power supply for the motor.