JP2002315389A - Motor controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a motor controller having proper control accuracy and response by ensuring synchronism, in the sampling of angular information and current information thereby avoiding commutation noise. SOLUTION: The motor controller comprises a PWM signal generating means 17 for providing a PWM signal to an inverter 2 which converts power and supplies to a motor 3, a current information detecting means 10 which is inputted with a current signal of the motor 3 and outputting current information, an angular information detecting means 11 inputted with a rotational angle signal of the motor 3 and outputting angular information, a current information sampler 15 and an angular information sampler 16 for sampling current information and angular information fed to a vector control operating means 9, and means 13 for operating the sampling period of the current information sampler 15 and the angular information sampler 16, where the sampling period being outputted from the sampling timing operating means 13 provides a specified time difference between the sampling timing of the current information and the sampling timing of the angular information.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a timing control for sampling a rotation angle and a current value of a motor in a motor control device for driving a motor by an inverter.

[0002]

2. Description of the Related Art When a synchronous motor is controlled with high accuracy by a vector control method, a control calculation is generally performed using a current value flowing through the motor and a rotation angle of a rotor as control information. In addition, a current detector is provided on a power supply line from the inverter to the synchronous motor, and an angle detector or a rotation speed detector having a specific angle detection function is attached to the rotor. A CT using a shunt resistor or a Hall element is used for the current detector, and a resolver or an encoder is used for the angle detector or the rotation speed detector. A semiconductor power conversion element controlled by a PWM signal from a control device is used as a switching element for an inverter that supplies power to the synchronous motor, and commutation noise due to the operation of the switching element detects angle and current. Since an error is generated by being superimposed on the signal, noise prevention measures and avoidance measures are used in detecting the current value and the angle.

In such a conventional motor control device, a circuit for preventing noise is often provided in a signal input path from a current detector and a signal input path from an angle detector. One of the methods is to avoid the effect of commutation noise in timing at the time of detection of. For example, the technique disclosed in JP-A-11-136950 is also based on this technique. In the technique disclosed in this publication, current sampling is performed while avoiding a period in which commutation noise is generated while synchronizing with a PWM carrier signal. Specifically, a peak of a triangular wave of a carrier signal is used. Alternatively, current sampling is performed at a point in time after a predetermined time from the top.

[0004]

By setting the current sampling timing in this way, errors due to commutation noise can be avoided, but there is another problem that cannot be ignored in controlling the synchronous motor with high accuracy. That is, when attempting to control the synchronous motor with high accuracy by the vector control method, it is necessary to obtain the rotation angle information at the same time as the timing of detecting the current value and perform the control calculation. If there is a temporal difference in the detection timing, there is a problem in that a deviation occurs in the coordinate axes in the control calculation, and the control accuracy is deteriorated, and the response of the control is also lowered. It is generally well known that it is necessary to simultaneously sample the rotation angle information and the current value. However, in actual control, a rotation angle detection system and a current value detection system are used. In general, since there is a difference in the transfer characteristics, the simultaneousness of the sampling of the rotation angle information and the current value cannot be generally maintained. Therefore, the conventional control method limits the control accuracy and the responsiveness. Was something.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and it is an object of the present invention to ensure the simultaneousness of sampling of rotation angle information and current information and to perform sampling while avoiding commutation noise. Accordingly, it is an object of the present invention to obtain a motor control device having good control accuracy and responsiveness.

[0006]

An electric motor control device according to the present invention provides an inverter for converting electric power supplied to an electric motor to a PWM based on a voltage command value and a carrier signal.
PWM signal generating means for providing a signal, current information detecting means for inputting a current value signal of the motor and outputting current information,
Angle information detection means for inputting a rotation angle signal of the motor and outputting angle information, current information sampler and angle information sampler for sampling current information and angle information and providing the vector control calculation means, current information sampler and angle Sampling time calculating means for calculating each sampling time with the information sampler, wherein the sampling time output by the sampling time calculating means has a predetermined time difference between the current information sampling time and the angle information sampling time. It is set as follows.

Further, the carrier signal is a triangular wave, and the sampling timing of the angle information calculated by the sampling timing calculating means is set after a predetermined time including zero from the maximum value or the minimum value of the triangular wave. Things. Further, a predetermined time difference between the sampling time of the current information and the sampling time of the angle information is set based on the time difference between the signal processing delay time of the current information detecting means and the signal processing delay time of the angle information detecting means. It was made. Further, the inverter is provided with gate driving means for converting a PWM signal into a gate signal, and a predetermined time from the maximum value or the minimum value of the triangular wave is converted into a gate signal from the PWM signal of the gate driving means. This is set based on the delay time.

Further, a temperature detecting means is provided in the current information detecting means, the angle information detecting means, and the gate driving means, and the temperature detecting means is provided based on a time difference between a signal processing delay time of the current information detecting means and a signal processing delay time of the angle information detecting means. The predetermined time difference that is set and the predetermined time that is set based on the signal processing delay time when converting the PWM signal to the gate signal of the gate driving unit are corrected by the respective temperatures. is there. Further, the carrier signal is a sawtooth wave, and the sampling time of the angle information calculated by the sampling time calculation means is set to a predetermined time before the maximum value of the sawtooth wave.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 1 to 8
FIG. 1 is a block diagram illustrating a motor control device according to a first embodiment of the present invention. FIG. 1 is a block diagram illustrating a system configuration, and FIG.
FIG. 3 is an explanatory diagram showing an example of the configuration of the sensor and the angle information detecting circuit 11 and its signal transmission characteristics. FIG. 3 is an explanatory diagram of the operation for explaining the simultaneity of sampling, and FIG.
5, FIG. 5 is an explanatory diagram for explaining the transfer characteristic of the gate driving operation, FIG. 6 is an explanatory diagram for explaining the commutation noise prevention timing with respect to the rotation angle information, and FIG. 7 and FIG. FIG. 4 is an explanatory diagram for explaining the characteristics and timing of commutation noise prevention.

The configuration and operation of the system will be described with reference to FIG. 1. The system comprises a DC power supply 1 and an inverter 2 for converting the DC power from the DC power supply 1 into U-phase, V-phase and W-phase three-phase AC power. A motor 3 driven by AC power from the inverter 2, a U-phase current detector 4a and a V-phase current detector 4b provided in a power supply path from the inverter 2 to the motor 3, and a rotor of the motor 3 , A signal from each of the U-phase current detector 4a, the V-phase current detector 4b, and the angle detector 5 to provide a PWM signal to the inverter 2, and the motor 3 And a control device 6 for controlling.

Inverter 2 includes a U-phase p-side IGBT 7a and a U-phase n-side IGBT 7 as semiconductor power converters.
b, V-phase p-side IGBT (not shown) and V-phase n-side I
A total of six switching elements, a GBT, a W-phase p-side IGBT, and a W-phase n-side IGBT, are connected in a three-phase bridge configuration, and are gate driving means 8 driven by a PWM signal from the control device 6. The switching operation is performed by the gate signal of, and the DC power from the DC power supply 1 is converted into three-phase AC power and supplied to the electric motor 3.

The control unit 6 is a vector control calculating means 9 for outputting a voltage command value to be given to the electric motor 3 based on an external torque command value and current information and angle information described later.
Current information detecting means 10 for inputting current signals detected by the current detectors 4a and 4b and outputting current information.
Angle information detecting means 11 for inputting a rotation angle signal from the angle detector 5 and outputting angle information; carrier signal generating means 12 for generating a triangular carrier signal; Sampling time calculating means 13 for calculating a sampling time with the angle information, sampling instructing means 14 for outputting a sampling instructing signal based on a signal from the sampling time calculating means 13, and a sampler for sampling current information based on the instruction of the sampling instructing means 14. 15a and 15b, a sampler 16 for sampling angle information based on an instruction of the sampling instruction means 14, a PWM signal generated by a voltage command value of the vector control operation means 9 and a carrier signal from the carrier signal generation means 12, and a gate. P given to the driving means 8
WM signal generating means 17.

The control device 6 includes a torque command value τm given to the motor 3 from an external device (not shown), a U-phase current signal detected by a U-phase current detector 4a, and a V-phase current detector 4b. And a rotation angle signal of the electric motor 3 detected by the angle detector 5 are input as input signals. Current information detecting means 1 for inputting a current signal of each phase
0 has a configuration as in a circuit example to be described later, performs waveform shaping for removing a noise component included in a signal, converting a signal level, and the like, and sets iu as U-phase current information and iv as V-phase current information. Output. Further, the angle information detecting means 11
Also has a configuration as in a circuit example to be described later, and performs signal waveform shaping to output angle information θ.

The sampling timing calculating means 13 calculates the sampling timing of the current information and the sampling timing of the angle information based on the triangular carrier signal output from the carrier signal generating means 12 as described later, and calculates the respective timing signals. This is given to the sampling instruction means 14. The sampling instructing means 14 gives an instruction to the samplers 15a and 15b in accordance with the given timing signal, samples the current information iu and iv at that timing, and gives it to the vector control operation means 9;
To sample the angle information θ of the electric motor 3 at that timing and give it to the vector control calculating means 9. The vector control calculation means 9 performs the motor 3 control by a known vector control method based on the torque signal τm input from the outside, the current information iu and iv, and the angle information θ.
And calculates the three-phase AC voltage command values Vu, Vv, and Vw to be applied to the PWM signal generator 17.

The three-phase AC voltage commands Vu, Vv, Vw and the carrier signal generating means 1 are supplied to the PWM signal generating means 17.
2 and the triangular-wave carrier signal Vc from the inverter 2 is input by a known triangular-wave comparison PWM generation method.
Tup, Tun, T as PWM signals for operating GBT
Generate and output vp, Tvn, Twp, Twn. Here, u, v, and w of each PWM signal are identification codes indicating three phases, and p and n are identification codes indicating a positive side and a negative side. The PWM signals Tup to Twn are applied to the gate drive means 8 of the inverter 2, the signal level is converted and applied to each IGBT as a gate signal, and the inverter 2 outputs a three-phase AC voltage to instruct the motor 3 to perform a torque command. Drive based on the value τm.

The motor control device according to the present embodiment operates as described above. To improve the control accuracy, sampling of current information sampled by the samplers 15a and 15b and angle information sampled by the sampler 16 are performed. It is necessary to ensure the synchronization of the sampling timing.
3 by adjusting the sampling timing. The details of the adjustment of the sampling timing will be described below. The synchronization of the sampling means the synchronization at the time of measurement by the current detectors 4a and 4b and the angle detector 5.

The current information detecting means 10 removes noise components contained in the current signal and performs waveform shaping for signal level conversion by a circuit as shown in FIG. 2A for each phase. Due to this processing, an electrical processing delay occurs, and a signal processing delay time ti occurs in the output signal with respect to the input signal as shown in the current waveform of FIG. The angle information detecting means 11 shapes the signal waveform using, for example, a circuit as shown in FIG. 2 (b). As shown, the output signal has a signal processing delay time tθ with respect to the input signal.

The configurations of the current information detecting means 10 and the angle information detecting means 11 differ depending on the characteristics of the current detectors 4a and 4b and the angle detector 5, and generally the signal processing delay time of the current information. ti and the signal processing delay time tθ of the angle information have different values. Therefore, when the current information and the angle information after the signal processing are simultaneously sampled, the place where sampling should be performed by pairing i2 and θ2 in FIG. The current information and the angle information lose synchronism due to a difference in signal processing time.

As shown in FIG. 3, in order to maintain the simultaneousness of the sampling of the current information and the angle information, as shown in FIG. Considering the difference in the signal processing delay time tθ of the angle information, the current information sampling timing ts
mpl-i is the difference between the signal processing delay time and the angle information sampling timing tsmpl-θ (ti
It is necessary to execute sampling with a time difference of (−tθ), and by giving the time difference to the timing instruction of the sampling timing calculation means 13, the simultaneousness of the sampling of the current information and the angle information is maintained. become.

The gate driving means 8 is constituted by, for example, a circuit as shown in FIG. 4 for each phase, and receives a PWM signal from the PWM signal generating means 17 to drive a gate signal for driving the IGBT. The signal transmission between the input side and the output side uses a photocoupler or the like to insulate the signal path. Generally, the transmission characteristic of the gate driving means 8 is controlled by the vector control operation circuit 9. It has a signal processing delay time that is not negligible compared to the calculation cycle.

FIG. 5 is an explanatory diagram of the transfer characteristic of the gate drive operation, showing the relationship between the transfer characteristic and the commutation noise as a representative of the U phase out of the three phases. Shows the relationship between the triangular wave carrier signal Vc and the voltage command value Vu.
The M signal becomes a signal as shown by Tup and Tun in FIG. When this PWM signal is converted into a gate signal by the gate driving means 8, the gate signal I shown in FIG.
It becomes like GBTup and IGBTun, and a signal processing delay time indicated by tg occurs between the PWM signal and the gate signal. The current waveform of the U-phase current generated by this gate signal is shown in FIG. As a result, the switching noise, that is, the commutation noise is superimposed on each commutation.

FIG. 6 shows the relationship between the carrier signal Vc, the gate signal, and the angle information. The commutation noise is superimposed on the angle information every time the IGBT commutates due to the gate signal. Since the maximum value and the minimum value are almost in the middle of this commutation, the sampling timing calculation means 1
The commutation noise can be avoided by detecting the maximum value and the minimum value of the carrier signal Vc and instructing the sampling of the angle information after the time corresponding to the signal processing delay time tg from the maximum value and the minimum value.

FIG. 7 shows sampling timings for realizing synchronization of angle information and current information and avoiding superposition of commutation noise. With respect to the triangular wave carrier signal Vc and the voltage command value Vu shown in FIG. 7A, the PWM signal is inverted at the intersection of the two, and the gate signal is inverted after the signal processing delay time tg to operate the IGBT. As described above, the maximum value and the minimum value of the carrier signal Vc are detected, the angle information is sampled (tsmpl-θ) after the time tg, and the signal processing delay time ti of the current information and the signal processing of the angle information are performed from this sampling point. By sampling current information (tsmpl-i) at a timing difference (ti-tθ) that is a difference from the delay time tθ, sampling that avoids commutation noise while maintaining the synchronism between the current information and the angle information Becomes possible.

FIG. 8 shows another sample timing for performing sampling while avoiding commutation noise while keeping the current information and the angle information simultaneously, and detects the maximum value and the minimum value of the carrier signal Vc. And the signal processing delay time t
After g, the current information is sampled (tsmpl-i), and the angle is determined by the timing difference (ti-tθ) which is the difference between the signal processing delay time ti of the current information and the signal processing delay time tθ of the angle information from this sampling point. Information sampling (tsmpl-θ) is performed.
Although the timing is shifted from the timing shown in FIG. 7 by (ti-tθ), the commutation noise can be avoided at this timing while maintaining the synchronism between the current information and the angle information.

As described above, the sampling timing calculating means 1
3 calculates the sampling timing from the carrier signal and outputs the result.
a, 15b and the sampler 16 are driven to sample the current information and the angle information, so that the commutation noise can be prevented from being superimposed while ensuring the simultaneousness of the angle information and the current information, and the control accuracy is high. Thus, it is possible to obtain motor control with excellent responsiveness. Although the current detection has been described by detecting the U phase and the V phase, any phase may be detected, and the same operation and effect can be obtained by detecting all three phases. .

Embodiment 2 FIG. FIG. 9 is a block diagram showing a system configuration of a motor control device according to a second embodiment of the present invention. This embodiment is different from the motor control device according to the first embodiment in that gate driving means 8 is used. A temperature detecting means 18 is provided in the current information detecting means 10, a temperature detecting means 19 is provided in the angle information detecting means 11, and a temperature signal is inputted from each of these temperature detecting means. A temperature fluctuation compensating means 21 for outputting a correction value Δtg, Δti, and Δtθ of the time delay due to temperature and correcting the sampling timing is provided.

The current information detecting means 10, the angle information detecting means 11, and the gate driving means 8 are generally constituted by electronic devices. Many electronic devices have a temperature dependency that changes their characteristics with respect to a temperature change. Therefore, depending on the circuit configuration, the signal processing delay times tg, ti, and tθ of each unit change with temperature. Therefore, the temperature detection means 18 to 20 are provided in each of the gate drive means 8, the current information detection means 10, and the angle information detection means 11 which need to perform the timing correction, and the detected temperatures are input to the temperature fluctuation compensation means 21. Δtg with respect to tg as a variation of the signal processing delay time with respect to each temperature,
.DELTA.ti with respect to ti and .DELTA.t.theta. with respect to t.theta. are calculated, and the signal processing delay times tg, ti and t.theta.
Thus, the simultaneousness of the angle information and the current information can be always obtained even when the temperature changes, and the superposition of commutation noise can be avoided.

In the calculation by the temperature fluctuation compensating means 21, the temperature dependency of the characteristic of each means may be expressed as a formula relating to temperature, or may be stored as a look-up table. In addition, temperature detection can be installed only in a circuit that affects the sampling of current information and the sampling of angle information, and the temperature can be represented by the environmental temperature or estimated based on the environmental temperature, operation time, and load condition. It is also possible to adopt a method of doing so.

Embodiment 3 FIG. 10 is an explanatory diagram for explaining the operation of the motor control device according to the third embodiment of the present invention. This embodiment is different from the motor control device of the first embodiment in that the carrier signal generating means 12 The carrier signal waveform of the triangular wave to be generated is different. Therefore, the setting of the sampling timing by the sampling timing calculation means 13 is changed according to the carrier signal waveform.

As shown in FIG. 10A, the carrier signal generating means 12 of this embodiment outputs a sawtooth carrier signal Vc. Since the PWM signal generated by the PWM signal generation means 17 is inverted at the intersection of the sawtooth carrier signal Vc and the voltage command value Vu, the inversion occurs at the time when the carrier signal voltage rises and when the maximum value time = minimum value time. Will do. Since the inversion of the gate signal generated by the gate driving means 8 has a signal processing delay time tg with respect to the PWM signal as in the case of the first embodiment, as shown in FIGS. 10B and 10C. Then, commutation noise occurs after time tg from the maximum value and the minimum value of the carrier signal, and commutation noise is superimposed on the angle information and the current information at the same sampling timing as in the first embodiment.

Therefore, in this embodiment, FIG.
As shown in (1), the sampling timing is advanced by the time tΔ with respect to the inversion of the gate signal. For example, when the signal processing delay time ti of the current information is longer than the signal processing delay time tθ of the angle information, the sampling timing calculation unit 13 detects the maximum value of the carrier signal and reaches the time point of (tg−tΔ). To sample the angle information,
The sampling time is set so that the current information is sampled at a time point (ti-tθ) earlier than the time point of (tg-tΔ). If the signal processing delay time ti of the current information is shorter than the signal processing delay time tθ of the angle information, the opposite is true, but usually ti> tθ.

As described above, the sampling timing calculating means 13
By setting the sampling time according to the above, even if the carrier signal generated by the carrier signal generating means 12 is a sawtooth wave, the simultaneousness of the angle information and the current information can be secured,
Commutation noise can be avoided and control accuracy is high.
It is possible to obtain a motor control device having excellent responsiveness.

[0033]

As described above, in the motor control device of the present invention, according to the first aspect of the present invention,
PWM signal generation means for providing a PWM signal to an inverter for supplying power to the motor, current information detection means for outputting current information from the current of the motor, angle information detection means for outputting angle information from a rotation angle signal of the motor, A current information sampler for sampling information and angle information; an angle information sampler; and sampling time calculating means for calculating the sampling time of each sampler. Since it is set so as to have a predetermined time difference between the timing and the sampling timing of the angle information, the simultaneousness of the sampling of the angle information and the current information can be secured, the control accuracy is high, and the responsiveness is excellent. It is possible to obtain a motor control device.

According to a second aspect of the present invention, in the first aspect, when the carrier signal of the PWM signal generating means is a triangular wave, the sampling of the angle information sampler calculated by the sampling timing calculating means is performed. Time
Since it is set after a predetermined time including zero from the maximum value or the minimum value of the triangular wave, each information is affected by commutation noise while ensuring the simultaneousness of angle information and current information Can be prevented.

According to the third aspect of the present invention,
In the invention according to claim 1, a predetermined time difference between the sampling time of the current information and the sampling time of the angle information is determined by a signal processing delay time of the current information detecting means and a signal processing delay time of the angle information detecting means. Is set on the basis of the time difference, the correction for the non-simultaneity of the sampling timing caused by the signal processing delay time becomes possible. According to a fourth aspect of the present invention, in the second aspect of the present invention, the inverter is provided with a gate driving means, and the signal processing delay time when converting the PWM signal of the gate driving means into a gate signal is reduced. Since the predetermined time from the maximum value or the minimum value of the triangular wave is set based on this, the sampling time of the angle information and the current information can be surely set to a time outside the influence of the commutation noise. .

According to a fifth aspect of the present invention, in the third and fourth aspects of the present invention, the current information detecting means, the angle information detecting means, and the gate driving means are provided with temperature detecting means. A predetermined time difference set based on a time difference between the signal processing delay time of the detection means and the signal processing delay time of the angle information detection means, and a signal processing delay time when converting the PWM signal of the gate driving means into a gate signal. The predetermined time set based on the temperature is corrected by the respective temperatures, so that even when the environmental temperature changes, the non-simultaneity of the sampling timing due to the signal processing delay time can always be corrected. The sampling timing of the information and the current information can be reliably set outside the influence of the commutation noise.

Further, according to the invention described in claim 6,
When the carrier signal is a sawtooth wave, the sampling time of the angle information sampler calculated by the sampling time calculation means is set to a predetermined time before the maximum value of the sawtooth wave, so that the waveform of the carrier signal The sampling timing caused by the signal processing delay time can be corrected without being affected by the signal processing delay, and the sampling timing of the angle information and the current information can be reliably set outside the influence of the commutation noise.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a system configuration of a motor control device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram of current information detecting means and angle information detecting means of the motor control device according to Embodiment 1 of the present invention.

FIG. 3 is an explanatory diagram of a sampling operation of the electric motor control device according to the first embodiment of the present invention.

FIG. 4 is an explanatory diagram of a gate drive unit of the electric motor control device according to the first embodiment of the present invention.

FIG. 5 is an explanatory diagram of a gate driving operation of the motor control device according to the first embodiment of the present invention.

FIG. 6 is an explanatory diagram of commutation noise prevention of the motor control device according to Embodiment 1 of the present invention.

FIG. 7 is an explanatory diagram of synchronization of sampling and prevention of commutation noise of the motor control device according to the first embodiment of the present invention.

FIG. 8 is an explanatory diagram of sampling simultaneity and commutation noise prevention of the motor control device according to the first embodiment of the present invention.

FIG. 9 is a block diagram showing a system configuration of a motor control device according to a second embodiment of the present invention.

FIG. 10 is an operation explanatory diagram of the electric motor control device according to the third embodiment of the present invention.

[Explanation of symbols]

1 DC power supply, 2 inverters, 3 motors, 4a, 4
b Current detector, 5 Angle detector, 6 Controller, 7
a, 7b IGBT, 8 gate drive means, 9 vector control calculation means, 10 current information detection means, 11 angle information detection means, 12 carrier signal generation means, 13 sampling time calculation means, 14 sampling instruction means, 15a, 15b, 16 Sampler, 17 PWM signal generating means, 18, 19, 20 Temperature detecting means, 21
Temperature fluctuation compensation means.

 ──────────────────────────────────────────────────続 き Continued on front page F term (reference) 5H007 AA01 BB06 CB05 DB02 DB07 DC05 EA13 5H576 BB05 BB06 BB09 CC01 DD02 DD05 EE00 EE11 EE17 GG04 HA04 HB02 JJ08 JJ26 JJ29 LL22 LL41 MM12

Claims (6)

[Claims] An inverter that converts power supplied to an electric motor into a power converter based on a voltage command value and a carrier signal.
PWM signal generating means for providing an M signal, current information detecting means for inputting a current signal of the electric motor and outputting current information,
Angle information detecting means for inputting a rotation angle signal of the electric motor and outputting angle information; a current information sampler and an angle information sampler for sampling the current information and the angle information to provide to a vector control calculating means; And a sampling time calculating means for calculating each sampling time of the angle information sampler, and the sampling time output by the sampling time calculating means is set between the sampling time of the current information and the sampling time of the angle information. An electric motor control device characterized in that it is set to have a predetermined time difference. 2. The method according to claim 1, wherein the carrier signal is a triangular wave, and a sampling time of the angle information calculated by the sampling time calculating means is set after a predetermined time including zero from a maximum value or a minimum value of the triangle wave. The motor control device according to claim 1, wherein: 3. The predetermined time difference between the sampling time of the current information and the sampling time of the angle information is a signal processing delay time of the current information detecting means and a signal processing delay time of the angle information detecting means. The electric motor control device according to claim 1, wherein the electric motor control device is set based on a time difference of: 4. The gate drive means for converting the PWM signal into a gate signal is provided in the inverter, and a predetermined time from a maximum value or a minimum value of the triangular wave is changed from the PWM signal of the gate drive means to the gate signal. 3. The motor control device according to claim 2, wherein the motor control device is set based on a signal processing delay time when the conversion process is performed. 5. A temperature detecting means is provided in said current information detecting means, said angle information detecting means and said gate driving means,
The predetermined time difference set based on the time difference between the signal processing delay time of the current information detecting means and the signal processing delay time of the angle information detecting means, and converting the PWM signal of the gate driving means into the gate signal 5. The motor control device according to claim 3, wherein the predetermined time set based on the signal processing delay time at the time of performing the correction is corrected by each temperature. 6. The method according to claim 1, wherein the carrier signal is a sawtooth wave, and a sampling time of the angle information calculated by the sampling time calculating means is set to a predetermined time before a maximum value of the sawtooth wave. The motor control device according to claim 1, wherein: