JP2004272741A - Vibration suppression and control unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vibration suppression and control unit capable of suppressing vibration and generating required torque accurately after suppression of vibration. <P>SOLUTION: The vibration suppression and control unit comprises a variable lowpass filter 10 for filtering a revolving speed N of a motor, a subtractor 12 to detect difference between the revolving speed N and the revolving speed y after filtering, an amplifier 13 to calculate a correction value based on the detected difference, an adder 14 to correct a torque command value by the calculated correction value, and a current control part 11 to control driving of the motor by the corrected torque command value. The unit is so composed as to lower a time constant of the variable lowpass filter 10 based on the time that has elapsed since the time of change in the torque command value. The vibration suppression and control unit is capable of suppressing vibration by lowering the time constant of the filter based on time that has elapsed since the time of change in the torque command value, and generating required torque accurately after vibration has suppressed. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

電動機の回転速度がＮ＝ａｔ＋ｂで上昇し、回転速度Ｎと傾きが等しくなった、過渡後のフィルタ出力をｙ＝ａｔ＋ｃとし、前記（数１）式にそれぞれ代入すると、
Ｎ−ｙ＝ｂ−ｃ＝τａ
となり、偏差Ｎ−ｙの大きさが時定数に因ることがわかる。
時定数τの値は、まず回転速度Ｎの振動周波数をカットする大きさで決定されるが、最終的には偏差が十分小さくなる値、或いは０まで下げるものとする。時定数τはＧを操作することで変えることが出来るので、減少させる方法は予め設定した方法を用いる。例えば図４（ａ）に示すように段階的に減少させる。
【００１２】
図３は、図２における制御の処理内容を示すフローチャートである。
図３において、まず、ステップＳ１０では、アクセル開度およびブレーキ開度を検出する。
ステップＳ２０では、アクセル開度およびブレーキ開度に基づいてトルク指令値Ｔ^＊を算出する。
ステップＳ３０では、トルク指令値Ｔ^＊が変化したか否かを判断する。トルク指令値Ｔ^＊が変化する場合は、車両の発進時や加減速時の場合に相当する。そして変化がない場合はステップＳ１０へ戻る。変化した場合はステップＳ４０へ移行する。
【００１３】
ステップＳ４０では、フィルタの時定数τを初期値（振動周波数をカットする大きさ）に設定する。
ステップＳ５０では、規定時間が経過したか否かを判断する。この規定時間とは、図４（ａ）のように時定数τをステップ状に変化させる場合における変化の間隔（一定に保つ時間）を意味する。規定時間が経過した場合にはステップＳ６０へ移行する。
ステップＳ６０では、時定数τを一段階低下させた値とする。なお、１回ごとに低下させる値は予め設定しておくが、図４（ａ）のように、最初は大幅に減少させ、次第に減少幅を小さくすることも出来る。
【００１４】
ステップＳ７０では、時定数τがゼロになったか否かを判断し、ゼロであれば、ステップＳ１０へ戻り、前述の処理を繰り返す。ゼロでない場合はステップＳ８０へ移行する。
ステップＳ８０では、トルク指令値Ｔ^＊が変化したか否かを判断し、変化した場合には再度ステップＳ４０以降を繰り返すためにステップＳ４０へ進み、トルク指令値Ｔ^＊が変化しない場合は、時定数τの低下を継続するためにステップＳ５０へ戻る。
【００１５】
上記のように、図３に示したフローでは、車両コントローラ１から与えられるトルク指令値Ｔ^＊が変化した場合、つまり発進や加減速の操作が行われた場合には、可変時定数ローパスフィルタ１０の時定数τを初期値（振動周波数をカットする大きさ）に設定し、その後、時間の経過に伴って順次時定数τを減少させるように制御している。なお、時定数τの時間変化は回転速度Ｎの振動を拾わない範囲で調整する。
【００１６】
図４（ａ）は、上記の制御における時定数τの変化を示す図であり、図中▲１▼は従来例の特性、▲２▼は第１実施例の特性を示す。図４（ｂ）は、上記の制御における電動機の出力トルクの変化を示す図であり、図中▲１▼は従来例の特性、▲２▼は第１実施例の特性、▲３▼はトルク指令値Ｔ^＊の変化を示す。
図３に示した制御では、図４（ａ）の▲２▼に示すごとく、時間の経過に伴って順次時定数τが減少する。これにより図４（ｂ）の▲２▼に示すごとく、発生トルクが▲３▼のトルク指令値Ｔ^＊に良く追従した値となる。
なお、図４（ａ）、（ｂ）においては、トルク指令値Ｔ^＊が変化しない場合を例示しているが、トルク指令値Ｔ^＊が変化した場合には、時定数τを初期値つまり図４（ａ）の▲１▼の値まで復帰し、そこから再び時間の経過に伴って順次減少させることになる。この際、フィルタの積分値をクリアし、その時点での回転速度を初期値に再設定して振動成分の計算を行っていく。
【００１７】
上記のように、第１実施例においては、ローパスフィルタを通した信号ｙと電動機回転速度Ｎとの偏差をフィードバックする制御装置において、トルク指令値Ｔ^＊が変化した以後の経過時間と共にローパスフィルタの時定数τを順次低下させるように構成したことにより、振動が収束し始めて以降、ローパスフィルタの時定数τが小さくなり、フィルタ出力と回転速度との偏差を小さくすることが出来るので、要求されるトルクを実現することが出来る。
【００１８】
（第２実施例）
図５は、本発明の第２実施例であり、図１の制御装置２の内容を示すブロック図である。
図５においては、図１の回転センサ５で検出した電動機の回転速度Ｎをローパスフィルタ１５で処理したフィルタ出力ｙと回転速度Ｎとの偏差を減算器１２で検出し、それに可変利得増幅器１６で可変ゲインＫを乗じた値を補正トルクΔＴとする。そして車両コントローラ１から与えられたトルク指令値Ｔ^＊に上記補正トルクΔＴを加算器１４で加算した値Ｔ^＊＊（＝Ｔ^＊＋ΔＴ）を最終的なトルク指令値として電流制御部１１へ送る。以後の動作は図２と同様である。
図５においては、ローパスフィルタ１５の時定数τは固定であり、偏差に対するゲインＫを可変にするように構成している。
なお、可変利得増幅器１６は、請求項４に記載のゲイン調整手段に相当する。
【００１９】
図６は、図５における制御の処理内容を示すフローチャートである。
図６において、ステップＳ１０〜ステップＳ３０は前記図３と同じである。
次に、ステップＳ１４０では、ゲインＫを初期値とする。この初期値は、振動を抑制するに最適な値に設定される。
ステップＳ１５０では、電動機の回転速度Ｎの変化量が所定値以下になったか否か、つまり振動が収束したか否かを判断し、ＮＯ（収束していない）の場合には、ステップＳ１９０でトルク指令値Ｔ^＊が変化したか否かを検出する。トルク指令値Ｔ^＊が変化していない場合にはステップＳ１５０へ戻って上記のサイクルを繰り返し、トルク指令値Ｔ^＊が変化した場合には、ステップＳ１４０へ戻る。振動が収束したと判断した場合はステップＳ１６０へ移行する。
【００２０】
ステップＳ１６０では、振動が収束したので、ゲインＫを初期値から順次低下させる。
ステップＳ１７０では、ゲインＫがゼロまで低下したか否かを判断し、ゼロまで至った場合にはステップＳ１０へ戻り、ゼロまで至らない場合には、ステップＳ１８０へ移行する。
ステップＳ１８０では、トルク指令値の変化を判断し、変化した場合にはステップＳ１４０へ、変化していない場合にはステップＳ１６０へ戻る。
【００２１】
上記のように、図６の制御においては、ゲインＫの初期値を、振動を抑制するに最適な値に設定し、振動収束後は、トルク指令値に影響が出ない値、あるいはは０まで順次減少させるように制御している。
なお、図６のステップＳ１５０では、振動が収束したか否かの判断は、電動機の回転速度の時間変化量が所定値以下の場合に、振動が収束したものと判断しているが、補正トルクΔＴの時間変化量が所定値以下になった場合に振動が収束したものと判断するように構成してもよい。
【００２２】
図７（ａ）は、上記の制御におけるゲインＫの変化を示す図であり、図中▲１▼は従来例の特性、▲２▼は第２実施例の特性を示す。図７（ｂ）は、上記の制御における電動機の出力トルクの変化を示す図であり、図中▲１▼は従来例の特性、▲２▼は第１実施例の特性、▲３▼はトルク指令値Ｔ^＊の変化を示す。
図６に示した制御では、図７（ａ）の▲２▼に示すごとく、時間の経過に伴って順次時定数τが減少する。これにより図７（ｂ）の▲２▼に示すごとく、発生トルクが▲３▼のトルク指令値Ｔ^＊に良く追従した値となる。
なお、図７（ａ）、（ｂ）においては、トルク指令値Ｔ^＊が変化しない場合を例示しているが、トルク指令値Ｔ^＊が変化した場合には、ゲインＫを初期値つまり図７（ａ）の▲１▼の値まで復帰し、そこから再び時間の経過に伴って順次減少させることになる。この際、フィルタの積分値をクリアし、その時点での回転速度を初期値に再設定して振動成分の計算を行っていく。
【００２３】
上記のように第２実施例においては、振動収束後に、フィルタ出力と回転速度との偏差により増大する補正トルクを強制的に下げることが出来、要求されるトルクを実現することができる。
【図面の簡単な説明】
【図１】本発明の振動抑制制御装置を用いた車両用駆動装置の全体構成を示すブロック図。
【図２】本発明の第１実施例であり、図１の制御装置２の内容を示すブロック図。
【図３】図２における制御の処理内容を示すフローチャート。
【図４】図４（ａ）は制御における時定数τの変化を示す図、図４（ｂ）は制御における電動機の出力トルクの変化を示す図。
【図５】本発明の第２実施例であり、図１の制御装置２の内容を示すブロック図。
【図６】図５における制御の処理内容を示すフローチャート。
【図７】図７（ａ）は制御におけるゲインＫの変化を示す図、図４（ｂ）は制御における電動機の出力トルクの変化を示す図。
【符号の説明】
１…車両コントローラ ２…制御装置
３…インバータ ４…電動機
５…回転センサ ６…駆動軸
７…ディファレンシャル・ギア ８…車軸
９…車輪（タイア） １０…可変時定数ローパスフィルタ
１１…電流制御部 １２…減算器
１３…乗算器（増幅器） １４…加算器
１５…ローパスフィルタ １６…可変利得増幅器[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a control device that suppresses vibration of a torque transmission system in an electric vehicle or the like.
[0002]
[Prior art]
[Patent Document 1] Japanese Patent Application Laid-Open No. 2000-125410 A control device for suppressing vibration of a torque transmission system of an electric vehicle (vibration between an electric motor, a drive shaft, and tires generated by electric motor torque) is described in Patent Document 1. There is something. In the above-mentioned Patent Document 1, in order to prevent drivability during acceleration / deceleration from being impaired, a rotation speed detection value N detected by a rotation speed sensor of an electric motor and the rotation speed detection value N are filtered by a low-pass filter. , A torque command value vibration component ΔT is calculated based on a difference value ΔN from a low-pass component Nf from which a high-frequency vibration component has been removed by passing the torque, and a torque determined from the accelerator opening and the brake opening. There is disclosed a technique for controlling the driving of an electric motor with a corrected torque command value obtained by correcting a command value with the aforementioned torque command value vibration component.
[0003]
[Problems to be solved by the invention]
The above prior art is effective as a method of feeding back a vibration component. However, since a high-frequency vibration component is removed by using a low-pass filter (first-order lag filter), even after the vibration has converged, the motor rotation speed may be reduced. In contrast, the filter output has a deviation (difference value △ N). Although the magnitude of the deviation is determined by the filter time constant, the time constant has a relatively large value in order to cut the vibration of the motor rotation. And a torque command value vibration component ΔT resulting from the difference value ΔN occurs. As a result, even after the vibration has converged, the amount of operation to the torque command value remains, so that there has been a problem that it is difficult to accurately achieve the required torque.
The present invention has been made in order to solve the above-described problem, and provides a vibration suppression control device that can suppress vibration and realize a required torque with high accuracy after the vibration has converged. With the goal.
[0004]
[Means for Solving the Problems]
To achieve the above object, according to the first aspect of the present invention, there is provided a filter means for performing a filtering process on a motor speed, and a deviation detecting means for detecting a difference between the motor speed and the filtered speed. Correction value calculating means for calculating a correction value of the torque command value based on the deviation detected by the deviation detecting means; and a torque command value for correcting the torque command value by the correction value calculated by the correction value calculating means. A correction means, a motor control means for controlling the driving of the motor based on the torque command value corrected by the torque command value correction means, and a filter control means based on an elapsed time from when the torque command value changes. Time constant lowering means for lowering the constant. That is, in the first aspect, the time constant of the filter means is reduced based on the elapsed time from when the torque command value changes.
[0005]
【The invention's effect】
According to the present invention, the time constant of the filter is reduced in accordance with the elapsed time after the change of the torque command value. Since the deviation between the output and the rotation speed can be reduced, the required torque can be realized. Therefore, there is an effect that the vibration can be suppressed and the required torque can be generated with high accuracy after the vibration is converged.
[0006]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is a block diagram showing the overall configuration of a vehicle drive device using the vibration suppression control device of the present invention.
In FIG. 1, a vehicle controller 1 inputs an accelerator opening signal and a brake opening signal corresponding to an operation amount of a vehicle driver, and outputs a torque command value T ^* .
The control device 2 is a portion corresponding to the vibration suppression control device of the present invention, and inputs the torque command value T ^* and the rotation speed N of the electric motor, and outputs a current control signal for three phases. The control device 2 includes, for example, a microcomputer and its peripheral devices.
[0007]
The inverter 3 is driven according to the above-described current control signal, and sends a three-phase AC current of u, v, w to the electric motor 4. As a result, the electric motor 4 is driven.
The rotation speed N of the electric motor 4 is detected by the rotation sensor 5 and sent to the control device 2.
In addition, 6 is a drive shaft for transmitting the torque of the electric motor, 7 is a differential gear, 8 is an axle, and 9 is a wheel (tire).
[0008]
(First embodiment)
FIG. 2 is a first embodiment of the present invention, and is a block diagram showing the contents of the control device 2 of FIG.
In FIG. 2, a difference between a filter output y obtained by processing the rotation speed N of the motor detected by the rotation sensor 5 of FIG. The value obtained by multiplying the gain K by the (amplifier) 13 is defined as a correction torque ΔT. Then, a value T ^** (= T ^* + ΔT) obtained by adding the correction torque ΔT to the torque command value T ^* given from the vehicle controller 1 by the adder 14 is sent to the current control unit 11 as a final torque command value.
[0009]
The current control unit 11 calculates a current value for generating a torque corresponding to the torque command value T ^** by normal PI control or the like, and outputs a three-phase current control signal (switching voltage signal) according to the calculated current value. Send to inverter 3. Thus, the inverter 3 is driven to generate a three-phase AC current to drive the electric motor 4.
Incidentally, the variable time constant low-pass filter 10 corresponds to the filter means and the time constant reducing means according to the first aspect.
[0010]
The variable time constant low-pass filter (hereinafter, abbreviated as a filter) 10 is a low-pass filter having a variable time constant τ of the filter, and its content will be described below.
Assuming that the output of the filter is y, the time constant of the filter is τ, and the deviation between the filter output y and the rotation speed N is Ny, the following relationship is obtained. In FIG. 2, G is 1 / τ, s is a Laplace operator, and gain K is a constant.
The filter output y is y = [1 / (τs + 1)] N, which is expressed in the following equation in the time domain.
[0011]
(Equation 1)

When the rotational speed of the motor increases at N = at + b and the gradient becomes equal to the rotational speed N, the post-transient filter output is set to y = at + c, and is substituted into the above equation (1).
Ny = bc = τa
It can be seen that the magnitude of the deviation N−y depends on the time constant.
The value of the time constant τ is firstly determined by the magnitude at which the vibration frequency of the rotation speed N is cut, but it is finally reduced to a value at which the deviation becomes sufficiently small or to zero. Since the time constant τ can be changed by manipulating G, a method of decreasing the time constant τ uses a preset method. For example, as shown in FIG.
[0012]
FIG. 3 is a flowchart showing the control processing contents in FIG.
In FIG. 3, first, in step S10, an accelerator opening and a brake opening are detected.
In step S20, a torque command value T ^* is calculated based on the accelerator opening and the brake opening.
In step S30, it is determined whether or not the torque command value T ^* has changed. The case where the torque command value T ^* changes corresponds to the case of starting or acceleration / deceleration of the vehicle. If there is no change, the process returns to step S10. If it has changed, the process moves to step S40.
[0013]
In step S40, the time constant τ of the filter is set to an initial value (a size at which the vibration frequency is cut).
In step S50, it is determined whether a specified time has elapsed. The specified time means a change interval (time to keep constant) when the time constant τ is changed stepwise as shown in FIG. If the specified time has elapsed, the process proceeds to step S60.
In step S60, the time constant τ is set to a value reduced by one step. Although the value to be decreased each time is set in advance, as shown in FIG. 4A, it is possible to greatly decrease the magnitude at first and gradually decrease the magnitude of the decrease.
[0014]
In step S70, it is determined whether or not the time constant τ has become zero. If it is zero, the process returns to step S10, and the above-described processing is repeated. If not zero, the process moves to step S80.
In step S80, it is determined whether the torque command value T ^* changes, if it changes the flow advances to step S40 to repeat again after step S40, if the torque command value T ^* unchanged, the time constant The process returns to step S50 to continue decreasing τ.
[0015]
As described above, in the flow shown in FIG. 3, when the torque command value T ^* given from the vehicle controller 1 changes, that is, when the start or the acceleration / deceleration operation is performed, the variable time constant low-pass filter 10 is used. Is set to an initial value (a magnitude at which the vibration frequency is cut), and thereafter, the time constant τ is controlled so as to gradually decrease with time. The time change of the time constant τ is adjusted within a range in which vibration of the rotation speed N is not picked up.
[0016]
FIG. 4 (a) is a diagram showing a change in the time constant τ in the above control, where (1) shows the characteristics of the conventional example and (2) shows the characteristics of the first embodiment. FIG. 4 (b) is a diagram showing a change in the output torque of the electric motor in the above control, wherein (1) is the characteristic of the conventional example, (2) is the characteristic of the first embodiment, and (3) is the torque. This shows a change in the command value T ^* .
In the control shown in FIG. 3, as shown by (2) in FIG. 4 (a), the time constant τ gradually decreases with time. As a result, as shown in (2) of FIG. 4B, the generated torque becomes a value that closely follows the torque command value T ^* of (3).
Incidentally, FIG. 4 (a), in the (b), but it illustrates a case where the torque command value T ^* unchanged, when the torque command value T ^* has changed, the initial value i.e. diagram constant τ time The value returns to the value of (1) in 4 (a), and thereafter, the value gradually decreases again with the passage of time. At this time, the integral value of the filter is cleared, the rotational speed at that time is reset to the initial value, and the calculation of the vibration component is performed.
[0017]
As described above, in the first embodiment, in the control device that feeds back the deviation between the signal y passed through the low-pass filter and the motor rotation speed N, the elapsed time after the change of the torque command value T ^* is changed. With the configuration in which the time constant τ is sequentially reduced, the time constant τ of the low-pass filter becomes small after the vibration starts to converge, and the deviation between the filter output and the rotation speed can be reduced, which is required. Torque can be realized.
[0018]
(Second embodiment)
FIG. 5 shows a second embodiment of the present invention, and is a block diagram showing the contents of the control device 2 of FIG.
In FIG. 5, a difference between a filter output y obtained by processing the rotation speed N of the electric motor detected by the rotation sensor 5 of FIG. 1 by the low-pass filter 15 and the rotation speed N is detected by the subtractor 12, and the deviation is detected by the variable gain amplifier 16. The value obtained by multiplying the variable gain K is defined as a correction torque ΔT. Then, a value T ^** (= T ^* + ΔT) obtained by adding the correction torque ΔT to the torque command value T ^* given from the vehicle controller 1 by the adder 14 is sent to the current control unit 11 as a final torque command value. Subsequent operations are the same as in FIG.
In FIG. 5, the time constant τ of the low-pass filter 15 is fixed, and the gain K for the deviation is made variable.
Incidentally, the variable gain amplifier 16 corresponds to a gain adjusting means according to the fourth aspect.
[0019]
FIG. 6 is a flowchart showing the processing contents of the control in FIG.
6, steps S10 to S30 are the same as those in FIG.
Next, in step S140, the gain K is set to an initial value. This initial value is set to an optimal value for suppressing vibration.
In step S150, it is determined whether or not the amount of change in the rotational speed N of the electric motor has become equal to or less than a predetermined value, that is, whether or not the vibration has converged. If NO (not converged), the torque is determined in step S190. It is detected whether the command value T ^* has changed. If the torque command value T ^* has not changed, the process returns to step S150 to repeat the above cycle. If the torque command value T ^* has changed, the process returns to step S140. If it is determined that the vibration has converged, the process proceeds to step S160.
[0020]
In step S160, since the vibration has converged, the gain K is sequentially reduced from the initial value.
In step S170, it is determined whether or not the gain K has decreased to zero. If the gain has reached zero, the process returns to step S10. If not, the process proceeds to step S180.
In step S180, a change in the torque command value is determined. If the change has occurred, the process returns to step S140. If not, the process returns to step S160.
[0021]
As described above, in the control of FIG. 6, the initial value of the gain K is set to a value that is optimal for suppressing vibration, and after the vibration converges, a value that does not affect the torque command value, or to zero. Control is performed so as to decrease sequentially.
In step S150 of FIG. 6, it is determined whether or not the vibration has converged if the time change of the rotation speed of the motor is equal to or less than a predetermined value. When the time change amount of ΔT becomes equal to or smaller than a predetermined value, it may be determined that the vibration has converged.
[0022]
FIG. 7A is a diagram showing a change in the gain K in the above control. In the figure, (1) shows the characteristic of the conventional example, and (2) shows the characteristic of the second embodiment. FIG. 7 (b) is a diagram showing a change in the output torque of the motor in the above control, wherein (1) is the characteristic of the conventional example, (2) is the characteristic of the first embodiment, and (3) is the torque. This shows a change in the command value T ^* .
In the control shown in FIG. 6, as shown by (2) in FIG. 7A, the time constant τ sequentially decreases with time. As a result, as shown in (2) of FIG. 7B, the generated torque becomes a value that well follows the torque command value T ^* of (3).
In FIG. 7 (a), (b) , but it illustrates a case where the torque command value T ^* unchanged, when the torque command value T ^* has changed, the initial value, that diagram the gain K 7 The value returns to the value of (1) in (a), and thereafter, the value gradually decreases again with the passage of time. At this time, the integral value of the filter is cleared, the rotational speed at that time is reset to the initial value, and the calculation of the vibration component is performed.
[0023]
As described above, in the second embodiment, the correction torque that increases due to the deviation between the filter output and the rotation speed can be forcibly reduced after the vibration has converged, and the required torque can be realized.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an overall configuration of a vehicle drive device using a vibration suppression control device of the present invention.
FIG. 2 is a first embodiment of the present invention and is a block diagram showing the contents of a control device 2 of FIG. 1;
FIG. 3 is a flowchart showing processing contents of control in FIG. 2;
FIG. 4A is a diagram showing a change in a time constant τ in control, and FIG. 4B is a diagram showing a change in an output torque of an electric motor in control.
FIG. 5 is a block diagram showing the contents of a control device 2 in FIG. 1 according to a second embodiment of the present invention.
FIG. 6 is a flowchart showing processing contents of control in FIG. 5;
7A is a diagram showing a change in gain K in control, and FIG. 4B is a diagram showing a change in output torque of the electric motor in control.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Vehicle controller 2 ... Control device 3 ... Inverter 4 ... Electric motor 5 ... Rotation sensor 6 ... Drive shaft 7 ... Differential gear 8 ... Axle 9 ... Wheel (tire) 10 ... Variable time constant low-pass filter 11 ... Current control unit 12 ... Subtractor 13 Multiplier (amplifier) 14 Adder 15 Low-pass filter 16 Variable gain amplifier

Claims (6)

In a vibration suppression control device that suppresses vibration caused by rotation of a motor,
Torque command value generating means for generating a torque command value for the electric motor,
Rotation speed detection means for detecting the rotation speed of the electric motor,
Filter means for performing filter processing on the motor rotation speed detected by the rotation speed detection means,
A motor rotation speed detected by the rotation speed detection means, deviation detection means for detecting a deviation between the filtered rotation speed filtered by the filter means,
Correction value calculating means for calculating a correction value of the torque command value based on the deviation detected by the deviation detecting means;
Torque command value correction means for correcting the torque command value by the correction value calculated by the correction value calculation means,
Motor control means for controlling the driving of the motor based on the torque command value corrected by the torque command value correction means,
A time constant reducing means for reducing a time constant of the filter means, based on an elapsed time after the torque command value has changed,
A vibration suppression control device comprising: 2. The vibration suppression control device according to claim 1, wherein the time constant reducing unit gradually reduces a time constant of the filter unit based on an elapsed time after a change in the torque command value. 3. 2. The vibration suppression control device according to claim 1, wherein the time constant lowering unit returns the time constant of the filter unit to an initial value when the torque command value changes. 3. In a vibration suppression control device that suppresses vibration caused by rotation of a motor,
Torque command value generating means for generating a torque command value for the electric motor,
Rotation speed detection means for detecting the rotation speed of the electric motor,
Filter means for performing filter processing on the motor rotation speed detected by the rotation speed detection means,
A motor rotation speed detected by the rotation speed detection means, deviation detection means for detecting a deviation between the filtered rotation speed filtered by the filter means,
Correction value calculation means for calculating a correction value of the torque command value by multiplying the deviation detected by the deviation detection means by an amplification gain,
Torque command value correction means for correcting the torque command value by the correction value calculated by the correction value calculation means,
Motor control means for controlling the driving of the motor based on the torque command value corrected by the torque command value correction means,
Determine whether or not the vibration has converged, gain adjustment means for maintaining the amplification gain in the correction value calculation means at a constant value before the vibration convergence, and reducing the amplification gain based on the elapsed time after the vibration convergence,
A vibration suppression control device comprising: The gain adjusting means, wherein the vibration converges when the time change amount of the motor rotation speed is equal to or less than a predetermined value, or when the time change amount of the correction value of the torque command value is equal to or less than a predetermined value. The vibration suppression control device according to claim 4, wherein the determination is made. 5. The vibration suppression control device according to claim 4, wherein when the torque command value changes, the gain adjustment unit returns the amplification gain in the correction value calculation unit to an initial value. 6.

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