JP2011036078A - Motor controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor controller which can reduce vibration occurring in a motor even when a plurality of motors are driven. <P>SOLUTION: The controller of the motor controller corrects the displacement of rotation angle to 180 degree by controlling the drive current of at least one motor and regulating the rotational speed of the motor when the displacement of rotation angle of both motors is 0 degree and the number of revolutions is 50 rpm (YES at step SA4). When the displacement of rotation angle of both motors is 180 degree and the number of revolutions is 25 rpm (YES at step SA7), the controller corrects the displacement of rotation angle to 0 degree by controlling the drive current of at least one motor and regulating the rotational speed of the motor. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a motor control device used in, for example, an electric vehicle.

  Conventionally, in a motor control device used for an electric vehicle such as a hybrid vehicle or an electric vehicle, for example, a motor control device described in Patent Document 1 has been proposed in order to suppress torque ripple generated in the motor. Yes. In this motor control device, d-axis and q-axis voltages for correcting torque ripple are set in advance, and torque ripple is suppressed by adding them to the d-axis and q-axis voltage command values.

JP 2000-324879 A

  On the other hand, when driving a plurality of motors respectively connected to the left and right wheels, if the rotation speed increases, the rotation angle between the motors shifts, and the torque ripple phase (torque phase) also shifts. . However, in the conventional motor control device, since the correction voltage is set in advance, it cannot be dealt with if the phase of the torque ripple is shifted. For this reason, torque ripple could not be suppressed and vibration generated in the motor could not be reduced.

  The present invention has been made in view of such a conventional problem, and an object of the present invention is to provide a motor control device that can reduce vibration generated in a motor even when driving a plurality of motors.

  In order to solve the above problems, in the present invention, rotation angle detection means for detecting the rotation angle of each motor, phase difference calculation means for calculating a deviation amount of the rotation angle of another motor with reference to an arbitrary motor, And a correction unit that controls the drive current of at least one of the two motors to correct the rotational angle deviation.

  Therefore, in the motor control device of the present invention, even when a plurality of motors are driven, it is possible to correct the rotational angle deviation. Therefore, in the motor control device of the present invention, vibration generated in the motor can be reduced by suppressing torque ripple.

It is a schematic diagram of the electric vehicle which shows one embodiment of this invention. It is a schematic diagram of the motor of the embodiment. It is a figure which shows the fundamental wave current of a drive current in the embodiment. It is a related figure of a fundamental wave current, a 6th harmonic current, and torque in the embodiment. 4 is a flowchart showing a phase control process of torque ripple in the same embodiment. It is a flowchart which shows a rotation angle correction process in the embodiment. It is a flowchart which shows a torque correction process in the same embodiment. It is a figure which shows the waveform of the torque after the deviation | shift amount of a rotation angle is correct | amended to 180 degree | times in the same phase vibration mode in the same embodiment. It is a figure which shows the waveform of the torque after the deviation | shift amount of a rotation angle is correct | amended by 0 degree | times at the time of the antiphase vibration mode in the embodiment. It is a figure which shows the state which added the 5th harmonic current for correction | amendment to the fundamental wave current in the same embodiment. It is a figure which shows the state which correct | amended the torque of FIG. FIG. 10 is a diagram illustrating a state where the torque of FIG. 9 is corrected. It is a figure which shows the state which multiplied the fundamental wave current by the 6th harmonic current for correction | amendment in the embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic diagram of an electric vehicle 1 showing an embodiment of the present invention. The electric vehicle 1 is an in-wheel motor vehicle, and a motor 3 is connected to the left and right rear wheels 2 and 2 via speed reducers (not shown). The electric vehicle 1 is also provided with a battery 4, a controller 5, inverters 6 and 6, rotation angle sensors 7 and 7, a torque sensor (not shown), and the like.

  The battery 4 stores electric power supplied from an external power source. The inverters 6 and 6 are connected to the battery 4 and the motors 3 and 3. The rotation angle sensor 7 is installed in the motor 3. The rotation angle sensors 7 and 7 constitute the rotation state detection means of the present invention and detect the number of rotations (rotation speed) and rotation angle of the motor 3 per minute. The torque sensor detects the torque of each motor 3.

  The controller 5 constitutes the motor control device of the present invention together with the rotation angle sensors 7 and 7 and the torque sensor. The controller 5 is connected to inverters 6 and 6 and includes a CPU, a ROM that stores processing procedures and various data, a RAM that stores data being processed, and the like. These function as the phase difference calculation means and correction means of the present invention. Then, the controller 5 converts the direct current supplied from the battery 4 to the inverter 6 to an appropriate three-phase alternating current (drive current) based on the rotational speed and rotational angle of each motor 3 obtained from each rotational angle sensor 7. Convert. The inverter 6 outputs this three-phase alternating current to each motor 3. Thereby, both the motors 3 and 3 are driven, and the rear wheels 2 and 2 are individually driven.

  Here, the structure of the motor 3 will be briefly described. FIG. 2 is a schematic diagram of the motor 3. As is well known, the motor 3 includes a housing 31, a stator 32, and a rotor 33. The stator 32 includes twelve teeth 32a, and a coil 34 is wound around each tooth 32a. Two rotors 33 are arranged so that one set of four permanent magnets 35 are opposed to each other (four pole pairs), and each permanent magnet 35 is magnetized N and S on the outer peripheral side. Therefore, the motor 3 is an 8-pole 12-slot concentrated winding motor.

  In the case of such a four-pole motor 3, the mechanical angle is 90 degrees and the three slots of the stator 32 and the two poles of the rotor 33 form one set. The motor 3 is driven by applying to the coil 34 a three-phase AC fundamental wave current A1 (see FIG. 3) having a mechanical angle of 90 degrees and one cycle. Therefore, the mechanical angle of 90 degrees becomes the electrical angle of 360 degrees. At this time, as shown in FIG. 4, torque ripple Tr is generated in the torque of each motor 3 by the sixth electrical angle of the fundamental current A1, that is, the sixth harmonic current A6 included in the drive current. Therefore, in the present embodiment, the sixth harmonic current A6 becomes the torque ripple generation harmonic current.

  And said controller 5 controls the phase (torque ripple Tr, phase of Tr) of both the motors 3 and 3 by controlling a three-phase alternating current. FIG. 5 is a flowchart showing the phase control processing of the torque ripples Tr and Tr. This process is repeated in the order of the rotation angle correction process SA and the torque correction process SB. Each process will be described below.

<Rotation angle correction process SA>
First, the rotation angle correction process SA will be described. In this rotation angle correction process SA, the amount of deviation of the rotation angles of both motors 3 and 3 is calculated and corrected. FIG. 6 is a flowchart showing the processing procedure of the rotation angle correction processing SA. Below, each processing procedure is demonstrated concretely.

(Step SA1)
First, each rotation angle sensor 7 detects the number of rotations and rotation angle per minute of the motor 3 and outputs this to the controller 5.

(Step SA2)
Next, the controller 5 uses the rotation angles of both the motors 3 and 3 obtained by each rotation angle sensor 7 to calculate the amount of deviation of the rotation angles of both the motors 3 and 3. Specifically, a deviation amount of the rotation angle of the other motor 3 is calculated based on the rotation angle of one motor 3.

(Step SA3)
Next, the controller 5 determines whether or not the deviation amount of the rotation angles of both the motors 3 and 3 is 0 degree. That is, the controller 5 determines whether or not the rotation angle states of both the motors 3 and 3 are in phase.

(Step SA4)
When the deviation amount of the rotation angle is 0 degree (YES in step SA3), the controller 5 determines whether or not the rotational speeds of both the motors 3 and 3 are 50 rpm. That is, the controller 5 determines whether or not the vibration state of both the motors 3 and 3 is in the antiphase vibration mode. In this antiphase vibration mode, when the amount of deviation of the rotation angle is 0 degree and the rotational speeds of both motors 3 and 3 are 50 rpm, torque ripples Tr and Tr generated in both motors 3 and 3 are equal to each other. This is the largest state.

(Step SA5)
When the rotational speeds of both the motors 3 and 3 are 50 rpm (YES in step SA4), the controller 5 corrects the rotational angle deviation from 0 degrees to 180 degrees. That is, the controller 5 corrects the rotational angle state of both the motors 3 and 3 from the same phase to the opposite phase. Specifically, the rotational speed of the motor 3 is adjusted by controlling the drive current of at least one of the motors 3.

  When the controller 5 corrects the rotational angle deviation amount to 180 degrees as described above, the controller 5 proceeds to the next torque correction process SB. On the other hand, when the rotational speeds of both the motors 3 and 3 are not 50 rpm (NO in step SA4), the controller 5 returns to the process of step SA1.

(Step SA6)
On the other hand, when the deviation amount of the rotation angles of both the motors 3 and 3 is not 0 degrees (NO in step SA3), the controller 5 determines whether or not the deviation amount is 180 degrees. That is, the controller 5 determines whether or not the rotation angle states of both the motors 3 and 3 are in reverse phase.

(Step SA7)
The controller 5 determines whether or not the rotational speed of both the motors 3 and 3 is 25 rpm when the deviation amount of the rotational angles of both the motors 3 and 3 is 180 degrees (YES in Step SA6). That is, the controller 5 determines whether or not the vibration state of both the motors 3 and 3 is in the antiphase vibration mode. In this antiphase vibration mode, when the rotational angle deviation is 180 degrees and the rotational speeds of both the motors 3 and 3 are 25 rpm, the torque ripples Tr and Tr generated in both the motors 3 and 3 are the most. It is a state where it grows up. On the other hand, the controller 5 returns to the process of step SA1 when the deviation amount of the rotation angles of both the motors 3 and 3 is neither 0 degrees nor 180 degrees (NO in step SA6).

(Step SA8)
When the rotational speeds of both the motors 3 and 3 are 25 rpm (YES in step SA7), the controller 5 corrects the rotational angle deviation from 180 degrees to 0 degrees. That is, the controller 5 corrects the rotational angle state of both the motors 3 and 3 from the reverse phase to the same phase. Specifically, the rotational speed of the motor 3 is adjusted by controlling the drive current of at least one of the motors 3.

  The controller 5 proceeds to the next torque correction processing SB after correcting the deviation of the rotational angle between the motors 3 and 3 to 0 degrees as described above. On the other hand, when the rotational speeds of both the motors 3 and 3 are not 25 rpm (NO in step SA7), the controller 5 returns to the process of step SA1.

<Torque correction process SB>
Next, the torque correction process SB will be described. In this torque correction process SB, the torque phase difference and amplitude difference (torque ripples Tr, Tr phase difference and amplitude difference) of both motors 3 and 3 are corrected. FIG. 7 is a flowchart showing a processing procedure of the torque correction processing SB. Below, each processing procedure is demonstrated concretely.

(Step SB1)
First, the torque sensor detects the torques of both the motors 3 and 3 and outputs them to the controller 5.

(Step SB2)
Next, the controller 5 calculates a waveform based on the torques of both the motors 3 and 3, respectively. FIG. 8 and FIG. 9 show the waveforms of both torques T1 and T2. FIG. 8 shows waveforms of torques T1 and T2 after the rotational angle deviation amount is corrected to 180 degrees in the in-phase vibration mode. FIG. 9 shows waveforms of torques T1 and T2 after the rotational angle deviation amount is corrected to 0 degrees in the antiphase vibration mode.

(Step SB3)
Next, as shown in FIGS. 8 and 9, the controller 5 calculates a phase difference deviation amount Ta between the torques T1 and T2. This phase difference deviation amount Ta differs between the in-phase vibration mode and the anti-phase vibration mode. As shown in FIG. 8, the phase difference deviation amount Ta in the same phase vibration mode is calculated as to how much the phase difference between the torques T1 and T2 is deviated from 180 degrees. Further, the phase difference deviation amount Ta in the antiphase vibration mode is calculated as to how much the phase difference between the torques T1 and T2 is deviated from 0 degree as shown in FIG.

(Step SB4)
Next, as shown in FIGS. 8 and 9, the controller 5 calculates the amplitudes Tb and Tc of both the torques T1 and T2, respectively, and further calculates the amplitude difference Td from both the amplitudes Tb and Tc.

(Step SB5)
Next, the controller 5 generates correction harmonic currents of both the motors 3 and 3 based on the phase difference deviation amount Ta and the amplitude difference Td between the torques T1 and T2, respectively. There are the following three types of harmonic currents for correction.
(1) A fifth-order harmonic current for correction is generated using a fifth-order harmonic current that is the minus first order of the sixth-order harmonic current A6 (see FIG. 4).
(2) A correction seventh-order harmonic current is generated using a seventh-order harmonic current that is a plus first order of the sixth-order harmonic current A6.
(3) A correction sixth harmonic current is generated using a sixth harmonic current of the same order as the sixth harmonic current A6.

  The controller 5 calculates the phase difference adjustment amount based on the phase difference deviation amount Ta when the correction harmonic current is generated. This phase difference adjustment amount is an adjustment amount for setting the phase difference between the torques T1 and T2 to 0 degrees or 180 degrees. Further, the controller 5 calculates an amplitude difference adjustment amount based on the amplitude difference Td. This amplitude difference adjustment amount is an adjustment amount for reducing the amplitude difference Td. At this time, the amplitude difference Td may be set to zero. Then, the controller 5 generates a correction harmonic current by adjusting the phase and amplitude of each harmonic current based on the phase difference adjustment amount and the amplitude difference adjustment amount.

  In calculating the phase difference adjustment amount and the amplitude difference adjustment amount, a table showing the relationship between the phase difference deviation amount Ta and the phase adjustment amount, or a relational expression between the phase difference deviation amount Ta and the phase adjustment amount (for example, (3rd order or less approximate expression), a table showing the relationship between the amplitude difference Td and the amplitude adjustment amount, a relational expression between the amplitude difference Td and the amplitude adjustment amount, and the like are obtained from the experiment, and these are stored in the RAM and ROM. use.

(Step SB6)
Finally, the controller 5 corrects the drive current by adding the correction harmonic current generated in Step SB5 to the drive current of each motor 3. Examples of this addition method include the addition methods (1) to (3). Each method will be described below.

(1) Add the fifth-order harmonic current for correction to the drive current (see FIG. 10).
As a result, in the corrected drive current, a new torque ripple is generated in both motors 3 and 3 due to the fourth harmonic current and the sixth harmonic current. Therefore, a new torque ripple due to the sixth harmonic current acts on both torque ripples Tr, Tr that are normally generated by the sixth harmonic current. FIG. 10 shows the fundamental current A10 of the corrected drive current.

  As a result, in the in-phase vibration mode, the phase difference between both torques T1 and T2 is 180 degrees (reverse phase) as shown in FIG. In the antiphase vibration mode, as shown in FIG. 12, the phase difference between both torques T1 and T2 becomes 0 degrees (same phase). Further, the amplitudes of both torques T1 and T2 are matched with the amplitude Tb of the torque T1 having a smaller amplitude before correction, and the amplitude difference is eliminated.

(2) The correction seventh-order harmonic current is added to the drive current.
As a result, in the corrected drive current, a new torque ripple is generated in both motors 3 and 3 due to the sixth harmonic current and the eighth harmonic current. Therefore, as in the case of (1), a new torque ripple due to the sixth harmonic current acts on both torque ripples Tr, Tr that are normally generated by the sixth harmonic current. As a result, as shown in FIGS. 11 and 12, the phase difference and amplitude difference between the torques T1 and T2 are corrected to the target phase difference and amplitude difference.

(3) Multiply the driving current by the 6th harmonic current for correction (see FIG. 13).
As a result, the corrected drive current is in a state in which the fifth harmonic current and the seventh harmonic current are added to the drive current before correction. Therefore, a new torque ripple is generated in both motors 3 and 3 by the fourth harmonic current, the sixth harmonic current, and the eighth harmonic current. Therefore, as in the case of (1), a new torque ripple due to the sixth harmonic current acts on both torque ripples Tr, Tr generated at the sixth harmonic current at the normal time, as shown in FIG. 11 and FIG. Thus, the phase difference and amplitude difference between the torques T1 and T2 are corrected to the target phase difference and amplitude difference. Note that FIG. 13 shows the fundamental current A20 of the corrected drive current.

  As described above, in the motor control apparatus according to the present embodiment, the rotational angle deviation is corrected by controlling the drive currents of both the motors 3 and 3 to adjust the rotational speed. As a result, even when a plurality of motors are driven, it is possible to correct a phase shift between the torque ripples Tr and Tr. Therefore, in the motor control device of the present invention, torque ripples Tr and Tr can be suppressed. As a result, vibrations generated in both motors 3 and 3 are reduced and vibrations of the left and right rear wheels 2 and 2 are suppressed, so that discomfort for the occupant can also be suppressed.

  In particular, in the motor control device of the present embodiment, in the case of the in-phase vibration mode, the rotational angle states of both motors 3 and 3 are corrected from the same phase to the opposite phase, and in the case of the anti-phase vibration mode. The rotational angle states of both motors 3 and 3 were corrected from the reverse phase to the same phase. As a result, the phases of the torques T1 and T2 of both the motors 3 and 3 (the phases of the torque ripples Tr and Tr) are reversed and corrected, and the excitation force by the torque ripples Tr and Tr is canceled out. Therefore, in the motor control device of the present embodiment, torque ripples Tr, Tr generated in both motors 3, 3 during low-speed traveling can be reliably suppressed, and uncomfortable feelings of the occupant can be reliably suppressed.

  Furthermore, in the motor control device of the present embodiment, the phases of the torques T1 and T2 are corrected to the opposite phases in the case of the in-phase vibration mode, and the phases of the torques T1 and T2 are in-phase in the case of the anti-phase vibration mode. Was corrected. That is, since the phases of the torques T1 and T2 are directly reversed and corrected, the excitation force by the torque ripples Tr and Tr is surely canceled. Therefore, in the motor control device of the present embodiment, it is possible to more reliably suppress the torque ripple Tr during low-speed traveling.

  Further, in the motor control device of the present embodiment, the phase of the torques T1 and T2 is directly corrected by adding the fifth-order or seventh-order correction harmonic current to the drive currents of both the motors 3 and 3. . Therefore, it is not necessary to add a mechanically complicated mechanism such as a clutch or a reduction gear when correcting the phases of the torques T1 and T2. Therefore, in the motor control device of the present embodiment, it is possible to quickly suppress the torque ripple Tr during low-speed running while reducing the cost.

  Further, in the motor control apparatus of the present embodiment, the driving currents of both the motors 3 and 3 are multiplied by the sixth-order correction harmonic current to directly correct the phases of the torques T1 and T2. In this case, since only one type of correction harmonic current is used, adjustment of the harmonic current is reduced. Therefore, the motor control device according to the present embodiment can easily perform the control process for suppressing the torque ripple Tr.

  Furthermore, since the torque ripple due to the newly generated 6th harmonic current is affected by both the 5th harmonic current and the 7th harmonic current, the correction based on the 4th harmonic current and the 8th harmonic current is effective. It is possible to suppress the occurrence of unnecessary torque ripples. Therefore, the motor control device of the present embodiment can suppress the torque ripple Tr.

  Further, each correction harmonic current may be generated so as to correct one half of the phase difference deviation amount Ta between the torques T1 and T2. Thereby, since the phases of both torques T1 and T2 change equally, the disturbance of vibrations of the motors 3 and 3 due to the change of the phases of the torques T1 and T2 can be suppressed. Therefore, the motor control device of the present embodiment can stably perform the control process related to the suppression of the torque ripple Tr. As a result, the vehicle body posture can be prevented from being disturbed, and the running stability is improved.

  Further, in the motor control device of the present embodiment, when there is an amplitude difference Td between the torques T1 and T2, the amplitude difference Td when the phase difference between the torques T1 and T2 becomes 0 degree or 180 degrees. Was made smaller. Thereby, the exciting force by the torque ripple Tr is reliably reduced. Therefore, the motor control device of the present embodiment can further suppress vibrations of both motors 3 and 3.

  Furthermore, in the motor control device of the present embodiment, as shown in FIGS. 11 and 12, the amplitudes of both the torques T1 and T2 after correction are matched with the amplitude Tb of the torque T1 having a smaller amplitude before correction. I did it. Thereby, the excitation force by the torque ripple Tr for each motor 3 is reduced. Therefore, the motor control device of the present embodiment can further suppress vibrations of both motors 3 and 3.

  Further, in the motor control device of the present embodiment, when calculating the phase difference adjustment amount and the amplitude difference adjustment amount, a table showing the relationship between the phase difference deviation amount Ta and the phase adjustment amount, the amplitude difference Td and the amplitude adjustment amount. By using the table indicating the relationship between the phase difference adjustment amount and the amplitude difference adjustment amount, it becomes possible to set quickly. Therefore, in the motor control device of the present embodiment, it is possible to increase the work efficiency of the control process related to the suppression of the torque ripple Tr.

  Further, in the motor control apparatus of the present embodiment, when calculating the phase difference adjustment amount, when using a third-order approximation expression indicating the relationship between the phase difference deviation amount Ta and the phase adjustment amount, a table is used. In addition, since it is not necessary to store data in the ROM or RAM in advance, the load on the ROM or RAM is reduced. Therefore, in the motor control device of the present embodiment, it is possible to further increase the work efficiency of the control process related to the suppression of the torque ripple Tr.

  As mentioned above, although embodiment concerning this invention was illustrated, these embodiments do not limit the content of this invention. Various modifications can be made without departing from the scope of the claims of the present invention.

  For example, in the present embodiment, when the phases of both torques T1 and T2 are corrected, the drive currents of both motors 3 and 3 are controlled. However, the drive current of at least one motor 3 is controlled. You may make it do.

In the present embodiment, it is determined that the anti-phase vibration mode is set when the rotation speed per minute of both the motors 3 and 3 is 25 rpm, and the same-phase vibration mode is set when the rotation speed is 50 rpm. The relationship with the mode differs depending on the type of vehicle. Therefore, if the relationship between the vehicle resonance frequency (torque ripple frequency) and the vibration mode is known in advance, the relationship between the rotation speed and the vibration mode can be obtained even if the vehicle type is different by calculating the rotation speed using the following formula. Can do.
Rotation speed = frequency × 60 / order × pole pair number Here, the order is the order of the harmonic current that generates torque ripple, and the pole pair number is the number of pole pairs of the motor.

  For example, in the case of the present embodiment, it is known that the anti-phase vibration mode is obtained when the resonance frequency is 10 Hz, and the in-phase vibration mode is obtained when the resonance frequency is 20 Hz. Therefore, when the order is 6, the number of pole pairs is 4, and the number of rotations of the motor 3 when the resonance frequency is 10 Hz is calculated using the above formula, it is 25 rpm, and when it is 20 Hz, it is 50 rpm. Therefore, it can be seen that the anti-phase vibration mode is obtained when the rotational speed is 25 rpm (resonance frequency is 10 Hz), and the in-phase vibration mode is obtained when the rotational speed is 50 rpm (resonance frequency is 20 Hz).

  Further, in the present embodiment, the control process in the case where the deviation amount of the rotation angles of both the motors 3 and 3 is 0 degree or 180 degrees has been described. However, even in cases other than these deviation amounts, if an appropriate deviation amount that suppresses the torque ripple Tr is experimentally calculated and stored in the ROM or RAM, the same control processing as in this embodiment can be performed. Is possible.

  In the present embodiment, the case where the torque ripple generation harmonic current is the sixth harmonic current has been described. However, the present invention can be applied even when another harmonic current becomes the torque ripple generation harmonic current. It is.

  Further, in the present embodiment, the case where two motors 3 and 3 are driven has been described. However, when three or more motors are driven, one motor is arbitrarily determined and another motor for this motor is determined. If the rotational angle deviation and torque phase difference are calculated, the same effects as in the present embodiment can be obtained.

3 Motor 5 Controller
7 Rotational angle sensor A6 6th harmonic current T1 One torque T2 The other torque Ta Phase difference deviation Tb One torque amplitude Td Amplitude difference

Claims (8)

In a motor control device that drives a plurality of motors,
Rotation angle detection means for detecting the rotation angle of each motor;
Phase difference calculating means for calculating a deviation amount of the rotation angle of at least two motors;
A motor control apparatus comprising: a correction unit that controls a drive current of at least one of the two motors to correct the rotational angle deviation amount. The motor control device according to claim 1, wherein the correction unit includes:
In the case of the same phase vibration mode in which the rotational angle deviation amount is 0 degree and the torque ripple generated in both the motors is the largest, the rotational angle deviation amount is corrected to 180 degrees,
In the anti-phase vibration mode in which the rotational angle deviation amount is 180 degrees and the torque ripple generated in both the motors is the largest, the rotational angle deviation amount is corrected to 0 degree. Motor control device. The motor control device according to claim 2,
Torque detection means for detecting the torque of each motor is further provided,
In the case of the in-phase vibration mode, the correction unit calculates a deviation amount of the phase difference between the torques of the two motors from 180 degrees, and based on the deviation amount, at least one of the two motors. Control the drive current to correct the torque phase difference to 180 degrees,
In the case of the antiphase vibration mode, a deviation amount from 0 degrees of the torque phase difference between the two motors is calculated, and at least one drive current of the both motors is controlled based on the deviation amount. And correcting the torque phase difference to 0 degrees. The motor control device according to claim 3,
The control of the drive current is performed by adding to the at least one drive current a harmonic current for correction that is either plus or minus of the torque ripple generation harmonic current that generates the torque ripple. Control device. The motor control device according to claim 3,
The motor control apparatus is characterized in that the drive current is controlled by multiplying the at least one drive current by a correction harmonic current having the same order as a torque ripple generation harmonic current for generating the torque ripple. In the motor control device according to claim 4 or 5,
When the correction harmonic currents are added to the drive currents of the two motors, each correction harmonic current is generated so as to correct one-half of the phase difference deviation amount. The motor control apparatus characterized by the above-mentioned. In the motor control device according to any one of claims 4 to 6,
If there is an amplitude difference between the two torques, the correction harmonic current is generated so that the amplitude difference becomes small when the phase shift amount between the two torques becomes 0 degree or 180 degrees. The motor control apparatus characterized by the above-mentioned. The motor control device according to claim 7,
The harmonic current for correction is generated such that when there is an amplitude difference between the two torques, the amplitude of the torque after correction is matched with the amplitude of the torque with the smaller amplitude. Motor control device.

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