JP4037536B2 - Motor control device - Google Patents

Description

[0001]
[Field of the Invention]
The present invention relates to a motor control device that controls output torque of a motor by feedback control of a current supplied to an armature of the motor.
[0002]
[Prior art]
Conventionally, as a method for controlling the output torque of a motor, a current flowing through the armature of the motor (hereinafter referred to as an armature current) is detected, and the detected current value matches a target current value corresponding to the indicated torque. A method of feedback control of the current supplied to the motor armature is generally employed.
[0003]
Specifically, for example, PWM control for adjusting the armature current by changing the pulse width of the voltage applied to the armature of the motor according to the deviation between the detected value of the armature current of the motor and the target current value. Is used.
[0004]
Here, the PWM control basically controls the armature current of the motor on the assumption that the amplitude of the voltage applied to the armature of the motor (≈the power supply voltage of the motor) is kept constant. It is. Therefore, good control performance can be obtained when fluctuations in the power supply voltage are relatively small, such as when using a constant voltage power supply or a battery.
[0005]
However, when a power supply with a large fluctuation in output voltage, such as an electric double layer capacitor, is used as the power supply for the motor, there is a disadvantage that the control performance deteriorates due to the fluctuation in the power supply voltage. In order to eliminate this inconvenience, the detection value of the power supply voltage, the detection value of the armature current, the detection value of the motor rotation speed, etc. are input as control parameters, and the voltage applied to the armature of the motor according to these control parameters is input. It is conceivable to perform so-called software servo control in which the pulse width is determined by software calculation and PWM control is performed.
[0006]
However, in order to perform such software servo control, it is necessary to store a large amount of data in advance in order to determine the pulse width of the voltage applied to the armature from the value of each control parameter. In order to determine the pulse width of the voltage applied to the armature based on the stored data, complicated arithmetic processing is required. Furthermore, the pulse width of the voltage applied to the armature needs to be determined at high speed so as not to cause a motor control delay. Therefore, in order to perform software servo control, it is necessary to use a high-performance CPU or DSP capable of performing complex arithmetic processing at high speed, which complicates the configuration of the motor control device and reduces the cost. There was an inconvenience of being expensive.
[0007]
[Problems to be solved by the invention]
An object of the present invention is to provide a motor control device that can perform accurate torque control using a power source with a large output voltage fluctuation and a CPU with relatively low arithmetic processing capability.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides a motor, current detection means for detecting a current flowing through the armature of the motor, and a target current whose current value detected by the current detection means corresponds to a predetermined torque command. The present invention relates to an improvement in a motor control device including armature current control means for performing feedback control of a current supplied to an armature of the motor so as to coincide with a value.
[0009]
And a voltage detection means for detecting the power supply voltage of the motor, a rotation speed detection means for detecting the rotation speed of the motor, a voltage value detected by the voltage detection means, and a rotation detected by the rotation speed detection means. A target supply power calculating means for calculating a target supply power to be supplied to the armature of the motor from the number and the torque command, a current value detected by the current detection means, and a voltage value detected by the voltage detection means An actual supply power calculation means for calculating the actual supply power actually supplied to the motor, an operation amount calculation means for calculating an operation quantity for eliminating a deviation between the target supply power and the actual supply power, Gain adjusting means for adjusting a feedback gain in the armature current control means according to an operation amount is provided.
[0010]
The efficiency of the motor (motor output / power supplied to the motor armature) changes according to fluctuations in the power supply voltage of the motor. In addition, changes in the rotational speed of the motor also affect the efficiency of the motor. Therefore, the target supply power calculation means calculates the target supply power to the motor necessary for obtaining the output of the motor according to the torque command, based on the torque command, the power supply voltage of the motor, and the rotation speed of the motor. To do.
[0011]
The gain adjusting means is a feedback gain by the armature current control means according to an operation amount calculated by the operation amount calculating means for eliminating a deviation between the actual supply power and the target supply power. Adjust. Therefore, even if the power supply voltage of the motor fluctuates and the actual power supply to the motor changes, the current supplied to the motor armature is controlled so that the actual power supply according to the torque command is supplied. The Thereby, even when the fluctuation of the power supply voltage of the motor is large, accurate torque control of the motor can be performed. The manipulated variable can be calculated by simple arithmetic processing (for example, PI control arithmetic processing), and the feedback gain can be adjusted by a simple hardware configuration or the like, so there is no need to use a high-performance CPU or DSP. . Therefore, it is possible to configure a motor control device using a CPU having a relatively low computing capability, and it is possible to prevent the device configuration from becoming complicated and the device cost from increasing.
[0012]
As described above, by adjusting the feedback gain in the armature current control means by the gain adjusting means, basically stable torque control can be performed even if the power supply voltage fluctuates. However, the adjustment range of the feedback gain is limited, and the current supplied to the motor armature cannot be adjusted without limitation. Therefore, the target current value corresponding to the torque command may not be supplied to the motor armature.
[0013]
  Therefore, in the present invention, when the operation amount calculated by the operation amount calculation means exceeds a predetermined limit operation amount (for example, set corresponding to the upper limit of the feedback gain adjustment range), Field control means for performing field weakening control for adjusting the field current supplied to the field pole of the motor to weaken the magnetic flux generated in the field pole, and the operation amount calculated by the operation amount calculation means is the limit operation When the amount is exceeded, field weakening control is performed by the field control means. Thereby, the electric current value which can be supplied to the armature of a motor can be increased, and the control range of torque control can be expanded. According to the present invention, switching from the feedback gain control region (operation amount ≦ limit operation amount) to the field weakening control region (operation amount> limit operation amount) is based on one variable called the operation amount. Therefore, the control region can be switched smoothly and good control characteristics can be obtained.
  Further, when the operation amount calculated by the operation amount calculation means exceeds a predetermined limit operation amount, the field current supplied to the armature of the motor is adjusted, and the magnetic flux of the field by the permanent magnet is adjusted. Field control means for performing field weakening control for weakening the magnetic flux generated in the direction is provided.
  Further, the limit operation amount calculation for calculating the limit operation amount based on the power supply voltage of the motor detected by the voltage detection means, the rotation speed of the motor detected by the rotation speed detection means, and the torque command. Means are provided.
[0014]
Further, the field control means determines an adjustment amount of the field current in the field weakening control according to the magnitude of the operation amount.
[0015]
According to the present invention, the field current adjustment amount in the field weakening control is determined in accordance with the magnitude of the manipulated variable, so that appropriate field weakening control is performed according to fluctuations in the power supply voltage. In addition, the torque generated by the motor during the transition from the feedback gain control region to the field weakening control region can be changed smoothly.
[0016]
The armature current control means determines the pulse width of the voltage applied to the armature by comparing the difference between the current value detected by the current detection means and the target current value with a reference triangular wave. The current supplied to the armature of the motor is controlled by PWM control, and the gain adjusting means adjusts the feedback gain by changing the amplitude of the reference triangular wave.
[0017]
As a method for controlling the current supplied to the motor armature, PWM control for adjusting the pulse width of the voltage applied to the motor armature is widely adopted. According to the present invention, when the pulse width is determined by comparing the difference between the current value detected by the current detection means and the target current value and the reference triangular wave, the reference triangular wave By changing the amplitude, the pulse width determined according to the difference between the current value detected by the current detection means and the target current value is changed, and the feedback gain can be easily adjusted. .
[0018]
Further, an electric double layer capacitor is used as a power source for the motor. Since the electric double layer capacitor has a large reduction range of the output voltage accompanying a decrease in the remaining charge amount, the effect of applying the present invention is particularly great.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
An example of an embodiment of the present invention will be described with reference to FIGS. 1 is an overall configuration diagram of the motor control apparatus of the present invention, FIG. 2 is an operation explanatory diagram of the motor driver shown in FIG. 1, FIG. 3 is a control block diagram of the motor controller shown in FIG. 1, and FIG. FIG. 5 is an explanatory diagram of feedback gain correction processing.
[0020]
Referring to FIG. 1, the motor control device of the present embodiment is mounted on a so-called hybrid vehicle that obtains driving force by a combination of an engine and a motor, and includes a motor 1 that is a DC brushless motor, and an electric double layer. A power source 2 that is a capacitor and an operating power source of the motor 1, a motor driver 5 that controls a supply current to the armature 3 and the field pole 4 of the motor 1 so that the motor 1 generates a desired torque, and a motor And a motor controller 6 for giving various control instructions to the driver 5.
[0021]
The motor controller 6 includes a CPU, a ROM, a RAM, and the like, and inputs a vehicle speed, an output voltage of the power source 2, and the like in response to a torque command given from a general controller (not shown) that controls the operation of the vehicle. Then, a target value of current to be supplied to the armature 3 of the motor 1 (hereinafter referred to as a target current value) is determined, and the target current value is instructed to the motor driver 5.
[0022]
The armature current control means 7 provided in the motor driver 5 generates a rotating magnetic field by applying a three-phase (U, V, W) driving voltage to the armature 3 of the motor 1. The current sensors 8 and 9 (corresponding to the current detecting means of the present invention) detect the current actually flowing through the armature 3 (hereinafter referred to as the armature current), and the detected armature current is the target current value. The current supplied to the armature 3 is feedback controlled so that The current supplied to the field pole 4 is normally kept constant by the field current control means 10.
[0023]
Here, the armature current control means 7 controls the current supplied to the armature 3 of the motor 1 by PWM control. Referring to FIG. 2 (a), the armature current control means 7 uses the difference voltage V according to the difference between the target current value and the detected value of the armature current (target current value−detected value of the armature current)._asWhen the output voltage of the differential output circuit 20 and the power source 2 is at a predetermined level (for example, the output voltage level when the power source 2 is fully charged), current supply at the target current value can be obtained. Specified reference voltage V_bIs output from the reference voltage output circuit 21 and the differential output circuit 20._asAnd the reference voltage V output from the reference voltage output circuit 21_bAre added, a triangular wave generation circuit 23 that generates a reference triangular wave, and a comparator 24 that compares the output of the adder 22 with the reference triangular wave output from the triangular wave generation circuit 23.
[0024]
The operation of the comparator 24 will be described with reference to FIG. 2B. As shown in (1), the amplitude A is applied to the negative input terminal of the comparator 24.₁, Period T₁For example, the differential voltage V output from the differential output circuit 20 when the reference triangular wave a is input._asIs 0, the reference voltage V from the adder 22 is applied to the positive input terminal of the comparator 24._bIs entered. Therefore, from the output terminal of the comparator 24, as shown in (2), the pulse width W₁Pulse signal c is output.
[0025]
Then, when the output of the pulse signal c is at a high level, by applying a voltage to the armature 3, a cycle T as shown in (3) is obtained.₁The voltage application time to the armature 3 is adjusted to control the supply current to the armature 3.
[0026]
Here, when the detected value of the armature current is smaller than the target current value, the differential voltage V output from the differential output circuit 20._asBecomes positive, and the voltage level input from the adder 22 to the positive input terminal of the comparator 24 is the reference voltage V_bThe pulse width of the pulse signal output from the comparator 24 is W₁Wider than. Therefore period T₁The voltage application time to the armature 3 is increased, and the armature current is increased.
[0027]
On the contrary, when the detected value of the armature current is larger than the target current value, the differential voltage V output from the differential output circuit 20_asBecomes negative, and the voltage level input from the adder 22 to the positive input terminal of the comparator 24 is the reference voltage V_bThe pulse width of the pulse signal output from the comparator 22 is W₁Narrower than. Therefore period T₁The voltage application time to the armature 3 is reduced and the armature current is reduced.
[0028]
Thus, according to the difference between the detected value of the armature current and the target current value, the armature 3 is set so that the difference is eliminated, that is, the detected value of the armature current matches the target current value. The supply current is feedback controlled.
[0029]
Incidentally, in the present embodiment, since the electric double layer capacitor 2 is used for the power source 2 of the motor 1, the degree of decrease in the output voltage of the power source 2 corresponding to the decrease in the remaining charge amount is large. For example, as shown in (3) of FIG. 2B, the amplitude of the voltage applied to the armature 3 of the motor 1 becomes B as the output voltage of the power source 2 decreases.₁To B₂Is reduced from the adder 22 to the reference voltage V_bIs input to the positive input terminal of the comparator, the voltage waveform applied to the armature 3 of the motor 1 changes from d to e.
[0030]
As a result, the current supplied to the armature 3 of the motor 1 decreases, the difference between the detected value of the armature current and the target current value increases, and the differential voltage V output from the differential output circuit 20_asWill increase. And the increased differential voltage V_asIn order to eliminate this problem, the time for applying the driving voltage to the armature 3 is increased by the feedback control described above._asWhen the torque increases, the follow-up characteristic of the armature current deteriorates, so that accurate torque control cannot be performed.
[0031]
The efficiency of the motor 1 (motor output / power supplied to the armature of the motor) varies depending on fluctuations in the output voltage of the power supply 2 and the rotation speed of the motor 1. Therefore, in order to perform accurate torque control in consideration of the fluctuation of the output voltage of the power source 2 and the change of the rotation speed of the motor 1, the motor controller 6 is detected by the voltage sensor 11 with reference to FIG. The rotation speed of the motor 1 detected by the rotation sensor 12 (corresponding to the rotation speed detection means of the present invention) that outputs a pulse signal having a period corresponding to the rotation speed of the motor 1, The armature currents detected by the current sensors 8 and 9 are input, and the feedback gain correction in the armature current control means 7 and the field magnetic field supplied to the field pole 4 by the field current control means 10 according to these are input. The motor driver 5 is instructed to correct the current.
[0032]
Hereinafter, feedback gain correction processing and field current correction processing by the motor controller 6 will be described with reference to FIGS. Referring to FIG. 3, the motor controller 6 includes a target current value calculation unit 30, a target supply power calculation unit 31, an actual supply power calculation unit 32, an operation amount calculation unit 33, a limit operation amount calculation unit 34, and a control selection unit 35. , Gain adjusting means 36, and field control means 37.
[0033]
The target current value calculation means 30 calculates a target current value to be supplied to the armature 3 of the motor 1 in accordance with a torque command given from the overall controller (not shown), and outputs it to the motor driver 5. The target current value calculating means 30 includes a torque command-target current value correspondence map determined in advance by experiments, and calculates a target current value from the torque command according to the map.
[0034]
The target supply power calculation means 31 is based on the torque command, the output voltage of the power source 2 detected by the voltage sensor 11 (see FIG. 1), and the rotation speed of the motor 1 detected by the rotation sensor 12 (see FIG. 1). Then, a target supply power that is the power to be supplied to the armature 3 in order to obtain the torque according to the torque command is calculated.
[0035]
Here, as described above, the efficiency of the motor (output of the motor / power supplied to the armature of the motor) changes due to fluctuations in the power supply voltage of the motor and changes in the rotational speed of the motor. Therefore, the target supply power calculation means 31 calculates the target supply power in consideration of the influence of the output voltage of the power source 2 and the rotation speed of the motor 1, so that it is determined for each predetermined output voltage range of the power source 2 determined in advance through experiments. And a target supply power correspondence map corresponding to the number of rotations of the motor 1, and the target supply power is calculated according to the map.
[0036]
The actual power supply calculating means 32 is used to calculate the actual motor from the output voltage of the power source 2 detected by the voltage sensor 11 (see FIG. 1) and the armature current detected by the current sensors 8 and 9 (see FIG. 1). The actual power supplied to one armature 3 is calculated.
[0037]
The operation amount calculation means 33 performs PI control on the operation amount α for eliminating the deviation ΔPower between the target supply power calculated by the target supply power calculation means 31 and the actual supply power calculated by the actual supply power calculation means 32. Based on the following equation (1).
[0038]
α = KP * ΔPower + KI * ∫ΔPower (1)
KP and KI are coefficients determined based on the characteristics of the motor 1, experimental results, and the like.
[0039]
The limit operation amount calculation means 34 is based on the torque command, the output voltage of the power source 2 detected by the voltage sensor 11 (see FIG. 1), and the rotation speed of the motor 1 detected by the rotation sensor 12 (see FIG. 1). , The limit operation amount α corresponding to the upper limit value of the current that can be supplied to the armature 3 of the motor 1_LIs calculated.
[0040]
The control selection unit 35 includes an operation amount α calculated by the operation amount calculation unit 33 and a limit operation amount α calculated by the limit operation amount calculation unit 34._LAnd either of the gain adjusting means 36 and the field control means 37 is selectively operated. Referring to FIG. 4, the control selection means 35 is operated by the operation amount calculation means 33 by α_min≦ α ≦ α_maxThe operation amount α calculated in the range of the limit operation amount α calculated by the limit operation amount calculation means 34_LWhen it is below, the gain adjusting means 36 is operated.
[0041]
The gain adjusting means 36 has a scaling function f₁By (α), the feedback gain correction value ΔGain in the armature current control means 7 (see FIG. 1) is changed to G based on the operation amount α._min≦ ΔGain ≦ G_maxAnd output to the motor driver 5.
[0042]
On the other hand, the operation amount α is the limit operation amount α._LWhen the value exceeds, the control selection means 35 activates the field control means 37. The field control means 37 has a scaling function f₂(I) is a correction value for the current supplied from the field current control means 8 (see FIG. 1) to the field pole 4 of the motor 1 based on the manipulated variable α._qQ_min≦ Δi_q≦ Q_maxAnd output to the motor driver 5.
[0043]
As described above, the control selection unit 35 performs switching between the feedback gain correction control by the gain adjustment unit 36 and the field current correction control by the field control unit 37 according to the single parameter of the operation amount α. Can be smoothly switched.
[0044]
Next, referring to FIG. 1, the armature current control means 7 provided in the motor driver 5 corrects the feedback gain correction value output from the gain adjustment means 36 (see FIG. 3) provided in the motor controller 6. Based on ΔGain, the feedback gain for feedback control of the current supplied to the armature 3 of the motor 1 is changed from the reference value. Specifically, referring to FIG. 2A, the triangular wave generation circuit 23 provided in the armature current control means 7 changes the amplitude of the reference triangular wave according to the indicated value of ΔGain, thereby providing a feedback gain. Is changed.
[0045]
FIG. 5 shows how the shape of the drive voltage waveform applied to the armature 3 changes when the amplitude of the reference triangular wave is changed in this way. As shown in (4) of FIG. 5, the amplitude of the reference triangular wave a is A_ThreeTo A_FourAs shown in (5), the reference voltage V is applied to the positive input terminal of the comparator 24 shown in FIG._bWhen the pulse width of the pulse signal c output from the comparator 24 is W_ThreeTo W_FourExpanded to Therefore, as shown in (6), the output voltage of the power source 2 decreases and the amplitude of the voltage applied to the armature 3 is B._ThreeTo B_FourWhen the current supplied to the armature 3 decreases and the amplitude of the reference triangular wave is reduced to increase the feedback gain, the reduction of the current supplied to the armature 3 is suppressed. Can do. Thereby, when the output voltage of the power supply 2 is lowered, the differential voltage V output from the differential output circuit 20 with reference to FIG._asCan be suppressed, and the follow-up characteristics of the armature current can be prevented from deteriorating, and accurate torque control can be performed.
[0046]
Next, as described above, by changing the amplitude of the reference triangular wave and correcting the feedback gain in the armature current control means 7, it is possible to suppress the deterioration of the follow-up performance of the torque control due to the output voltage drop of the power source 2. Although it is possible, the feedback gain in the armature current control cannot be increased without limit. That is, as shown in (5) in FIG._FiveCan only be expanded. Note that the above-mentioned limit operation amount α_LIs calculated according to the current value that can be supplied to the armature 3 when the pulse width is maximum (Duty 100%).
[0047]
Therefore, the control selection unit 35 determines that the operation amount α calculated by the operation amount calculation unit 33 is the limit operation amount α._LWhen the feedback gain correction cannot supply the current at the target current value according to the torque command, the feedback gain correction control by the gain adjusting means 36 is changed to the field weakening control by the field control means 37. Switch. As shown in FIG. 4, the field control unit 37 calculates the field current correction value according to the value of the operation amount α, thereby performing appropriate field weakening control according to the fluctuation of the output voltage of the power source 1. . When the field weakening control is performed, the feedback gain correction value ΔGain is ΔGain = f₂(Α_LThe feedback gain in the armature current control means 7 is kept constant.
[0048]
Referring to FIG. 1, the field current control means 10 provided in the motor driver 5 supplies the field pole 4 according to the field current correction value output from the field control means 37 provided in the motor controller 6. Change the current. Thereby, the magnetic flux generated in the field pole 4 is weakened. By performing the field weakening control in this way, the current supplied to the armature 3 can be increased, and the control range of the torque control of the motor 1 in the constant power supply voltage fluctuation range can be expanded. Therefore, referring to FIG. 3, the number of data tables that need to be held in advance in accordance with the output voltage of power supply 2 can be reduced by target supply power calculation means 31 and limit operation amount calculation means 34.
[0049]
Referring to FIG. 3, the processing in the controller 6 includes the calculation of the operation amount α and the limit operation amount α as described above._LCalculation, feedback gain in accordance with the operation amount α, and scaling of the correction value of the field current. Therefore, the controller 6 can be configured using a CPU having a relatively low arithmetic processing capability.
[0050]
In the present embodiment, the PWM control unit in the armature current control means 7 is configured by a hardware circuit, but may be configured by software control by a microprocessor. Further, the feedback gain in the armature current control means 7 is changed by changing the amplitude of the reference triangular wave, but may be changed by changing the PI control coefficient value in the armature current control means 7, Reference voltage V corresponding to the target current value_bYou may carry out by changing the value of (refer Fig.2 (a)).
[0051]
Further, as a method for controlling the current supplied to the armature, other control methods than the PWM control, for example, a method of adjusting the amplitude of the voltage applied to the armature may be used.
[0052]
In the present embodiment, a DC brushless motor that generates a magnetic flux in the field pole by supplying current to the field pole is shown. However, a permanent magnet that generates a magnetic flux in the field pole by providing a permanent magnet in the field magnet is shown. The present invention can also be applied to a magnet field type DC brushless motor. When performing torque control of a permanent magnet field type DC brushless motor, in order to perform control easily, the motor is provided with a first armature on the q axis that is the magnetic flux direction of the field by the permanent magnet, and q A control method is generally adopted in which an equivalent circuit having a second armature on the d-axis orthogonal to the axis is converted and the equivalent circuit is controlled.
[0053]
Thus, when torque control is performed by converting a permanent magnet field DC brushless motor into an equivalent circuit on the dq axis, the id current flowing through the second armature is applied to the armature of the present invention. This corresponds to the armature current that flows, and the iq current that flows through the first armature corresponds to the field current that flows through the field pole of the present invention. That is, by controlling the id current, the motor torque is adjusted, and by controlling the iq current, an effect equivalent to the field weakening control for reducing the magnetic flux of the field pole of the motor is produced. Therefore, the effect of the present invention can also be obtained when torque control is performed on a permanent magnet type DC brushless motor by an equivalent circuit on the dq axis. Furthermore, the present invention can be applied to other types of motors other than DC brushless motors.
[0054]
The best effect of the present invention can be obtained by performing both feedback gain correction control and field weakening control in the armature current feedback control, but feedback gain correction control in the armature current feedback control. The effect of the present invention can be obtained even if only the above is performed.
[0055]
In the present embodiment, the field current correction amount in the field weakening control is calculated according to the operation amount α. However, in some cases, the field current correction value in the field weakening control may be fixed. .
[0056]
In the present embodiment, an example in which an electric double layer capacitor is used as a power source for a motor has been shown. The application of the invention is effective.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram of a motor control device according to the present invention.
FIG. 2 is an operation explanatory diagram of the motor driver shown in FIG. 1;
FIG. 3 is a control block diagram of the motor controller shown in FIG. 1;
FIG. 4 is an operation explanatory diagram of the control selection unit shown in FIG. 3;
FIG. 5 is an explanatory diagram of feedback gain correction processing;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Motor, 2 ... Power supply, 3 ... Armature, 4 ... Field pole, 5 ... Motor driver, 6 ... Motor controller, 7 ... Armature current control means, 8, 9 ... Current sensor, 10 ... Field current control means , 11 ... voltage sensor, 12 ... rotational speed sensor, 13 ... current sensor, 20 ... differential output circuit, 21 ... reference voltage output circuit, 22 ... adder, 23 ... triangular wave generation circuit, 24 ... comparator, 30 ... target current value Calculation means 31 ... Target supply power calculation means 32 ... Real supply power calculation means 33 ... Operation amount calculation means 34 ... Limit operation amount calculation means 35 ... Control selection means 36 ... Gain adjustment means 37 ... Field control means

Claims (7)

A motor, current detection means for detecting a current flowing through the armature of the motor, and an electric machine of the motor so that a current value detected by the current detection means matches a target current value according to a predetermined torque command In a motor control device comprising armature current control means for feedback controlling the current supplied to the child,
Voltage detection means for detecting the power supply voltage of the motor, rotation speed detection means for detecting the rotation speed of the motor, voltage value detected by the voltage detection means, and rotation speed detected by the rotation speed detection means Target supply power calculation means for calculating target supply power to be supplied to the armature of the motor from the torque command, the current value detected by the current detection means, and the voltage value detected by the voltage detection means An actual supply power calculation means for calculating an actual supply power actually supplied to the motor; an operation amount calculation means for calculating an operation amount for eliminating a deviation between the target supply power and the actual supply power; A motor control apparatus comprising: gain adjusting means for adjusting a feedback gain in the armature current control means according to the amount.   When the manipulated variable calculated by the manipulated variable calculating means exceeds a predetermined limit manipulated variable, the field current supplied to the field pole of the motor is adjusted to weaken the magnetic flux generated at the field pole. 2. The motor control device according to claim 1, further comprising a field control means for performing magnetic field weakening control. When the manipulated variable calculated by the manipulated variable calculating means exceeds a predetermined limit manipulated variable, the field current supplied to the armature of the motor is adjusted to change the direction of the magnetic flux of the field by the permanent magnet. 2. The motor control device according to claim 1, further comprising field control means for performing field weakening control for weakening the generated magnetic flux. Limit operation amount calculation means for calculating the limit operation amount based on the power supply voltage of the motor detected by the voltage detection means, the rotation speed of the motor detected by the rotation speed detection means, and the torque command. 4. The motor control device according to claim 2, further comprising a motor control device. The field control means, in accordance with the magnitude of the manipulated variable, the motor control of any one of claims 2 to 4, characterized in that to determine the adjustment amount of the field current in the field weakening control apparatus. The armature current control means determines the pulse width of the voltage applied to the armature by comparing the difference between the current value detected by the current detection means and the target current value and a reference triangular wave. By controlling the current supplied to the armature of the motor,
The gain adjustment means, the motor control device according to any one of claims 1-5, characterized by adjusting said feedback gain by changing the amplitude of the triangular wave. The motor control device according to any one of claims 1 to 6 , wherein an electric double layer capacitor is used as a power source of the motor.

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