JP4850631B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device.

2. Description of the Related Art Conventionally, there has been known a motor that includes a first permanent magnetic pole piece and a second permanent magnetic pole piece whose mutual phase positions can be changed by servo pressure, for example, and whose field magnetic flux amount can be changed (see, for example, Patent Document 1). ).
Conventionally, in a motor such as a hybrid vehicle, for example, a plurality of rotors provided with magnetic poles of different polarities in the rotation direction are arranged adjacent to each other on the same rotation axis, and the interval between these rotors is changed by an actuator. Thus, there is known one having a variable mechanism for adjusting the induced voltage constant of the permanent magnet with respect to the stator (see, for example, Patent Document 2).
JP-A-55-153300 JP 2001-69609 A

By the way, in the motor according to the above prior art, for example, the induced voltage constant of the motor is changed according to the operation input of the operator according to the driving state of the motor, the traveling state of the vehicle equipped with this motor as a driving source, and the like. It is hoped that.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a motor control device capable of appropriately controlling an induced voltage constant of a motor in accordance with an operation input by an operator.

  In order to solve the above-described problems and achieve the object, the motor control device according to the first aspect of the present invention includes a magnet piece (for example, the inner peripheral side permanent magnet 21a and the outer peripheral side permanent magnet in the embodiment). A motor (for example, in the embodiment) that includes a plurality of rotors having magnets 22a) (for example, the inner peripheral side rotor 21 and the outer peripheral side rotor 22 in the embodiment) and drives the vehicle in an auxiliary manner. Motor 11) and a phase change mechanism (for example, phase control device 25 in the embodiment) for changing the relative phases of the plurality of rotors and setting them to a predetermined induced voltage constant. And it is characterized by including manual control means (for example, induced voltage constant control part 54 in an embodiment) which controls phase change operation of the phase change mechanism according to an operation input of an operator.

  According to the motor control apparatus configured as described above, the manual control unit controls the phase change operation of the phase change mechanism in accordance with an operation input by the operator, changes the relative phases of the plurality of rotors, and generates a predetermined induced voltage. Set to be a constant. Thereby, the induced voltage constant of a motor can be set to the value according to the operator's operation input.

Furthermore, in the motor control device according to the first aspect of the present invention, the manual control means selects the predetermined induced voltage constant from a plurality of induced voltage constants set stepwise in advance. Yes.

  According to the motor control apparatus configured as described above, the manual control means changes the induced voltage constant stepwise in accordance with the operation input of the operator.

Furthermore, in the motor control apparatus according to the first aspect of the present invention, the manual control means changes a control gain for a phase change operation of the phase change mechanism according to the predetermined induced voltage constant. Yes.

  According to the motor control apparatus configured as described above, the manual control means changes the control gain when changing the induced voltage constant, that is, the response speed, according to the operation input of the operator.

Furthermore, in the motor control device according to the second aspect of the present invention, when the response speed is changed, the manual control means reduces the response speed in association with increasing the induced voltage constant. The amount of change in the response speed is set to be larger than that in the case where the response speed is increased as the induced voltage constant is decreased.
Furthermore, in the motor control apparatus according to the third aspect of the present invention, the manual control means changes the control gain stepwise.

  According to the motor control apparatus having the above-described configuration, the manual control means changes the control gain at the time of changing the induced voltage constant, that is, the response speed in a stepwise manner according to the operation input of the operator.

Furthermore, in the motor control device according to the fourth aspect of the present invention, the motor assists driving of the vehicle or driving of the vehicle by an internal combustion engine.

  According to the motor control device configured as described above, the operator's will can be appropriately reflected in the traveling behavior of the vehicle.

According to the motor control device of the present invention, the induced voltage constant of the motor can be set to a value according to the operation input of the operator.
Furthermore, according to the motor control apparatus of the invention described in claim 4 , it is possible to appropriately reflect the operator's will in the running behavior of the vehicle.

Hereinafter, an embodiment of a motor control device of the present invention will be described with reference to the accompanying drawings.
The motor control device 1 according to the present embodiment is mounted on a vehicle such as a hybrid vehicle or an electric vehicle that includes a motor as a travel drive source. Specifically, as shown in FIG. 1, the vehicle 10 is an electric vehicle including a motor (Mot) 11 as a drive source, and the driving force of the motor 11 is transmitted to the front wheels Wf of the vehicle 10. Yes.

  When the driving force is transmitted from the front wheel Wf side to the motor 11 during deceleration of the vehicle 10, the motor 11 functions as a generator to generate a so-called regenerative braking force and convert the kinetic energy of the vehicle body into electric energy (regenerative energy). Energy). Here, the vehicle 10 provided with the control device 12 includes an accelerator pedal opening sensor (hereinafter simply referred to as an AP opening sensor) s1, a brake pedal switch sensor (hereinafter simply referred to as a BrkSW sensor) s2, Various sensors such as a wheel speed sensor 13 provided on the front wheel Wf and the rear wheel Wr, a rotation sensor 14 and the like are provided, and the control device 12 determines the control system of the motor 11 based on the detection results of these various sensors. In response, a control command is output.

  For example, as shown in FIG. 2, the motor 11 includes a rotor 23 including a substantially annular inner circumferential rotor 21 and an outer circumferential rotor 22 each having permanent magnets 21 a and 22 a arranged along the circumferential direction. And a relative phase between a stator 24 having a multi-phase stator winding (not shown) that generates a rotating magnetic field for rotating the rotor 23, and the inner rotor 21 and the outer rotor 22. And a phase control device 25 for controlling.

  The inner circumferential side rotor 21 and the outer circumferential side rotor 22 are arranged so that their rotation axes are coaxial with the rotation axis O of the motor 11, and each of the substantially cylindrical rotor cores 31 and 32 and the first rotor core. A plurality of inner peripheral side magnet mounting portions 33,..., 33 provided at predetermined intervals in the circumferential direction at the outer peripheral portion of 31 and a plurality provided at predetermined intervals in the circumferential direction inside the second rotor core 32. , 34 are provided.

A groove 31 a extending in parallel with the rotation axis O is formed on the outer peripheral surface 31 A of the first rotor core 31 between the inner peripheral magnet mounting portions 33, 33 adjacent in the circumferential direction.
Further, a concave groove 32 a extending parallel to the rotation axis O is formed on the outer peripheral surface 32 A of the second rotor core 32 between the outer peripheral magnet mounting portions 34 adjacent to each other in the circumferential direction.

Each of the magnet mounting portions 33 and 34 includes, for example, a pair of magnet mounting holes 33a, 33a and 34a, 34a penetrating in parallel to the rotation axis O, and the pair of magnet mounting holes 33a, 33a via a center rib 33b. In addition, the pair of magnet mounting holes 34a, 34a are arranged adjacent to each other in the circumferential direction via the center rib 34b.
Each of the magnet mounting holes 33a and 34a has a cross-section with respect to a direction parallel to the rotation axis O and is formed in a substantially rectangular shape having a substantially circumferential direction as a longitudinal direction and a substantially radial direction as a short direction, and the magnet mounting holes 33a and 34a. Each of the permanent magnets 21a and 22a has a substantially rectangular plate shape extending parallel to the rotation axis O.

  The pair of inner peripheral side permanent magnets 21a, 21a mounted in the pair of magnet mounting holes 33a, 33a are magnetized in the thickness direction (that is, the radial direction of the rotors 21, 22), and the magnetization directions are the same. The direction is set. And with respect to the inner peripheral side magnet mounting parts 33 and 33 adjacent to each other in the circumferential direction, each pair of inner peripheral side permanent magnets 21a and 21a mounted in each pair of magnet mounting holes 33a and 33a and 33a and 33a. And the inner peripheral side permanent magnets 21a, 21a are set so that their magnetization directions are different from each other. That is, a pair of inner peripheral side permanent magnets 21a, 21a, with a pair of inner peripheral side permanent magnets 21a, 21a having an outer peripheral side set to N pole, are mounted on a pair of inner peripheral side permanent magnets 21a, The inner peripheral side magnet mounting portion 33 on which 21a is mounted is adjacent in the circumferential direction via the concave groove 31a.

  Similarly, the pair of outer peripheral side permanent magnets 22a and 22a mounted in the pair of magnet mounting holes 34a and 34a are magnetized in the thickness direction (that is, the radial direction of the rotors 21 and 22) and magnetized to each other. The direction is set to be the same direction. A pair of outer permanent magnets 22a, 22a and outer peripheries mounted in a pair of magnet mounting holes 34a, 34a and 34a, 34a with respect to outer peripheral magnet mounting portions 34, 34 adjacent in the circumferential direction. The side permanent magnets 22a and 22a are set so that their magnetization directions are different from each other. In other words, a pair of outer peripheral side permanent magnets 22a and 22a whose outer peripheral side is an S pole are mounted on the outer peripheral side magnet mounting portion 34 to which a pair of outer peripheral side permanent magnets 22a and 22a whose outer peripheral side is an N pole are mounted. The outer peripheral side magnet mounting portion 34 thus made is adjacent in the circumferential direction via the concave groove 32a.

Further, the magnet mounting portions 33,..., 33 of the inner circumferential side rotor 21 and the magnet mounting portions 34,..., 34 of the outer circumferential side rotor 22 are further respectively recessed grooves 31 a of the inner circumferential side rotor 21. ,..., 31a and the respective concave grooves 32a,..., 32a of the outer rotor 22 are disposed so as to be opposed to each other in the radial direction of the rotors 21 and 22.
As a result, the state of the motor 11 is changed according to the relative positions of the inner peripheral rotor 21 and the outer peripheral rotor 22 around the rotation axis O to the inner peripheral permanent magnet 21a and the outer peripheral side of the inner peripheral rotor 21. From the field-weakening state in which the magnetic poles of the same polarity with the outer peripheral side permanent magnet 22a of the rotor 22 are arranged opposite to each other (that is, the inner peripheral side permanent magnet 21a and the outer peripheral side permanent magnet 22a are arranged as a counter electrode), The magnetic poles of different polarities of the inner peripheral side permanent magnet 21a of the rotor 21 and the outer peripheral side permanent magnet 22a of the outer peripheral side rotor 22 are opposed to each other (that is, the inner peripheral side permanent magnet 21a and the outer peripheral side permanent magnet 22a are the same). It is possible to set an appropriate state over the strong field state that is pole-arranged.

  The control device 12 performs current feedback control on the dq coordinates that form the rotation orthogonal coordinates. For example, the control device 12 uses a torque command Tq determined by an accelerator opening sensor that detects an accelerator opening related to the accelerator operation of the driver. Based on the d-axis current command Idc and the q-axis current command Iqc, the phase output voltages Vu, Vv, Vw are calculated based on the d-axis current command Idc and the q-axis current command Iqc, and the phase output voltages Vu, Vv are calculated. , Vw according to the PWM signal as a gate signal is input to the PDU 16 and any two phase currents Iu, Iv, Iw actually supplied from the PDU 16 to the motor 11 are converted into currents on the dq coordinate. Control is performed so that each deviation between the d-axis current Id and the q-axis current Iq obtained by the conversion and the d-axis current command Idc and the q-axis current command Iqc becomes zero.

  The control device 12 includes, for example, a target current setting unit 41, a current deviation calculation unit 42, a field control unit 43, a power control unit 44, a current control unit 45, a dq-3 phase conversion unit 46, and a PWM signal. Generation unit 47, filter processing unit 48, three-phase-dq conversion unit 49, rotation speed calculation unit 50, induced voltage constant calculation unit 51, induced voltage constant command output unit 52, and induced voltage constant difference calculation unit 53, an induced voltage constant control unit 54, a manual time difference calculation unit 55, and a phase control unit 56.

  The control device 12 includes current sensors 61 that detect a two-phase U-phase current Iu and a W-phase current Iw among the three-phase currents Iu, Iv, and Iw output from the PDU 16 to the motor 11. , 61, detection signals Ius, Iws output from the voltage sensor 62 that detects the terminal voltage (power supply voltage) VB of the battery 17, and the rotation angle θm of the rotor of the motor 11 (that is, a predetermined value). Detection signal output from the rotation sensor 14 that detects the rotation angle of the magnetic poles of the rotor from the reference rotation position), and the inner and outer rotors 21 and 22 that are variably controlled by the phase controller 25. A detection signal output from the phase sensor 63 that detects the relative phase θ is input.

  The target current setting unit 41 is required according to the output of an accelerator opening sensor that detects, for example, a torque command Tq input from an external control device (not shown) (for example, a depression operation amount of the accelerator pedal AP by the driver). Command value for causing the motor 11 to generate torque to be generated), the rotational speed NM of the motor 11 input from the rotational speed calculation unit 50, and the induced voltage constant Ke input from the induced voltage constant calculation unit 51 described later. Is calculated based on the current command for designating each phase current Iu, Iv, Iw supplied from the PDU 16 to the motor 11, and this current command is calculated based on the d-axis target current Idc on the rotating orthogonal coordinates and The q-axis target current Iqc is output to the current deviation calculation unit 42.

  The dq coordinates forming the rotation orthogonal coordinates are, for example, a field magnetic flux direction by a permanent magnet of the rotor as a d axis (field axis) and a direction orthogonal to the d axis as a q axis (torque axis). The rotor 23 rotates in synchronization with the rotational phase of the rotor 23. As a result, the d-axis target current Idc and the q-axis target current Iqc, which are DC signals, are given as current commands for the AC signal supplied from the PDU 16 to each phase of the motor 11.

The current deviation calculation unit 42 includes a d-axis current deviation calculation unit 42a that calculates a deviation ΔId between the d-axis target current Idc input with the d-axis correction current input from the field control unit 43 and the d-axis current Id, A q-axis target current Iqc to which the q-axis correction current input from the control unit 44 is added and a q-axis current deviation calculation unit 42b that calculates a deviation ΔIq from the q-axis current Iq are configured.
The field control unit 43 performs field weakening control for controlling the current phase so as to weaken the field amount of the rotor 23 equivalently in order to suppress an increase in the counter electromotive voltage accompanying an increase in the rotational speed NM of the motor 11, for example. The target value for the field weakening current is output to the d-axis current deviation calculation unit 42a as the d-axis correction current.
Further, the power control unit 44 outputs a q-axis correction current for correcting the q-axis target current Iqc to the q-axis current deviation calculation unit 42b according to appropriate power control according to the remaining capacity of the battery 17, for example. .

  The current control unit 45 controls and amplifies the deviation ΔId to calculate the d-axis voltage command value Vd by, for example, a PI (proportional integration) operation according to the rotational speed NM of the motor 11, and controls and amplifies the deviation ΔIq to q-axis. A voltage command value Vq is calculated.

  The dq-3 phase conversion unit 46 uses the rotation angle θm of the rotor 23 input from the rotation number calculation unit 50 to convert the d-axis voltage command value Vd and the q-axis voltage command value Vq on the dq coordinate into the stationary coordinates. Are converted into U-phase output voltage Vu, V-phase output voltage Vv, and W-phase output voltage Vw, which are voltage command values on the three-phase AC coordinates.

  The PWM signal generation unit 47 turns on each switching element of the PWM inverter of the PDU 16 by pulse width modulation based on, for example, sinusoidal phase output voltages Vu, Vv, Vw, a triangular wave carrier signal, and a switching frequency. A gate signal (that is, a PWM signal) that is a switching command including each pulse to be driven off / off is generated.

  The filter processing unit 48 performs filter processing such as removal of high-frequency components on the detection signals Ius and Iws for the respective phase currents detected by the respective current sensors 61 and 61 to obtain the respective phase currents Iu and Iw as physical quantities. Extract.

  The three-phase-dq converter 49 rotates in accordance with the rotational phase of the motor 11 based on the phase currents Iu and Iw extracted by the filter processor 48 and the rotational angle θm of the rotor 23 input from the rotational speed calculator 50. The d-axis current Id and the q-axis current Iq on the coordinates, that is, the dq coordinates are calculated.

The rotation speed calculation unit 50 extracts the rotation angle θm of the rotor 23 of the motor 11 from the detection signal output from the rotation sensor 14, and calculates the rotation speed NM of the motor 11 based on the rotation angle θm.
The induced voltage constant calculator 51 calculates an induced voltage constant Ke corresponding to the relative phase θ between the inner rotor 21 and the outer rotor 22 based on the phase θ detection signal output from the phase sensor 63. calculate.

The induced voltage constant command output unit 52 outputs a command value (induced voltage constant command) Kec for the induced voltage constant Ke of the motor 11 based on, for example, the torque command Tq and the rotation speed NM of the motor 11.
The induced voltage constant difference calculating unit 53 subtracts the induced voltage constant Ke output from the induced voltage constant calculating unit 51 from the induced voltage constant command Kec output from the induced voltage constant command output unit 52. The difference ΔKe is output.

  The induced voltage constant control unit 54, for example, an instruction signal output from the mode switch 18 for instructing on / off of the manual mode for switching the induced voltage constant of the motor 11 in accordance with the operation input of the operator, and the operation of the operator Based on the instruction signal output from the increase / decrease switch 19 that instructs to increase or decrease the induced voltage constant according to the input, the induced voltage constant set value Kem and the control gain Gm according to the operation input of the operator are output. The control gain Gm is a control operation in which the phase control device 25 sets the relative phase between the inner rotor 21 and the outer rotor 22 to a value according to a phase command θc described later. For example, it is a control parameter related to the response speed of an actuator (not shown) provided in the phase control device 25, and the response speed increases as the control gain increases.

The induced voltage constant control unit 54 controls the induced voltage constant set value Kem and the control gain Gm to change stepwise in accordance with, for example, an operation input by the operator, and a predetermined induced voltage constant setting stage (Ke setting). A map of the induced voltage constant set value Kem and the control gain Gm that change stepwise according to the stage is provided in advance. Then, as will be described later, the induced voltage constant control unit 54, when an instruction signal for instructing to turn on the manual mode is input from the mode switch 18 in response to an operation input by the operator, the vehicle at this time point The Ke setting stage corresponding to the speed (vehicle speed) of 10 or the Ke setting stage corresponding to the induced voltage constant Ke output from the induced voltage constant calculating unit 51 at this time is calculated. The induced voltage constant control unit 54 increases or decreases the Ke setting stage when an instruction signal instructing increase or decrease of the induced voltage constant is input from the increase / decrease switch 19 in response to an operation input by the operator. The induced voltage constant set value Kem and the control gain Gm corresponding to the Ke setting stage after the change are acquired by map search. The speed (vehicle speed) of the vehicle 10 is calculated based on a detection signal from the wheel speed sensor 13, for example.
The manual time difference calculation unit 55 is a manual time obtained by subtracting the induced voltage constant set value Kem output from the induced voltage constant control unit 54 from the induced voltage constant command Kec output from the induced voltage constant command output unit 52. An induced voltage constant difference ΔKem is output.

The phase control unit 56, for example, in response to the induced voltage constant difference ΔKe output from the induced voltage constant difference calculation unit 53 or the manual time induced voltage constant difference ΔKem output from the manual time difference calculation unit 55, these induced voltage constants. A control command (for example, phase command θc, etc.) for controlling the phase θ so that the difference ΔKe or the manual time induced voltage constant difference ΔKem is set to zero is output.
When the induced voltage constant set value Kem is output from the induced voltage constant control unit 54, that is, the phase control unit 56 outputs an instruction signal for instructing to turn on the manual mode from the mode switch 18 according to the operation input of the operator. When the instruction signal instructing the increase or decrease of the induced voltage constant is output from the increase / decrease switch 19 according to the operation input of the operator, the manual time output from the manual time difference calculation unit 55 is performed. A control command for setting the induced voltage constant difference ΔKem to zero is output. On the other hand, when the induced voltage constant set value Kem is not output from the induced voltage constant control unit 54, the control voltage is output from the induced voltage constant difference calculation unit 53. A control command for making the induced voltage constant difference ΔKe to be zero is output.

  The motor control device 1 according to the present embodiment has the above-described configuration. Next, the operation of the motor control device 1, particularly the response switching control process, will be described with reference to the accompanying drawings.

First, for example, in step S01 shown in FIG. 4, it is determined whether or not an instruction signal for instructing to turn on the manual mode is input from the mode switch 18 in response to an operation input by the operator.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S 02.
And in step S02, the present value of the vehicle speed of the vehicle 10 calculated based on the detection signal of the wheel speed sensor 13, for example is acquired.

In step S03, for example, a Ke setting stage corresponding to the current value of the vehicle speed is acquired with reference to a map or the like indicating a predetermined relationship between a preset vehicle speed and a Ke setting stage.
In step S04, it is determined whether or not an instruction signal for instructing an increase in the Ke setting stage is input from the increase / decrease switch 19 in accordance with an operation input by the operator.
If this determination is “NO”, the flow proceeds to step S 06 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S 05.
In step S05, the Ke setting stage is increased in accordance with the instruction signal input from the increase / decrease switch 19, and, for example, a preset Ke setting stage and induction are induced in accordance with the new Ke setting stage obtained by the increase. The induced voltage constant set value Kem and the control gain Gm are referred to with reference to a map showing a predetermined relationship with the voltage constant set value Kem and a map showing a predetermined relationship between the preset Ke setting stage and the control gain Gm. To get.

In step S06, it is determined whether or not an instruction signal for instructing a decrease in the Ke setting stage is input from the increase / decrease switch 19 in accordance with an operation input by the operator.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S07.
In step S07, the Ke setting stage is decreased in accordance with the instruction signal input from the increase / decrease switch 19, and, for example, a preset Ke setting stage and induction are induced in accordance with the new Ke setting stage obtained by the decrease. The induced voltage constant set value Kem and the control gain Gm are referred to with reference to a map showing a predetermined relationship with the voltage constant set value Kem and a map showing a predetermined relationship between the preset Ke setting stage and the control gain Gm. Is acquired, and a series of processing is completed.

  In a map or the like indicating a predetermined relationship between the preset Ke setting level and the control gain Gm, for example, as shown in FIG. 5, when the Ke setting level is increased and when the Ke setting level is decreased. Accordingly, the control gain is set to show different changes. For example, when the Ke setting stage is increased, the control gain change amount is set larger than when the Ke setting stage is decreased. Has been.

As described above, according to the motor control device 1 of the present embodiment, the induced voltage constant Ke of the motor 11 can be set to a value corresponding to the operation input of the operator, and the driving behavior of the vehicle 10 can be controlled. Can reflect the will of the person appropriately.
Moreover, since the control gain is changed according to the induced voltage constant Ke when the induced voltage constant Ke is changed according to the operation input of the operator, the running behavior of the vehicle according to the induced voltage constant Ke of the motor 11 is changed. It can be controlled in detail.

  In the above-described embodiment, when an instruction signal for instructing to turn on the manual mode is input from the mode switch 18 in response to an operation input by the operator, the speed (vehicle speed) of the vehicle 10 at this time is set. The corresponding Ke setting stage or the Ke setting stage corresponding to the induced voltage constant Ke output from the induced voltage constant calculating unit 51 at this time is calculated. However, the present invention is not limited to this. For example, the manual mode is turned on / off. Regardless of the case, when the induced voltage constant Ke of the motor 11 is changed stepwise according to the Ke setting stage, the Ke setting at the time when the instruction signal instructing to turn on the manual mode is simply input. What is necessary is just to acquire a stage.

  In the vehicle 10 according to the above-described embodiment, the motor 11 may be provided as, for example, a travel drive motor for a hybrid vehicle, or for example, a starter motor for starting an internal combustion engine of a vehicle using an internal combustion engine as a drive source. Or you may provide as an alternator.

1 is a schematic configuration diagram of a vehicle according to an embodiment of the present invention. It is a sectional side view of the motor concerning one embodiment of the present invention. It is a block diagram of the control apparatus of the motor which concerns on one Embodiment of this invention. It is a flowchart which shows operation | movement of the control apparatus of the motor which concerns on one Embodiment of this invention. It is a graph which shows an example of the relationship between Ke setting stage of the motor control apparatus which concerns on one Embodiment of this invention, and a control gain.

Explanation of symbols

11 Motor 21 Inner peripheral side rotor (rotor)
21a Inner peripheral permanent magnet (magnet piece)
22 Outer rotor (rotor)
22a Perimeter permanent magnet (magnet piece)
25 Phase control device (phase change mechanism)
54 Induced voltage constant control unit (manual control means)

Claims (4)

A motor having a plurality of rotors each having a magnet piece, and driving or auxiliary driving the vehicle;
A motor control device comprising: a phase change mechanism that changes a relative phase of the plurality of rotors and sets a predetermined induced voltage constant;
Manual control means for controlling the phase change operation of the phase change mechanism according to the operation input of the operator ,
The manual control means selects the predetermined induced voltage constant from a plurality of induced voltage constants set stepwise in advance, and in response to the predetermined induced voltage constant, a phase change operation for the phase change mechanism is performed. A control apparatus for a motor, wherein the response speed is changed by a control gain . When the response speed is changed , the manual control unit increases the response speed by decreasing the induced voltage constant when the response speed is decreased by increasing the induced voltage constant. The motor control device according to claim 1, wherein the motor control device is set so that a change amount of the response speed is larger than a case . The motor control device according to claim 1 , wherein the manual control unit changes the control gain stepwise . The motor control device according to any one of claims 1 to 3, wherein the motor assists driving of the vehicle or driving of the vehicle by an internal combustion engine .

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