JP5330652B2 - Permanent magnet motor control device - Google Patents

Description

  The present invention relates to a control device for a permanent magnet motor, and more particularly to a permanent magnet motor control device using dq coordinate transformation, which is generally used for a control device in a permanent magnet motor.

  A brushless motor is easy to maintain because it does not have a mechanical commutation mechanism, and is highly efficient because it uses a permanent magnet. Therefore, brushless motors are widely used as motors for electric vehicles, industrial machines, or compressors for air conditioners.

  In a control device using dq coordinate transformation in a permanent magnet motor, first, the phase current flowing in the stator winding of the motor is detected, and the phase current in the stationary coordinate system is converted to the d-axis current value on the d-axis of the rotating coordinate system and The q-axis current value is converted to the q-axis current value on the q-axis, and the d-axis voltage value is created by proportional integral control so that the d-axis current value becomes the value of the d-axis current command value. A q-axis voltage command value is created by proportional-integral control so that the command value is obtained. Then, the d-axis voltage command value and the q-axis voltage command value are converted into a phase voltage command value of the stationary coordinate system, and a voltage indicated by the phase voltage command value is applied to the stator winding, so that the d-axis current Control is performed by causing a sinusoidal phase current represented by the command value and the q-axis current command value to flow through the stator winding to generate a predetermined output torque.

  In such motor control, ideally, the waveform of the voltage induced in the stator winding changes in a sine wave shape with respect to the rotation angle of the rotor, and the change in inductance corresponds to the rotation of the rotor. It is preferable to change sinusoidally with respect to the angle. However, in an actual brushless motor or synchronous reluctance motor, changes in the induced voltage and inductance of the stator winding are distorted from a sinusoidal waveform, resulting in a ripple in the motor torque. When such torque ripple occurs in the drive motor of the vehicle, it causes a vibration in the vehicle. This causes discomfort to the occupant and it is important to reduce the torque ripple of the motor.

  Therefore, in the permanent magnet motor control device, the phase current flowing through the stator is fed back, the voltage command value is controlled so as to be in accordance with the current command value, and even if the induced voltage or inductance of the stator winding is distorted, these distortions are reduced. It is necessary to change the voltage command value so as to compensate so that a sinusoidal phase current flows.

  As a permanent magnet motor control apparatus for reducing such torque ripple, for example, in FIG. 4 of Patent Document 1, the harmonic component of the armature interlinkage magnetic flux by the fundamental current in the dq coordinate system and the permanent magnet in the torque ripple calculation means 25 is shown. The torque ripple caused by the torque ripple calculated by the torque ripple reduction harmonic current command value generator 26 and the harmonic current command value causing the torque in the opposite phase are calculated, and the harmonic current control circuit 200 A motor control device is shown in which the harmonic current is controlled based on this command value to reduce the torque ripple of the motor.

JP 2004-64909 A

  However, in the motor control device disclosed in Patent Document 1, the torque ripple calculation means 25 calculates torque ripple caused by the harmonic component of the armature interlinkage magnetic flux by the fundamental wave current and the permanent magnet in the dq coordinate system. The reduced harmonic current command value generator 26 needs to calculate in real time the harmonic current command value that generates torque in reverse phase to the torque ripple. In the case of high-speed rotation, very many calculations are performed in real time. Since it is necessary, an inexpensive CPU with limited processing capability is impossible in terms of capability, and inevitably an increase in the cost of the motor controller is unavoidable.

  Therefore, in the present invention, a permanent magnet motor control that can reduce the distortion of the phase current flowing in the stator winding with a simple configuration at a low cost in a motor with a distorted change in induced voltage or inductance. The problem is to provide an apparatus.

In order to solve the above problems, the permanent magnet motor control device according to the present invention is:
Current detection means for detecting a phase current flowing in the permanent magnet motor and outputting a current value;
A three-phase-dq conversion unit that converts the current value detected by the current detection means into a current value in an orthogonal coordinate system (hereinafter referred to as a dq coordinate system) composed of a d-axis and a q-axis that rotates in synchronization with the rotation of the motor. When,
A dq-axis voltage command generation unit that generates a target voltage value in the dq coordinate system from the dq-axis current value output from the three-phase-dq conversion unit and the target current value in the dq coordinate system;
A dq-3 phase converter that converts the dq axis voltage command generated by the dq axis voltage command generator into a three-phase voltage command value;
In a permanent magnet motor control device comprising a power converter that converts a three-phase phase voltage command value generated by the dq-3 phase converter into a three-phase motor drive current,
In advance, a torque ripple component other than the basic sine wave is obtained from the induced voltage waveform obtained by the magnetic field analysis of the motor, and an induced voltage ripple table using the cancel voltage on the dq axis for canceling the torque ripple component as a table is prepared.
A first gain multiplied by the canceling voltage is a first gain table of a relationship between the rotation speed of the motor and the first gain, and is prepared in advance as a first gain table corresponding to field weakening control;
Correcting the cancellation voltage read from the induced voltage ripple table according to the rotation angle of the motor by multiplying the first gain read from the first gain table according to the rotation speed of the motor,
The dq-axis voltage command generated by the dq-axis voltage command generation unit is added with the corrected canceling voltage and applied to the dq-three-phase conversion unit to drive the motor with reduced torque ripple. To do.

  In this way, motor torque ripple components designed to meet various requirements, such as driving with high torque, driving with reduced noise, and driving with emphasis on efficiency, are obtained by magnetic field analysis of the motor. Then, an induced voltage ripple table obtained as a voltage on the dq axis that cancels the torque ripple component is prepared, and the torque ripple component read from the induced voltage ripple table is offset to the dq axis voltage command generated by the dq axis voltage command generation unit. By canceling the torque ripple component with a very simple configuration of adding the voltages on the dq axis, it is not necessary to perform a large number of calculations in real time as in the conventional device, so the processing capacity is limited. It is possible to provide a permanent magnet motor control device that can sufficiently cope with an inexpensive CPU with no cost and does not cause torque ripple and is low in cost. . Further, by compensating on the dq coordinate axis with respect to compensation on the three-phase axis, it is possible to reduce the steady-state deviation and the like, and when this induced voltage is linear, an induced voltage ripple table is stored. A storage device such as a ROM is sufficient with a small capacity, and further cost reduction is possible.

  Then, a gain that makes the induced voltage ripple table output a torque ripple component proportional to the induced voltage that changes in accordance with the rotational speed of the motor is prepared in advance as a table of the relationship between the rotational speed and the gain of the motor, The table corrects the induced voltage ripple table output according to the number of rotations of the motor and drives the motor, so that it is possible to cope with changes in the induced voltage according to the number of rotations of the motor. Since torque ripple compensation is possible even if the induced voltage changes due to non-linear characteristics, it is possible to provide a permanent magnet motor control device that can reduce torque ripple components with higher accuracy.

  Further, a table for the relationship between the motor temperature and the gain is provided, wherein the motor temperature measuring means is provided, and the gain that uses the induced voltage ripple table output as a torque ripple component proportional to the induced voltage that changes according to the motor temperature. As a result, the induced voltage ripple table output is corrected according to the motor temperature measured by the temperature measuring means using the table, and the motor is driven, so that the induced voltage changes according to the motor temperature. And a permanent magnet motor control device that can reduce torque ripple components with high accuracy.

  As described above, according to the present invention, it is possible to compensate for motor torque ripple with a simple configuration using an inexpensive CPU with limited calculation capability, and compensation on the dq coordinate axis compared to compensation on the three-phase axis. By doing so, it is possible to provide a permanent magnet motor control device capable of reducing steady-state deviation and the like.

  Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention unless otherwise specified, but are merely illustrative examples. Not too much.

  FIG. 1 is a block diagram of a first embodiment of a permanent magnet motor control device according to the present invention. The motor M10 driven by the permanent magnet motor control device shown in FIG. 1 is a three-phase motor such as an IPM motor or SPM motor having an internally embedded magnet type rotor, a surface magnet type rotor, and a concentrated winding stator. This is a permanent magnet synchronous motor driven by alternating current.

  The basic part of the permanent magnet motor control device according to the present invention for driving the motor M10 is composed of a power conversion element such as an IGBT, and applies three-phase AC voltages u, v, and w for driving the motor M10 to the motor M10. The phase converters 13 and 3 are connected to the power converter 11 and the motor M10 and calculate the phase θe of the fundamental wave current based on the encoder PS12 that detects the rotational position θm of the motor M10 and the rotational position signal θm from the encoder PS12. Dq-3 which converts the d-axis and q-axis target voltage command values vd * and vq * into three-phase AC voltage command values vu *, vv * and vw * based on the phase θe of the fundamental current of the phase AC motor M10. The actual currents iu, iv, iw (= −iu−iv) of the three-phase AC motor M10 detected by the current detection sensors 25, 26 based on the phase conversion unit 14 and the fundamental current phase θe. ) To the d-axis and q-axis actual currents id and iq, the dq-axis current values id and iq output from the 3-phase-dq conversion unit 15 and the 3-phase-dq conversion unit 15, and the target of the dq coordinate system The dq axis voltage command generation unit 16 generates target voltage command values vd * and vq * in the dq coordinate system from the current values id * and iq *.

  The permanent magnet motor control device first detects the phase current flowing in the stator winding of the motor M10 by the current detection sensors 25 and 26, and the phase currents iu and iv in the stationary coordinate system are detected on the d-axis of the rotating coordinate system. To the d-axis current value id and the q-axis current value iq on the q-axis. Then, the d-q axis voltage command generation unit 16 generates the d-axis voltage command value vd * by performing proportional integration control so that the d-axis current value id becomes the value of the d-axis current command value id *. The q-axis voltage command value vq * is generated by proportional-integral control so that the value iq becomes the value of the q-axis current command value iq *. The d-axis voltage command value vd * and the q-axis voltage command value vq * are converted into phase voltage command values vu *, vv *, vw * in the stationary coordinate system by the dq-3 phase converter 14, and further the power A sine wave phase current represented by a d-axis current command value id * and a q-axis current command value iq * is converted into voltages u, v, and w by the converter 11 and applied to the stator winding of the motor M10. Control is performed so that a predetermined output torque is generated through the stator winding.

  In the permanent magnet motor control apparatus configured as described above, when there is no ripple in the sinusoidal phase current represented by the d-axis current command value id * and the q-axis current command value iq *, it is shown in FIG. Thus, an ideal sine wave is obtained, and when this is converted into dq axes by the coordinate conversion formula of the motor control theory, it becomes a straight line as shown in FIG. 6A, the solid line designated as us represents the u phase, the wavy line designated as vs represents the v phase, and the alternate long and short dash line designated as ws represents the w phase. In FIG. 6B, the solid line designated vds represents the d phase. The wavy line with the ripple on the axis as vqs represents the ripple on the q axis.

  However, in an actual permanent magnet motor control device, a permanent magnet motor is designed to meet various requirements such as driving with high torque, driving with reduced noise, driving with emphasis on efficiency, etc. Therefore, for example, as shown in FIG. 5A, a ripple occurs in the sinusoidal phase current represented by the d-axis current command value id * and the q-axis current command value iq *. The waveform is different from the ideal sine wave shown. Similar to FIG. 6B, when the waveform shown in FIG. 5A is dq-axis converted, the ripple as shown in FIG. 5B is different from the case of FIG. 6B. Ingredients are extracted. 5A, the solid line designated u0 represents the u phase, the wavy line designated v0 represents the v phase, and the alternate long and short dash line designated w0 represents the w phase. In FIG. 5B, the solid line designated vd0 represents the d phase. The wavy line with the ripple on the axis as vq0 represents the ripple on the q axis.

  Therefore, in the present invention, magnetic field analysis is performed at the motor design stage described above, the induced voltage between the three-phase terminals at the reference rotational speed as shown in FIG. Using the coordinate conversion formula, an induced voltage waveform at the dq axis coordinates, which are rotational coordinates as shown in FIG. Then, a reverse table of the induced voltage waveform at the obtained dq axis coordinates is used as a correction table, and a product obtained by multiplying the ratio of the current motor speed to the reference speed is used as a correction amount to obtain a dq axis voltage command vd. *, Added to vq *.

  Returning again to FIG. 1, the correction table obtained in this way is the induced voltage ripple table I17 in FIG. This induced voltage ripple table I17 has a dq axis as shown in FIG. 5 (B) using the coordinate conversion equation for the induced voltage between the three-phase terminals at the reference rotational speed as shown in FIG. 5 (A). It is the table defined so that the induced voltage waveform in a coordinate may be canceled.

  In FIG. 1, 18 and 19 are adders, 20 and 21 are multipliers, 22 is a motor rotation angle calculation unit for calculating the motor rotation angle θe from the motor rotation angular velocity ωe, and 23 is an induced voltage ripple table I17. And an induced voltage correction unit including adders 18 and 19 and multipliers 20 and 21.

  The permanent magnet motor control device according to the present invention configured as described above detects the phase current flowing in the stator winding of the motor M10 with the current detection sensors 25 and 26 as described above, and the phase currents iu and iv in the stationary coordinate system. Is converted into a d-axis current value id on the d-axis and a q-axis current value iq on the q-axis in the rotating coordinate system. Then, the d-q axis voltage command generation unit 16 generates the d-axis voltage command value vd * by performing proportional integration control so that the d-axis current value id becomes the value of the d-axis current command value id *. The q-axis voltage command value vq * is generated by proportional-integral control so that the value iq becomes the value of the q-axis current command value iq *.

  A control device including a CPU (not shown) corresponds to the motor rotation angle θe calculated by the motor rotation angle calculator 22 from the induced voltage ripple table I17, and the dq axis coordinates shown in FIG. The voltage waveform that cancels the induced voltage waveform at the point is read out and added by the adders 18 and 19 to the d-axis voltage command value vd * and the q-axis voltage command value vq * created by the dq-axis voltage command generation unit 16. Then, the d-axis voltage command value vd * ′ and the q-axis voltage command value vq * ′ with the ripple component corrected are generated and sent to the dq-3 phase converter 14.

  For this reason, the dq-3 phase conversion unit 14 uses the d-axis voltage command value vd * ′ and the q-axis voltage command value vq * ′ from which the transmitted ripple component has been canceled as the phase voltage command value vu * in the stationary coordinate system. , Vv *, vw *, which are converted to voltages u, v, w by the power converter 11 and applied to the stator winding of the motor M10, and d-axis current command value id * and q-axis current command value A current represented by iq * in which a ripple component in the sinusoidal phase current including ripple is canceled is passed through the stator winding of the motor M10, and the motor M10 is driven with a predetermined output torque without ripple. .

  By doing so, the torque ripple component of the motor designed for various requirements is canceled by the data that cancels the torque ripple component stored in the induced voltage ripple table I17, and in real time as in the conventional device. Since it is not necessary to perform a large number of calculations, an inexpensive CPU having a limited processing capability can be used sufficiently, and a motor control device that is inexpensive in terms of cost without causing torque ripple can be provided. Further, by compensating on the dq coordinate axis with respect to compensation on the three-phase axis, it is possible to reduce the steady-state deviation and the like, and when this induced voltage is linear, an induced voltage ripple table is stored. A storage device such as a ROM is sufficient with a small capacity, and further cost reduction is possible.

  FIG. 2 is a block diagram of a second embodiment of the motor control device according to the present invention. In general, the induced voltage of the motor is, for example, twice as large as the induced voltage when the motor rotates 1000 times. For this reason, the ripple component of the induced voltage waveform at the dq axis coordinates shown in FIG. 5B varies depending on the rotational speed of the motor. The second embodiment of the motor control device according to the present invention corresponds to the ripple component that changes in accordance with the rotational speed of the motor.

  As a motor control method, there is a control method (field weakening control) that suppresses the apparent induced voltage by controlling the motor current during high-speed rotation. Therefore, in the second embodiment, the motor induction is performed up to a predetermined number of revolutions. When the magnitude of the voltage is proportional to the rotational speed of the motor and exceeds the predetermined rotational speed, control is performed in correspondence with the case where the induced voltage is suppressed.

  FIG. 3 is a diagram for explaining the correction of the induced voltage on the dq axis coordinates in correspondence with the ripple component that changes depending on the motor rotational speed. In the figure, reference numeral 40 denotes a motor rotation angle, and 41 denotes motor rotation number data. These data are obtained from the encoder PS indicated by 12 in FIGS. 42 is a multiplication unit, 43 is a graph showing the relationship between the motor rotation speed and the gain, and 44 is an induced voltage ripple table I which is the same as the induced voltage ripple table I shown by 17 in FIG.

  As described above, the graph 43 of the relationship between the motor rotational speed and the gain is such that the magnitude of the induced voltage of the motor is proportional to the rotational speed of the motor up to the predetermined rotational speed, and the induced voltage is suppressed when exceeding the predetermined rotational speed. It is a graph as a table for changing the ripple component shown in the induced voltage ripple table I44 corresponding to the motor rotation speed 41 in correspondence with the case of the field weakening control as described above.

  That is, in the control device of the second embodiment, the motor rotation angle θe (40 in FIG. 3) calculated from the induced voltage ripple table I44 by the motor rotation angle calculation unit 22 in FIG. B) A voltage waveform that cancels the induced voltage waveform at the dq axis coordinates shown in FIG. 5B is read out and sent to the adders 18 and 19 from the graph 43 of the relationship between the motor rotational speed and the gain by the motor rotational speed 41. A corresponding gain is read out, multiplied by this gain by the multiplication unit 42, and output as an induced voltage correction amount, so that an induced voltage corrected in accordance with the motor rotation speed 41 can be obtained.

  The induced voltage ripple table II30 in FIG. 2 accommodates the block shown in FIG. In FIG. 2, the same components as those shown in FIG. 1 are given the same numbers. The difference from FIG. 1 is that the induced voltage ripple table I17 is replaced with the induced voltage ripple table II30. The multipliers 20 and 21 in FIG. 1 are eliminated, and the motor rotation angle ωe, the d-axis current command value id *, and the q-axis voltage command value vq * are directly input to the induced voltage ripple table II30.

  The permanent magnet motor control apparatus according to the second embodiment shown in FIG. 2 will be briefly described. As described above, the phase currents iu and iv flowing through the stator winding of the motor M10 are represented by the d-axis current value id and the q-axis q. The d-axis voltage command value vd * and the q-axis voltage command value vq * are generated by the dq-axis voltage command generation unit 16 after being converted into the shaft current value iq.

  On the other hand, the motor rotation angle ωe, the motor rotation angle θe, the d-axis current command value id *, and the q-axis voltage command value vq * given to the induced voltage ripple table I30, as described in FIG. The gain corresponding to the rotational speed is read out, multiplied by the ripple component of the induced voltage read from the induced voltage ripple table I44, and becomes an induced voltage correction amount, and this d-axis voltage command value vd *, q-axis voltage It is added to the command value vq *.

  Therefore, the d-axis voltage command value vd * ′ and the q-axis voltage command value vq * ′, which are the addition results, become the d-axis voltage command value and the q-axis voltage command value in which the ripple component is canceled according to the motor rotation speed. Therefore, the dq-3 phase conversion unit 14 uses the d-axis voltage command value vd * ′ and the q-axis voltage command value vq * ′ from which the transmitted ripple component is canceled as the phase voltage command value vu * of the stationary coordinate system. , Vv *, vw *. And the value is converted into voltage u, v, w by the power converter 11, applied to the stator winding of the motor M10, and expressed by the d-axis current command value id * and the q-axis current command value iq *. A current in which a ripple component in a sinusoidal phase current including a ripple corresponding to the motor speed is canceled is passed through the stator winding of the motor M10, and the motor M10 is driven with a predetermined output torque without ripple.

  In this way, even if the induced voltage changes according to the number of revolutions of the motor, it is possible to cope with it, and even if the induced voltage changes due to non-linear characteristics, torque ripple compensation is possible, so higher accuracy can be achieved. Thus, the motor control device can reduce the torque ripple component.

  FIG. 4 is a diagram for explaining changing the induced voltage correction amount according to the motor temperature. In general, when the temperature of a magnet increases, the magnetic force decreases, so that the induced voltage decreases as the motor temperature increases. Accordingly, the ripple component of the induced voltage waveform at the dq axis coordinates shown in FIG. 5B varies depending on the motor temperature. The third embodiment of the motor control device according to the present invention corresponds to the ripple component that changes depending on the motor temperature.

  FIG. 4 is a graph as a table showing the relationship between the motor temperature and the correction gain in order to correct the ripple component of the induced voltage in the dq axis coordinates in correspondence with the ripple component that changes depending on the motor temperature. It is. That is, the graph shown in FIG. 4 shows that the outputs of the induced voltage ripple table I17 and the induced voltage ripple table II30 shown in Example 1 of FIG. 1 and Example 2 of FIG. 2 change depending on the motor temperature. In order to cope with this, the gain for changing the induced voltage ripple corresponding to the motor temperature is graphed.

  Therefore, in the first embodiment shown in FIG. 1 and the second embodiment shown in FIG. 2, the induced voltage ripple table I17 and the induced voltage ripple table II30 include the table of the relationship between the motor temperature and the gain shown in FIG. However, by the signal from the temperature sensor 24 for measuring the temperature of the motor M10, the corresponding gain is multiplied by the induced voltage ripple read from the induced voltage ripple table I17 and the induced voltage ripple table II30, thereby changing according to the temperature of the motor M10. The torque ripple component can be canceled out with high accuracy.

  As described above, according to the present invention, motor torque ripple can be compensated with a simple configuration by an inexpensive CPU with limited calculation capability, and compensation on the three-phase axis is compensated on the dq coordinate axis. Thus, it is possible to provide a motor control device that can reduce steady-state deviation and the like.

  ADVANTAGE OF THE INVENTION According to this invention, the permanent magnet motor control apparatus which does not produce the torque ripple of a motor with a simple and cheap structure can be provided, it is efficient, and it does not give a passenger discomfort by using it for industrial machines, such as a vehicle.

It is a block diagram of Example 1 of a motor control device according to the present invention. It is a block diagram of Example 2 of the motor control device according to the present invention. It is a figure for demonstrating calculating an induced voltage correction amount using the relationship between a motor rotation speed and a gain in Example 2 of the motor control apparatus which becomes this invention. It is a figure for demonstrating changing the induced voltage correction amount with motor temperature. The induced voltage waveform (A) for explaining the calculation procedure of the induced voltage correction table in the first embodiment of the motor control device according to the present invention, and the induced voltage waveform (B) in the rotation coordinates (dq axis coordinates). It is the shown graph. In the case of an ideal sine wave (A) having no ripple in the sine wave-shaped phase current represented by the d-axis current command value id * and the q-axis current command value iq *, the sine wave is converted into a dq axis. It is the graph which showed the waveform (B) which performed.

Explanation of symbols

10 Motor M
11 Power Converter 12 Encoder PS
13 phase velocity calculation unit 14 dq-3 phase conversion unit 15 3 phase-dq conversion unit 16 dq axis voltage command generation unit 17 induced voltage ripple table I
18, 19 Adder 20, 21 Multiplier 22 Motor rotation angle calculation unit 23 Induced voltage correction unit 24 Temperature sensor 25, 26 Current detection sensor

Claims (2)

Current detection means for detecting a phase current flowing in the permanent magnet motor and outputting a current value;
A three-phase-dq conversion unit that converts the current value detected by the current detection means into a current value in an orthogonal coordinate system (hereinafter referred to as a dq coordinate system) composed of a d-axis and a q-axis that rotates in synchronization with the rotation of the motor. When,
A dq-axis voltage command generation unit that generates a target voltage value in the dq coordinate system from the dq-axis current value output from the three-phase-dq conversion unit and the target current value in the dq coordinate system;
A dq-3 phase converter that converts the dq axis voltage command generated by the dq axis voltage command generator into a three-phase voltage command value;
In a permanent magnet motor control device comprising a power converter that converts a three-phase phase voltage command value generated by the dq-3 phase converter into a three-phase motor drive current,
In advance, a torque ripple component other than the basic sine wave is obtained from the induced voltage waveform obtained by the magnetic field analysis of the motor, and an induced voltage ripple table using the cancel voltage on the dq axis for canceling the torque ripple component as a table is prepared.
A first gain multiplied by the canceling voltage is a first gain table of a relationship between the rotation speed of the motor and the first gain, and is prepared in advance as a first gain table corresponding to field weakening control;
Correcting the cancellation voltage read from the induced voltage ripple table according to the rotation angle of the motor by multiplying the first gain read from the first gain table according to the rotation speed of the motor,
The dq-axis voltage command generated by the dq-axis voltage command generation unit is added with the corrected canceling voltage and applied to the dq-three-phase conversion unit to drive the motor with reduced torque ripple. Permanent magnet motor control device. Providing a temperature measuring means of the motor;
A second gain multiplied by the cancellation voltage is prepared in advance as a second gain table of the relationship between the temperature of the motor and the second gain;
Driving the motor by correcting the cancellation voltage read from the induced voltage ripple table according to the rotation angle of the motor by multiplying the second gain read from the second gain table according to the temperature of the motor The permanent magnet motor control device according to claim 1.

Images