KR101748663B1 - Apparatus for controlling linear compressor and method of the same - Google Patents

Abstract

A control device and a control method of a linear compressor are disclosed. The present invention reduces the beat phenomenon caused by the difference between the frequency of the commercial power supply and the driving frequency of the compressor. Further, the present invention compensates the voltage command value of the current cycle by using the motor drive voltage of the previous period, thereby reducing the beat phenomenon caused by the phase delay due to the difference between the DC link voltage measurement time point and the voltage command value output point, Thereby suppressing the voltage fluctuation phenomenon.

Description

Technical Field [0001] The present invention relates to a control device for a linear compressor,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear compressor, and more particularly, to a control device and a control method of a linear compressor for reducing a beating phenomenon between a frequency of a commercial power source and a driving frequency of the compressor.

Generally, a compressor is a device for converting mechanical energy into compressive energy of a compressible fluid and is used as a part of a refrigeration system, such as a refrigerator or an air conditioner.

The compressor mainly includes a reciprocating compressor for compressing the refrigerant while linearly reciprocating the piston in the cylinder so as to form a compression space in which a working gas is sucked or discharged between the piston and the cylinder, A rotary compressor for compressing the refrigerant while eccentrically rotating the roller along the inner wall of the cylinder so as to form a compressed space between the cylinder and the eccentrically rotating roller so as to suck or discharge the working gas, (Scroll Compressor) that compresses the refrigerant while rotating the newboth scroll along the fixed scroll so that a compressed space in which the working gas is sucked or discharged is formed between the fixed scroll and the fixed scroll.

The reciprocating compressor sucks, compresses, and discharges the refrigerant gas by linearly reciprocating the inner piston inside the cylinder. The reciprocating compressor is divided into a Recipro system and a Linear system depending on a method of driving the piston.

In the reciever method, a crankshaft is coupled to a rotating motor, and a piston is coupled to the crankshaft to convert a rotational motion of the motor into a linear reciprocating motion. On the other hand, in the linear system, a piston is connected to a mover of a motor that linearly moves, and the piston reciprocates by rectilinear motion of the motor.

Such a reciprocating compressor includes an electric unit that generates a driving force and a compression unit that receives a driving force from the electric unit and compresses the fluid. A motor is generally used as the electric unit, and a linear motor is used in the case of the linear type.

Since the linear motor directly generates a linear driving force, the mechanical conversion device is not necessary, and the structure is not complicated. In addition, the linear motor can reduce the loss due to energy conversion, and has no connecting parts where friction and abrasion occur, so that the noise can be greatly reduced. When the reciprocating compressor of the linear type, hereinafter referred to as a linear compressor, is used for a refrigerator or an air conditioner, the compression ratio is changed according to the change of the stroke voltage applied to the linear compressor. And can be used for variable control of freezing capacity.

On the other hand, since the reciprocating compressor, particularly the linear compressor, reciprocates in a state in which the piston is not mechanically restrained in the cylinder, when the piston suddenly overstresses the voltage, the piston hits the cylinder wall, The cursor piston may not advance and compression may not be achieved properly. Therefore, a control device for controlling the motion of the piston with respect to the load variation or the voltage variation is essential.

In the control apparatus of the linear compressor, the DC link voltage across the smoothing capacitor that stabilizes the rectified voltage fluctuates depending on the frequency and the magnitude of the current consumed on the load side. Therefore, in general, the control device of the linear compressor compensates for the fluctuation of the DC link voltage by measuring the DC link voltage and adjusting the duty of the pulse width modulation pulse of the inverter. At this time, There is a problem that accurate compensation can not be performed because a phase delay is involved between the output of the motor driving voltage and the output of the motor driving voltage. Further, when the power source frequency and the compressor driving frequency are similar to each other, the control device of the linear compressor according to the related art changes the motor driving voltage slowly due to the frequency (beat frequency) corresponding to the difference between the two frequencies, There is a problem that the stroke size and input are caused to be trembling. Accordingly, the control apparatus of the linear compressor according to the prior art has a problem that the control reliability is poor.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a control device and a control method of a linear compressor for reducing a beating phenomenon caused by a difference between a frequency of a commercial power supply and a driving frequency of a compressor.

The present invention compensates for the voltage command value of the current cycle by using the motor drive voltage of the previous period to reduce the beat phenomenon caused by the phase delay due to the difference between the DC link voltage measurement time point and the voltage command value output point, Another object of the present invention is to provide a control device and a control method of a linear compressor which suppresses a vibration phenomenon.

According to another aspect of the present invention, there is provided a control apparatus for a linear compressor, comprising: a converter for converting an AC voltage of a commercial power source into a DC voltage; a smoothing capacitor for smoothing the DC voltage to output a DC link voltage; And a control unit for generating a voltage command value based on the DC link voltage and generating the control signal in accordance with the voltage command value, In the control unit, the control unit calculates a compensation voltage using the motor driving voltage, and compensates the voltage instruction value based on the compensation voltage to reduce the trembling of the motor driving voltage.

The control apparatus for a linear compressor according to the present invention further includes a drive voltage detection unit for detecting the motor drive voltage at a predetermined time period, and the control unit controls the motor drive voltage, .

The control unit compares a value obtained by integrating the voltage command value for one period and a value obtained by integrating the motor driving voltage for one period and compensates the voltage command value of the next cycle based on the error of the accumulated values do.

In the control apparatus for a linear compressor according to the present invention, the control unit includes a first integration module for integrating the voltage command value for one period to output a first integration value, and a second integration module for integrating the motor drive voltage for one period, A second integration module for outputting the integration value, and a compensation voltage calculation module for calculating the compensation voltage using the first integration value and the second integration value. The control unit may further comprise a comparison module for comparing the first integrated value and the second integrated value and outputting the error.

According to another aspect of the present invention, there is provided a control apparatus for a linear compressor, comprising: a converter for converting an AC voltage of a commercial power source into a DC voltage; a smoothing capacitor for smoothing the DC voltage to output a DC link voltage; An inverter for converting the DC link voltage into a motor drive voltage of the compressor motor and outputting the DC link voltage; and a first voltage detecting unit for detecting the DC link voltage at predetermined time intervals, A second voltage detection unit for generating a voltage command value based on the DC link voltage, calculating a compensation voltage based on the motor drive voltage to compensate the voltage command value, and based on the compensated voltage command value, And a control unit for generating the control signal.

In the control apparatus for a linear compressor according to the present invention, the control unit calculates the compensation voltage using the motor drive voltage detected at a previous cycle.

A control apparatus for a linear compressor according to the present invention comprises a first integrating unit for integrating the voltage command value and outputting a first integrated value, a second integrating unit for integrating the motor driving voltage and outputting a second integrated value, 1 integrated value and the second integrated value, and outputting the error; and a compensation voltage calculation unit calculating the compensation voltage based on the error. Further, the control apparatus for a linear compressor according to the present invention further comprises a storage unit for storing the first integrated value and the second integrated value.

According to an aspect of the present invention, there is provided a method of controlling a linear compressor, including: calculating a compensation voltage using a motor drive voltage applied to a compressor motor in a previous time period; Compensates the voltage command value, and drives the compressor with the compensated voltage command value to reduce the trembling of the motor driving voltage.

A method of controlling a linear compressor according to the present invention includes the steps of: detecting the DC link voltage at predetermined time intervals; generating a voltage command value based on the DC link voltage; Converting the voltage into a motor drive voltage of a compressor motor and outputting the motor drive voltage; detecting the motor drive voltage according to the time period; calculating a compensation voltage based on the motor drive voltage; Compensating the voltage command value, and generating the control signal based on the compensated voltage command value.

The method of controlling a linear compressor according to the present invention includes a step of integrating the voltage command value, a step of integrating the motor driving voltage, a step of calculating an integrated value of the voltage command value and an error of an integrated value of the motor driving voltage Wherein the step of calculating the compensation voltage calculates the compensation voltage based on the error. The method of controlling a linear compressor according to the present invention further comprises storing the integrated value of the voltage command value and the integrated value of the motor driving voltage.

The control apparatus and method of a linear compressor according to the present invention suppresses a phenomenon in which a motor driving voltage fluctuates due to a beating frequency caused by a difference between a frequency of a commercial power supply and a driving frequency of a compressor.

The present invention improves the control accuracy by applying a constant driving voltage to the compressor, suppresses the generation of fluctuating noise due to beat phenomenon, and improves the stability of the system.

1 is a block diagram schematically showing a configuration of a control apparatus for a linear compressor according to an embodiment of the present invention;
Fig. 2 is a block diagram showing the detailed configuration of the control unit in Fig. 1; Fig.
FIG. 3 is a graph for explaining the occurrence of a swing phenomenon and a beating phenomenon of a DC link voltage; FIG.
4 is a graph showing the DC link voltage and current in a smoothing capacitor;
FIG. 5 is a graph for explaining the operation of measuring the DC link voltage according to the present invention in FIG. 4; FIG.
6 is a circuit diagram for explaining a fluctuation of a DC link voltage;
7 is a view for explaining compensation operation of a motor drive voltage according to the present invention;
8 is a block diagram schematically showing a configuration of a control apparatus of a linear compressor according to another example of the present invention;
9 and 10 are flow charts schematically showing a control method of a linear compressor according to the present invention.

Hereinafter, a control apparatus and a control method of a linear compressor according to the present invention will be described in detail with reference to the accompanying drawings.

Referring to FIGS. 1 and 2 together, the control apparatus for a linear compressor according to the present invention includes a converter 200 for converting an AC voltage of a commercial power supply 100 into a DC voltage, a control unit 200 for smoothing the DC voltage, An inverter 400 for converting the DC link voltage into a motor driving voltage of the compressor motor 500 and outputting the DC link voltage according to a control signal and generating a voltage command value based on the DC link voltage; And a control unit (600) for generating the control signal according to the voltage command value, wherein the control unit (600) calculates a compensation voltage using the motor driving voltage, and based on the compensation voltage, The voltage command value is compensated to reduce the vibration of the motor drive voltage. The shaking phenomenon of the motor driving voltage is caused by a beat frequency between the frequency of the commercial power supply and the driving frequency of the compressor, and becomes larger as the two frequencies are closer to each other. Here, the control signal is generally a PWM signal for controlling PWM (Pulse Width Modulation) voltage duty of the inverter 400. The inverter 400 supplies the input voltage, that is, the motor driving voltage, to the compressor motor 500 according to the control signal.

The control device of the linear compressor further includes a drive voltage detection unit (700) for detecting the motor drive voltage at predetermined time intervals, and the control unit (600) uses the motor drive voltage detected at the previous cycle And calculates the compensation voltage.

The control unit 600 compares a value obtained by integrating the voltage command value for one period and a value obtained by integrating the motor driving voltage for one period, and based on the error of the accumulated values, Compensate for command value.

The control unit 600 includes a first integration module 610 for integrating the voltage command value for one period to output a first integration value, a second integration module 610 for integrating the motor driving voltage for one period and outputting a second integration value, A totalization module 620 and a compensation voltage calculation module 640 for calculating the compensation voltage using the first integration value and the second integration value. The control unit 600 further includes a comparison module 630 for comparing the first integrated value and the second integrated value and outputting the error.

3, A denotes a DC link voltage, B denotes an inverter output voltage, that is, a motor drive voltage, C denotes a pulse width modulation command voltage, that is, a voltage command value, D denotes a motor drive RMS (Root Mean Square) voltage, RMS value. Referring to FIG. 3, it can be seen that there is a difference between the voltage command value and the actual motor drive voltage according to the change of the DC link voltage. As a result, a trembling phenomenon occurs during the stroke control of the linear compressor. This phenomenon is referred to as a beat phenomenon, which occurs largely as the difference between the frequency of the commercial power supply and the motor drive frequency becomes smaller.

Referring to FIG. 4, it can be seen that the DC link voltage in the smoothing capacitor 300 and the current flowing in the smoothing capacitor 300 swing with time. Generally, when the commercial power source 100 is AC 220 V, the DC voltage stored in the smoothing capacitor 300 is about 311 V, but actually there is tremble as shown in FIG.

Referring to FIG. 6, it can be seen that the amount of current flowing to the smoothing capacitor ic is changed by the current (il) flowing to the end of the compressor motor or to the load. In other words, it is expressed by the following equation (1).

Where Vdc is the DC link voltage, C is the capacitance, ic is the current flowing through the smoothing capacitor, and il is the current flowing into the compressor.

From the above viewpoint, it can be seen that the DC link voltage varies depending on the timing of measuring the DC link voltage, as shown in FIG. Accordingly, precise control is not performed at the time of controlling the stroke of the compressor, thereby causing a stroke vibration phenomenon.

When an interrupt signal for calculating the pulse width modulation is generated, the control unit 600 sets the duty of the pulse width modulation pulse in accordance with the voltage instruction value, calculates the compensation value based on the DC link voltage measured in advance, do. Since the time point at which the duty of the pulse width modulation is calculated differs from the point at which the pulse width modulation signal is actually output, that is, the time point at which the DC link voltage is measured and the point at which the motor drive voltage is output, 2 integration module 620 calculates the average of the pulse width modulation duty calculated in the previous cycle and the pulse width modulation pulse actually output at the time of output of the pulse width modulation pulse, that is, the motor drive voltage And integrates them. Also, the first integration module 610 calculates and integrates the pulse width modulation duty command value, i.e., the voltage command value, which does not compensate the DC link voltage. The comparison module 630 compares the voltage command value output from the first integration module 610 with the motor drive voltage output from the second integration module 620 and outputs the difference (error). The compensation voltage calculation module 640 corrects the error by multiplying the error by 1.4 times and then calculates the next period voltage command value.

Ideally, a 311V dc link voltage should be applied to the compressor through the inverter 400 with a duty determined by the voltage command value. However, in a linear compressor, a vibration occurs in a DC link voltage actually. In order to apply a constant voltage and current to the compressor, the controller of the linear compressor according to the present invention applies power to the compressor by applying a duty compensated to the actual DC link voltage as shown in FIG. 7 .

8, a control apparatus for a linear compressor according to another exemplary embodiment of the present invention includes a converter 200 for converting an AC voltage of a commercial power supply 100 into a DC voltage, and a controller 200 for smoothing the DC voltage to generate a DC link voltage An inverter 400 for converting the DC link voltage into a motor driving voltage of the compressor motor and outputting the DC link voltage according to a control signal and a first voltage detection circuit 330 for detecting the DC link voltage at predetermined time intervals, A second voltage detection unit 720 for detecting the motor drive voltage in accordance with the time period; and a second voltage detection unit 720 for generating a voltage command value based on the DC link voltage, And a control unit 600 for compensating the voltage command value and generating the control signal based on the compensated voltage command value. Here, the control signal is generally a PWM signal for controlling PWM (Pulse Width Modulation) voltage duty of the inverter 400. The inverter 400 supplies the input voltage, that is, the motor driving voltage, to the compressor motor 500 according to the control signal.

Here, the control unit 600 calculates the compensation voltage using the motor driving voltage detected at a previous cycle.

The controller of the linear compressor includes a first integration unit 910 for integrating the voltage command value and outputting a first integration value, a second integration unit 920 for integrating the motor drive voltage and outputting a second integration value, , A comparison unit (930) for comparing the first integrated value and the second integrated value and outputting the error, and a compensation voltage calculation unit (940) for calculating the compensation voltage based on the error, do.

Since the second integration unit 920 differs from the time point at which the duty of the pulse width modulation is calculated and the time at which the pulse width modulation signal is actually output, that is, the measurement time point of the DC link voltage, The average of the pulse width modulation duty calculated in the previous cycle and the pulse width modulation pulse actually output at the time of output of the pulse width modulation pulse, that is, the motor drive voltage is calculated Accumulate. Also, the first integrating unit 910 calculates and integrates the pulse width modulation duty command value, i.e., the voltage command value, which does not compensate the DC link voltage. The comparison unit 930 compares the voltage command value output from the first integration unit 910 with the motor drive voltage output from the second integration unit 920 and outputs the difference (error). The compensation voltage calculation unit 940 outputs a compensation voltage that is 1.4 times the error. The control unit 600 corrects the next period voltage command value when calculating. That is, when an interrupt signal for calculating the pulse width modulation is generated, the control unit 600 sets the duty of the pulse width modulation pulse in accordance with the voltage instruction value, Compensates the compensation value calculated through the unit 940 to the voltage command value and outputs it.

In addition, the controller of the linear compressor further includes a storage unit 800 for storing the first integrated value and the second integrated value. The storage unit 800 may be a random access memory (RAM), a flash memory, or the like.

3, A represents a DC link voltage, B represents an inverter output voltage, that is, a motor drive voltage, C represents a pulse width modulation command voltage, that is, a voltage command value, D represents a motor drive rms voltage, and E a voltage command rms value. Referring to FIG. 3, it can be seen that there is a difference between the voltage command value and the actual motor drive voltage according to the change of the DC link voltage. As a result, a trembling phenomenon occurs during the stroke control of the linear compressor. This phenomenon is referred to as a beat phenomenon, which occurs largely as the difference between the frequency of the commercial power supply and the motor drive frequency becomes smaller.

Referring to FIG. 4, it can be seen that the DC link voltage in the smoothing capacitor 300 and the current flowing in the smoothing capacitor 300 swing with time. Generally, when the commercial power source 100 is AC 220 V, the DC voltage stored in the smoothing capacitor 300 is about 311 V, but actually there is tremble as shown in FIG.

Referring to FIG. 6, it can be seen that the amount of current flowing to the smoothing capacitor ic is changed by the current (il) flowing to the end of the compressor motor or to the load. That is, the current flowing in the linear compressor is reduced by the load current il.

Referring to FIG. 5, it can be seen that the DC link voltage varies depending on the time of measuring the DC link voltage. Accordingly, precise control is not performed at the time of controlling the stroke of the compressor, thereby causing a stroke vibration phenomenon.

9 and 10, a method of controlling a linear compressor according to the present invention includes calculating a compensation voltage using a motor driving voltage applied to a compressor motor in a previous time period, Compensates the voltage command value for driving, and drives the compressor with the compensated voltage command value to reduce the trembling of the motor driving voltage.

Referring to FIG. 9, the method for controlling a linear compressor according to the present invention includes a step S100 of detecting the DC link voltage at every predetermined time period, a step S200 of generating a voltage instruction value based on the DC link voltage, (S400) of converting the DC link voltage into a motor drive voltage of the compressor motor in accordance with a control signal (S400), detecting the motor drive voltage in accordance with the time period (S600) A step S800 of calculating a compensation voltage based on the voltage, a step S800 of compensating the voltage instruction value based on the compensation voltage, and a step S300 of generating the control signal based on the compensated voltage instruction value. .

Referring to FIG. 10, the control method of the linear compressor includes a step S610 of accumulating the voltage command value, a step S620 of accumulating the motor driving voltage, a step of calculating an integrated value of the voltage command value, And calculating an error of the integrated value of the voltage (S630). In operation S700, the compensation voltage is calculated based on the error. The construction of the apparatus will be described with reference to Figs. 1 to 8. Fig.

A control device of a linear compressor for converting an AC voltage of a commercial power source into a DC voltage, smoothing and storing the DC voltage, converting the DC voltage stored corresponding to the load of the linear compressor to a motor drive voltage, In step S100, the controller detects a DC link voltage smoothed and stored every predetermined period of time. The control device controls the DC link voltage

The control device calculates and integrates the pulse width modulation duty value, i.e., the voltage instruction value, which does not compensate for the DC link voltage (S610). Further, the control device calculates the average voltage of the pulse width modulation pulses actually output to the DC link voltage measured at the time of outputting the pulse width modulation pulse and the pulse width modulation duty calculated at the previous period, i.e., the motor drive voltage (S620). That is, since the control apparatus differs from the point of time at which the duty of the pulse width modulation is calculated and the point at which the pulse width modulation signal is actually output, that is, the point of time at which the DC link voltage is measured and the point at which the motor drive voltage is output The phase delay is considered. Then, the control device compares the integrated voltage command value with the accumulated motor drive voltage, calculates the difference (S630), and calculates the compensation voltage which is 1.4 times the error (S700) . The control device corrects the next period voltage command value when calculating the next period voltage command value using the compensation voltage (S800). That is, when an interrupt signal for calculating the pulse width modulation is generated, the control device sets the duty of the pulse width modulation pulse in accordance with the voltage instruction value, calculates the compensation voltage based on the DC link voltage measured in advance, And generates a control signal by compensating for the voltage command value of the period (S300).

The control method of the linear compressor further includes a step of storing the integrated value of the voltage command value and the accumulated value of the motor driving voltage (not shown).

In the linear compressor, the error of the pulse width modulation pulse generated due to the phase delay becomes the maximum in the vicinity of the maximum pulse width modulation duty in the case of the sine wave output, and the voltage output error corresponding to one cycle also becomes the maximum. In this case, the difference in voltage output error between the previous cycle and the current cycle is almost non-existent when the difference between the power frequency and the driving frequency of the compressor is small. As described above, the control apparatus and control method for a linear compressor according to the present invention calculate the motor drive voltage actually output in the previous period in order to consider the pulse width modulation duty value and the DC link voltage measurement value of the previous cycle in the phase delay And corrects the voltage command value of the current cycle based on this value so that the uniform power can be transmitted to the compressor as a result.

100: commercial power 200: converter;
300: smoothing capacitor 400: inverter
500: compressor motor 600: control unit
700: drive voltage detection unit 800: storage unit
610: first integrating module 620: second integrating module
630: comparison module 640: compensation voltage calculation module
710: first voltage detecting unit 720: second voltage detecting unit
910: first integrating unit 920: second integrating unit
930: comparison unit 940: compensation voltage calculation unit

Claims (13)

A converter for converting an AC voltage of a commercial power supply into a DC voltage;
A smoothing capacitor for smoothing the DC voltage and outputting a DC link voltage;
An inverter for converting the DC link voltage into a motor drive voltage of a compressor motor according to a control signal and outputting the converted DC voltage; And
And a control unit for generating a voltage command value based on the DC link voltage and generating the control signal in accordance with the voltage command value,
Wherein the control unit calculates a compensation voltage by using the motor drive voltage and compensates the voltage instruction value based on the compensation voltage to reduce the trembling of the motor drive voltage. The method according to claim 1,
And a drive voltage detection unit for detecting the motor drive voltage at every predetermined time period,
Wherein the control unit calculates the compensation voltage using the motor drive voltage detected at a previous cycle. 3. The method of claim 2,
The control unit compares a value obtained by integrating the voltage command value for one period and a value obtained by integrating the motor driving voltage for one cycle and compensates for the voltage command value of the next cycle based on the error of the accumulated values Wherein the linear compressor is controlled by the control unit. 3. The apparatus according to claim 2,
A first integrating module for integrating the voltage command value for one period and outputting a first integrated value;
A second integration module for integrating the motor driving voltage for one cycle and outputting a second integration value; And
And a compensation voltage calculation module for calculating the compensation voltage using the first integration value and the second integration value. 5. The method of claim 4,
And a comparison module comparing the first integrated value and the second integrated value and outputting the error. A converter for converting an AC voltage of a commercial power supply into a DC voltage;
A smoothing capacitor for smoothing the DC voltage and outputting a DC link voltage;
An inverter for converting the DC link voltage into a motor drive voltage of a compressor motor according to a control signal and outputting the converted DC voltage;
A first voltage detection unit for detecting the DC link voltage at every predetermined time period;
A second voltage detection unit for detecting the motor drive voltage according to the time period; And
And a control unit for generating a voltage command value based on the DC link voltage, calculating a compensation voltage based on the motor drive voltage to compensate for the voltage command value, and generating the control signal based on the compensated voltage command value The control unit of the linear compressor. The method according to claim 6,
Wherein the control unit calculates the compensation voltage using the motor drive voltage detected at a previous cycle. The method according to claim 6,
A first integrating unit for integrating the voltage command value and outputting a first integrated value;
A second integration unit for integrating the motor drive voltage and outputting a second integration value;
A comparison unit for comparing the first integrated value and the second integrated value and outputting the error; And
And a compensation voltage calculation unit for calculating the compensation voltage based on the error. 9. The method of claim 8,
And a storage unit for storing the first integrated value and the second integrated value. Calculating a compensation voltage using a motor driving voltage applied to the compressor motor in a previous time period, compensating a voltage instruction value for driving the compressor using the compensation voltage, driving the compressor with a compensated voltage instruction value, A control method of a linear compressor which reduces vibration of a motor driving voltage. 11. The method of claim 10,
Detecting a DC link voltage every predetermined time period;
Generating a voltage command value based on the DC link voltage;
Converting the DC link voltage into a motor drive voltage of the compressor motor and outputting the DC link voltage according to a control signal;
Detecting the motor driving voltage according to the time period;
Calculating a compensation voltage based on the motor drive voltage;
Compensating the voltage command value based on the compensation voltage; And
And generating the control signal based on the compensated voltage command value. 12. The method of claim 11,
Integrating the voltage command value;
Integrating the motor drive voltage;
Calculating an integrated value of the voltage command value and an error of the integrated value of the motor driving voltage,
Wherein the step of calculating the compensation voltage calculates the compensation voltage based on the error. 13. The method of claim 12,
And storing the integrated value of the voltage command value and the integrated value of the motor driving voltage.

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