KR101855758B1 - Apparatus and method for controlling motor torque - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor torque control apparatus, and more particularly, to a motor torque control apparatus and method that can control a motor torque based on a back electromotive force and an inductance of a driving motor according to a temperature.
To this end, the motor torque control device according to an embodiment of the present invention includes a drive motor as a power source; A measuring unit for measuring a room temperature motor torque and a motor current of the driving motor at room temperature; And a controller for generating a room temperature current map based on the room temperature motor torque and the motor current of the driving motor measured through the measuring unit and generating at least one of a low temperature current map and a high temperature current map based on the room temperature motor torque, And a vehicle controller for generating the vehicle.

Description

[0001] APPARATUS AND METHOD FOR CONTROLLING MOTOR TORQUE [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor torque control apparatus, and more particularly, to a motor torque control apparatus and method that can control a motor torque based on a back electromotive force and an inductance of a driving motor according to a temperature.

The use of pollution-free energy is becoming increasingly important as the environmental pollution problem of the earth becomes serious every day. Especially, the problem of air pollution in big cities is becoming serious day by day, and automobile exhaust gas is one of the main causes.

Eco-friendly vehicles including hybrid vehicles and electric vehicles have been developed and operated in order to solve problems related to exhaust gas and provide fuel economy improvement.

The eco-friendly vehicle has power generated by an engine and a motor, and is driven by appropriately using the power generated from the combustion operation of the engine and the power generated from the rotation of the motor mediated by the electric energy stored in the battery.

In the eco-friendly vehicle, a TMED (Transmission Mounted Electric Device) transmission in which a drive motor and a transmission are connected is generally used.

The environmentally friendly vehicle is equipped with an engine clutch between the engine and the drive motor to transmit the power of the engine to the drive shaft.

The eco-friendly vehicle provides an EV (Electric Vehicle) mode in which the vehicle is driven by the torque of only the driving motor depending on whether the engine clutch is engaged or a hybrid electric vehicle (HEV) mode in which the vehicle travels with the sum of the engine torque and the motor torque do.

At this time, the driving motor mainly uses an IPM (Interior Permanent Magnet) motor capable of high output even in a small size. The IPM motor can generate a torque difference depending on the motor temperature.

However, in the conventional case, a current map for each motor temperature is constructed using only the counter electromotive force of the driving motor, so that a torque error is large according to the temperature, and fuel consumption, operability and power performance are deteriorated.

The matters described in the background section are intended to enhance the understanding of the background of the invention and may include matters not previously known to those skilled in the art.

An embodiment of the present invention provides a motor torque control apparatus and method that can control a motor torque based on a back electromotive force and an inductance of a driving motor according to a temperature.

The embodiments of the present invention provide a motor torque control apparatus and method that can improve a torque error according to temperature in consideration of a difference between a counter electromotive force and an inductance of a drive motor when a temperature of a drive motor changes.

In one embodiment of the present invention, a drive motor as a power source; A measuring unit for measuring a room temperature motor torque and a motor current of the driving motor at room temperature; And a controller for generating a room temperature current map based on the room temperature motor torque and the motor current of the driving motor measured through the measuring unit and generating at least one of a low temperature current map and a high temperature current map based on the room temperature motor torque, A motor torque control device including a vehicle controller that generates a motor torque can be provided.

The measurement unit may measure the d-axis motor current and the q-axis motor current of the drive motor.

Also, the vehicle controller may generate a room temperature current map by matching the d-axis motor current and the q-axis motor current to the room temperature motor torque.

Also, the vehicle controller may use at least one of the room temperature motor torque, the d-axis motor current, the q-axis motor current, the low temperature motor inductance difference value, the room temperature motor inductance difference value, the low temperature back electromotive force constant, Can be generated.

Also, the vehicle controller calculates the difference value of the low-temperature motor inductance with respect to the difference between the low-temperature d-axis motor inductance and the low-temperature q-axis motor inductance, and calculates the difference between the room temperature d-axis motor inductance and the room- The difference value can be calculated.

Also, the vehicle controller may generate a low-temperature current map by matching the d-axis motor current and the q-axis motor current to the low-temperature motor torque.

Also, the vehicle controller may use at least one of the room temperature motor torque, the d-axis motor current, the q-axis motor current, the high temperature motor inductance difference value, the room temperature motor inductance difference value, the high temperature back electromotive force constant, Can be generated.

Also, the vehicle controller calculates the difference value of the high-temperature motor inductance with respect to the difference between the high-temperature d-axis motor inductance and the high-temperature q-axis motor inductance, The difference value can be calculated.

Also, the vehicle controller may generate a high-temperature current map by matching the d-axis motor current and the q-axis motor current to the high-temperature motor torque.

Further, the motor torque control apparatus further includes a state detection section for detecting the driving state information of the vehicle, wherein the vehicle controller generates a torque command based on the driving state information of the vehicle, A map is selected, and a motor current for the torque command is confirmed in the selected current map to apply a motor current to the drive motor.

According to another embodiment of the present invention, there is provided a method of controlling a motor, comprising: measuring a room temperature motor torque of a driving motor, a d-axis motor current, and a q- Generating a room temperature current map based on the room temperature motor torque, the d-axis motor current, and the q-axis motor current; Generating a low temperature motor torque by using at least one of the room temperature motor torque, the d axis motor current, the q axis motor current, the reverse current constant and the motor inductance, and generating a low temperature current map based on the low temperature motor torque; Generating a high-temperature motor torque using at least one of the normal-temperature motor torque, the d-axis motor current, the q-axis motor current, the reverse-phase current constant, and the motor inductance and generating a high-temperature current map based on the high- And controlling the drive motor based on at least one of the normal temperature current map, the low temperature current map, and the high temperature current map.

The embodiment of the present invention can control the motor torque based on the back electromotive force and the inductance of the driving motor according to the temperature, thereby improving the fuel consumption, the operability and the power performance.

In addition, when the temperature of the driving motor is changed, consideration is given to the change of the smoke power and the inductance, so that the torque error according to the temperature can be improved and the overcharge of the battery can be prevented.

In addition, effects obtainable or predicted by the embodiments of the present invention will be directly or implicitly disclosed in the detailed description of the embodiments of the present invention. That is, various effects to be predicted according to the embodiment of the present invention will be disclosed in the detailed description to be described later.

1 is a schematic view of a hybrid vehicle including a motor torque control apparatus according to an embodiment of the present invention.
FIG. 2 is a simplified view of a motor torque control apparatus according to an embodiment of the present invention.
3 is a view illustrating a drive motor according to an embodiment of the present invention.
4 is a flowchart illustrating a motor torque control method according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an operation principle of an embodiment of a motor torque control apparatus and method according to the present invention will be described in detail with reference to the accompanying drawings and description. It should be understood, however, that the drawings and the following detailed description are exemplary and explanatory of various embodiments for effectively illustrating the features of the present invention. Therefore, the present invention should not be limited to the following drawings and descriptions.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The terms used below are defined in consideration of the functions of the present invention, which may vary depending on the user, intention or custom of the operator. Therefore, the definition should be based on the contents throughout the present invention.

In order to efficiently explain the essential technical features of the present invention, the following embodiments will appropriately modify, integrate, or separate terms to be understood by those skilled in the art to which the present invention belongs , And the present invention is by no means thereby limited.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic view of a hybrid vehicle including a motor torque control apparatus according to an embodiment of the present invention.

1, a hybrid vehicle includes an engine 110, an HSG (Hybrid Starter & Generator) 115, a drive motor 120, an engine clutch 130, a battery 140, a transmission 150, Unit, a motor control unit (MCU) 170, a transmission control unit (TCU) 180, and a hybrid control unit (HCU) 190.

The engine 110 generates power by burning the fuel. That is, the engine 110 may be a known various engine 110 such as a gasoline engine or a diesel engine using conventional fossil fuels.

The output of the engine 110 is controlled under the control of the ECU 160, and the driving of the engine 110 is controlled to the optimum operating point under the control of the ECU 160. [

The HSG 115 starts the engine 110 or operates as a generator in a state where the engine 110 is started to generate electric energy.

The driving motor 120 is operated by the three-phase AC voltage applied from the MCU 170 to generate torque. The drive motor 120 is operated as a generator during the other running or regenerative braking to supply a voltage to the battery 140.

The engine clutch 130 is disposed between the engine 110 and the drive motor 120 and is operated under the control of the HCU 190 to interlock power transmission between the engine 110 and the drive motor 120. That is, the engine clutch 130 connects or disconnects the power between the engine 110 and the drive motor 120 according to switching between an electric vehicle (EV) mode and a hybrid electric vehicle (HEV) mode.

The battery 140 is composed of a plurality of unit cells, and a high voltage for providing a driving voltage to the driving motor 120 is stored. The battery 140 supplies the drive voltage to the drive motor 120 in the EV mode or the HEV mode and is charged with the voltage generated by the drive motor 120 during the regenerative braking.

The battery 140 may be charged by the voltage and current supplied through the charging device when the commercial power source is plugged in.

The transmission 150 adjusts the transmission ratio under the control of the HCU 190 and distributes the applied output torque through the engine clutch 130 to the drive wheels according to the operation mode so as to transmit the output torque to the drive wheels, .

The transmission 150 may be applied as an automatic transmission or a continuously variable transmission.

The ECU 160 is connected to the HCU 190 via a network and operates in cooperation with the HCU 190 to control the overall operation of the engine 110 in accordance with the operation state of the engine 110 such as the driver's requested torque signal, And controls the operation. The ECU 160 provides the operating state of the engine 110 to the HCU 190.

The MCU 170 controls driving and torque of the driving motor 120 under the control of the HCU 190 and stores electricity generated by the driving motor 120 in the battery 140 during regenerative braking.

The MCU 170 applies a three-phase current voltage to the drive motor 120 and the HSG 115. [

The TCU 180 controls the overall operation of the transmission 150 by controlling the speed ratio according to the output torque of the ECU 160 and the MCU 170 and determining the regenerative braking amount. The TCU 180 provides the operating status of the transmission 150 to the HCU 190.

The HCU 190 is a top-level controller that controls hybrid drive mode setting and overall operation of the environmentally friendly vehicle. The HCU 190 integrally controls the lower controllers connected through the CAN (Controller Area Network) communication network, collects and analyzes the information of each lower controller, performs cooperative control, and outputs the output torque of the engine 110 and the driving motor 120 .

The same or similar functions as those of the conventional vehicle, which is a normal operation in the vehicle according to the present invention including the above-described functions, are performed. Therefore, detailed description thereof will be omitted.

FIG. 2 is a simplified view of a motor torque control apparatus according to an embodiment of the present invention. Some of the processors of the motor torque control method according to an embodiment of the present invention to be described later may be executed by the MCU and the other processors may be executed by the HCU. Therefore, in one embodiment of the present invention, the MCU and the HCU can be described as a single vehicle controller. For convenience of explanation, the MCU and the HCU will be referred to as a vehicle controller do.

2, the motor torque control apparatus includes a driving motor 120, a measuring unit 310, a state detecting unit 330, a vehicle controller 350, and a storage unit 360.

The drive motor 120 is operated by the three-phase alternating voltage applied from the vehicle controller 350 to generate torque. The drive motor 120 may be implemented as an Interior Permanent Magnet (IPM) type in which a magnet 123 is inserted into the rotor core 125, as shown in FIG.

The measuring unit 310 measures the state of the driving motor 120 and provides it to the vehicle controller 350. To this end, the measuring unit 310 includes a temperature sensor 323, a torque sensor 326, and a current sensor 329. [

The temperature sensor 323 measures the temperature of the drive motor 120 and provides the measured temperature to the vehicle controller 350. [

The torque sensor 326 measures the motor torque of the drive motor 120 and provides the measured motor torque to the vehicle controller 350.

The current sensor 329 measures the current of the drive motor 120. That is, the current sensor 329 can measure the d-axis motor current and the q-axis motor current of the drive motor 120. The current sensor 329 provides the measured d-axis motor current and the q-axis motor current to the vehicle controller 350.

The state detector 330 detects the driving state information of the vehicle and provides the detected state information to the vehicle controller 350.

The state detector 330 includes an Accelerator Position Sensor (APS) 343, a Brake Position Sensor (BPS) 346, and a speed sensor 349).

The APS 343 measures the degree to which the driver depresses the accelerator pedal. That is, the APS 343 measures the position value of the accelerator pedal (the degree to which the accelerator pedal is depressed) and provides a signal to the vehicle controller 350. When the accelerator pedal is fully depressed, the position value of the accelerator pedal is 100%, and when the accelerator pedal is not depressed, the position value of the accelerator pedal is 0%.

Instead of using the APS 343, a throttle valve opening degree detection unit mounted in the intake passage may be used. Thus, in this specification and in the claims

The BPS 346 measures the extent to which the driver depresses the brake pedal. That is, the BPS 346 measures the position value of the brake pedal (degree of depression of the brake pedal) and transmits it to the vehicle controller 350. When the brake pedal is fully depressed, the value of the position of the brake pedal is 100%, and when the brake pedal is not depressed, the position value of the brake pedal may be 0%.

The speed sensor 349 senses the speed of the vehicle and provides it to the vehicle controller 350.

The vehicle controller 350 is connected to the driving motor 120, the measuring unit 310 and the state detecting unit 330 to control the driving motor 120, the measuring unit 310 and the state detecting unit 330. The vehicle controller 350 controls the measuring unit 310 to measure the temperature of the driving motor 120 and receives the temperature from the measuring unit 310. The vehicle controller 350 checks the temperature of the driving motor 120 through the temperature and controls the measuring unit 310 to receive the motor torque and the motor current when the temperature of the driving motor 120 is normal.

The vehicle controller 350 generates the room temperature current map based on the room temperature motor torque and the motor current. The vehicle controller 350 generates a low temperature current map and a high temperature current map based on the room temperature motor torque, the motor current, and the motor inductance. Here, the normal temperature, the low temperature and the high temperature may be set by the operator or may be changed by the vehicle controller 350. [

The vehicle controller 350 generates a torque command based on the operation state information provided from the state detection unit 330, and generates a torque command based on at least one of a current map, a low-temperature current map, and a high- And controls the motor 120.

For this purpose, the vehicle controller 350 may be embodied as one or more processors operated by a set program, and the set program may be executed by performing each step included in the motor torque control method according to an embodiment of the present invention And the like. This motor torque control method will be described in more detail with reference to FIG.

The storage unit 360 stores necessary data in the components of the motor torque control device and data generated by the motor torque control device. For example, the storage unit 360 may store the room temperature current map, the low temperature current map, and the high temperature current map generated by the vehicle controller 350. The storage unit 360 may store the motor torque and the motor current measured by the measurement unit 310 and may store the operation state information detected by the state detection unit 330.

In addition, the storage unit 360 stores a program for controlling the overall operation of the motor torque control device.

The storage unit 360 may provide necessary data according to the request of the measurement unit 310, the state detection unit 330, and the vehicle controller 350. The storage unit 360 may be an integrated memory or may be divided into a plurality of memories. For example, the storage unit 360 may be a read only memory (ROM), a random access memory (RAM), a flash memory, or the like.

Hereinafter, a method of controlling motor torque according to an embodiment of the present invention will be described.

4 is a flowchart illustrating a motor torque control method according to an embodiment of the present invention.

Referring to FIG. 4, the vehicle controller 350 normally operates at least one of the engine 110 and the drive motor 120 to drive the vehicle when the engine is turned on (S410).

The measuring unit 310 measures the room temperature motor torque and the motor current at room temperature (S420). That is, under the control of the vehicle controller 350, the measuring unit 310 sweeps the current to the driving motor 120 when the temperature of the driving motor 120 is normal temperature to measure the room temperature motor torque, Measure motor current and q-axis motor current.

The vehicle controller 350 generates a room temperature current map based on the room temperature motor torque and the motor current (S430). That is, the vehicle controller 350 receives the room temperature motor torque, the d-axis motor current, and the q-axis motor current from the measuring unit 310. The vehicle controller 350 generates a room temperature current map by matching the d-axis motor current and the q-axis motor current to the room temperature motor torque.

The vehicle controller 350 generates the low-temperature motor torque using the normal-temperature motor torque and the d-axis motor current and the q-axis motor current (S440). In other words, the vehicle controller 350 uses at least one of the room temperature motor torque, the d-axis motor current, the q-axis motor current, the low temperature motor inductance difference value, the room temperature motor inductance difference value, the low temperature back electromotive force constant, Torque. In this case, the difference value of the low temperature motor inductance indicates the difference between the low temperature d axis motor inductance and the low temperature q axis motor inductance, and the difference value between the room temperature and the motor inductance may indicate the difference between the room temperature d axis motor inductance and the room temperature q axis motor inductance. The motor inductance and the counter electromotive force constant may be confirmed by measuring through the measuring unit 310 or may be a predetermined value. The motor inductance and the counter electromotive force constant may be different depending on the driving motor 120. [

That is, the vehicle controller 350 can calculate the low-temperature motor torque using Equation (1).

[Equation 1]

Here, T _L is a low temperature motor torque, Ø _L is a low-temperature counter electromotive force constant, Ø _N is room temperature the counter electromotive force constant and, iq is the q-axis motor current, Ldiff _L is a low temperature motor inductance difference, Ldiff _N is room temperature motor inductance Id is the d-axis motor current, and T _N is the room temperature motor torque.

The vehicle controller 350 generates a low-temperature current map based on the low-temperature motor torque and the motor current (S450). That is, the vehicle controller 350 generates a low-temperature current map by matching the d-axis motor current and the q-axis motor current to the low-temperature motor torque calculated in step S440.

The vehicle controller 350 generates the high-temperature motor torque using the room-temperature motor torque and the d-axis motor current and the q-axis motor current (S460). In other words, the vehicle controller 350 uses at least one of the room temperature motor torque, the d-axis motor current and the q-axis motor current, the high temperature back electromotive force constant, the room temperature back electromotive force constant, the high temperature motor inductance difference value and the room temperature motor inductance difference value, Torque. At this time, the high temperature motor inductance difference value can show the difference between the high temperature d axis motor inductance and the high temperature q axis motor inductance.

That is, the vehicle controller 350 can calculate the high-temperature motor torque using Equation (2).

&Quot; (2) "

Here, T _H is a high temperature motor torque, Ø _H is a high temperature counter electromotive force constant, Ø _N is room temperature the counter electromotive force constant and, iq is the q-axis motor current, Ldiff _H is a value of the high temperature motor inductance difference, Ldiff _N is room temperature motor inductance Id is the d-axis motor current, and T _N is the room temperature motor torque.

The vehicle controller 350 generates a high-temperature current map based on the high-temperature motor torque and the motor current (S470). That is, the vehicle controller 350 may generate the high-temperature current map by matching the d-axis motor current and the q-axis motor current to the high-temperature motor torque calculated in step S460.

Thereafter, the vehicle controller 350 may store the normal temperature current map generated in step S430, the low temperature current map generated in step S450, and the high temperature current map generated in step S470.

The vehicle controller 350 generates a torque command in accordance with the operation state information (S480). That is, the state detector 330 detects the operation state information, and provides the detected operation state information to the vehicle controller 350. [ The vehicle controller 350 receives the operation state information from the state detection unit 330 and generates a torque command based on the operation state information.

The vehicle controller 350 applies the motor current to the drive motor 120 based on the torque command (S490). In other words, the vehicle controller 350 confirms the temperature of the drive motor 120, and selects one current map from the room temperature current map, the low temperature current map, and the high temperature current map based on the temperature of the driving motor 120. The vehicle controller 350 extracts the d-axis motor current and the q-axis motor current for the torque command in the selected current map. The vehicle controller 350 may convert the extracted d-axis motor current and q-axis motor current through pulse width modulation (PWM) and apply the three-phase current to the driving motor 120. [

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

110: engine
115: HSG
120: drive motor
130: engine clutch
140: Battery
150: Transmission
160: ECU
170: MCU
180: TCU
190: HCU
310:
330:
350: vehicle controller

Claims (18)

A drive motor as a power source;
A measuring unit for measuring a room temperature motor torque and a motor current of the driving motor at room temperature;
A state detection unit for detecting driving state information of the vehicle; And
Temperature current map based on the room temperature motor torque and the motor current of the driving motor measured through the measuring unit and generates at least one of the low temperature current map and the high temperature current map based on the room temperature motor torque, the motor current, and the motor inductance The vehicle controller comprising:
Wherein the vehicle controller detects the operating state information to generate a torque command when the driving motor is under control and detects the temperature of the driving motor to detect the temperature of the driving motor in the low temperature current map, Axis motor current and q-axis motor current for the torque command in the selected current map to apply the d-axis motor current and the q-axis motor current to the drive motor, . The method according to claim 1,
The measuring unit
And a motor torque control device for measuring a d-axis motor current and a q-axis motor current of the drive motor. 3. The method of claim 2,
The vehicle controller
And generates a room temperature current map by matching the d-axis motor current and the q-axis motor current to the normal-temperature motor torque. 3. The method of claim 2,
The vehicle controller
A motor torque control device for generating a low temperature motor torque using at least one of the normal temperature motor torque, the d axis motor current, the q axis motor current, the low temperature motor inductance difference value, the room temperature motor inductance difference value, the low temperature back electromotive force constant, . 5. The method of claim 4,
Wherein the vehicle controller calculates the difference value of the low temperature motor inductance with respect to the difference between the low temperature d axis motor inductance and the low temperature q axis motor inductance and calculates the difference value between the room temperature d axis motor inductance and the room temperature q axis motor inductance by using the room temperature motor inductance difference value Of the motor torque control device. 5. The method of claim 4,
The vehicle controller
And a low-temperature current map is generated by matching the d-axis motor current and the q-axis motor current to the low-temperature motor torque. 3. The method of claim 2,
The vehicle controller
A motor torque control device for generating a high-temperature motor torque by using at least one of the room temperature motor torque, the d-axis motor current, the q-axis motor current, the high temperature motor inductance difference value, the room temperature motor inductance difference value, the high temperature back electromotive force constant, . 8. The method of claim 7,
Wherein the vehicle controller calculates the difference value of the high temperature motor inductance with respect to the difference between the high temperature d axis motor inductance and the high temperature q axis motor inductance and calculates the difference value between the room temperature d axis motor inductance and the room temperature q axis motor inductance by using the room temperature motor inductance difference value Of the motor torque control device. delete delete Measuring a normal-temperature motor torque of the drive motor, a d-axis motor current, and a q-axis motor current at room temperature;
Generating a room temperature current map based on the room temperature motor torque, the d-axis motor current, and the q-axis motor current;
Generating a low temperature motor torque by using at least one of the room temperature motor torque, the d axis motor current, the q axis motor current, the reverse current constant and the motor inductance, and generating a low temperature current map based on the low temperature motor torque;
Generating a high-temperature motor torque using at least one of the normal-temperature motor torque, the d-axis motor current, the q-axis motor current, the reverse-phase current constant, and the motor inductance and generating a high-temperature current map based on the high- And
Controlling the drive motor based on at least one of the room temperature current map, the low temperature current map, and the high temperature current map,
Wherein the step of controlling the drive motor includes the steps of generating torque command by detecting operation state information, detecting the temperature of the drive motor, comparing the temperature of the drive motor with the low temperature current map, the normal temperature current map, Determining a d-axis motor current and a q-axis motor current for the torque command in the selected current map, and applying the d-axis motor current and the q-axis motor current to the drive motor in the selected current map The motor torque control method comprising: 12. The method of claim 11,
The step of generating the low temperature current map
Generating a low temperature motor torque using at least one of the room temperature motor torque, the d axis motor current, the q axis motor current, the low temperature back electromotive force constant, the room temperature back electromotive force constant, the low temperature motor inductance difference value and the room temperature motor inductance difference value; And
Generating a low-temperature current map by matching the d-axis motor current and the q-axis motor current to the low-temperature motor torque;
The motor torque control method comprising: 13. The method of claim 12,
The difference value of the low-temperature motor inductance is set by a difference between the low-temperature d-axis motor inductance and the low-temperature q-axis motor inductance, and the difference between the room temperature motor inductance is a motor Torque control method. 12. The method of claim 11,
Wherein the low-temperature motor torque is generated by the following equation (1).
Here, the expression (1)

ego,
Wherein T _L is a low temperature motor torque, the Ø _L is a low-temperature counter electromotive force constant, the Ø _N is the normal temperature the counter electromotive force constant, and the iq is the q-axis motor current, the Ldiff _L is a low temperature motor inductance difference, the Ldiff _N Where id is the d-axis motor current, and T _N is the room temperature motor torque. 12. The method of claim 11,
The step of generating the high temperature current map
Generating a high temperature motor torque using at least one of the room temperature motor torque, the d axis motor current and the q axis motor current, the high temperature back electromotive force constant, the room temperature back electromotive force constant, the high temperature motor inductance difference value and the room temperature motor inductance difference value; And
Generating a high-temperature current map by matching the d-axis motor current and the q-axis motor current to the high-temperature motor torque;
The motor torque control method comprising: 16. The method of claim 15,
The difference value of the high-temperature motor inductance is set by a difference between the high-temperature d-axis motor inductance and the high-temperature q-axis motor inductance, and the difference between the room temperature motor inductance is a motor Torque control method. 12. The method of claim 11,
Wherein the high-temperature motor torque is generated by the following equation (2).
Here, the expression (2)

ego,
The T _H is a high temperature motor torque, the Ø _H is a high temperature counter electromotive force constant, the Ø _N is the normal temperature the counter electromotive force constant, and the iq is the q-axis motor current, and the Ldiff _H is a high temperature motor inductance difference, the Ldiff _N Where id is the d-axis motor current, and T _N is the room temperature motor torque.


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