WO2014045760A1 - モーター制御装置及びモーター制御方法 - Google Patents
モーター制御装置及びモーター制御方法 Download PDFInfo
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- WO2014045760A1 WO2014045760A1 PCT/JP2013/071789 JP2013071789W WO2014045760A1 WO 2014045760 A1 WO2014045760 A1 WO 2014045760A1 JP 2013071789 W JP2013071789 W JP 2013071789W WO 2014045760 A1 WO2014045760 A1 WO 2014045760A1
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- motor
- torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
Definitions
- the present invention relates to a motor control device and a motor control method for controlling an electric motor mounted on a vehicle.
- JP2001-197765A discloses a technique for estimating a torque ripple generated according to the rotational speed of a motor and correcting a torque command value of the motor from the estimated torque ripple.
- An object of the present invention is to suppress torque ripple generated in a motor regardless of whether or not the carrier frequency of the PWM signal is changed.
- a motor control device includes a switching element that controls a motor, a current control unit that outputs a PWM signal for driving the switching element, and a setting unit that sets a carrier frequency of the PWM signal.
- the motor control device includes a torque ripple compensation unit that sets a torque ripple compensation value based on the motor torque command value, the carrier frequency, and the rotation state of the motor.
- the current control unit outputs a PWM signal based on the motor torque command value and the torque ripple compensation value.
- FIG. 1 is a diagram illustrating a motor control device according to an embodiment of the present invention.
- FIG. 2 is a diagram showing a phase shift of the torque ripple due to the current control delay.
- FIG. 3 is a configuration diagram showing details of the torque ripple compensator in the present embodiment.
- FIG. 4A is a diagram illustrating a relationship between a torque command value and a compensation coefficient for the amplitude of torque ripple.
- FIG. 4B is a diagram illustrating a relationship between a torque command value and a torque ripple phase compensation coefficient.
- FIG. 5 is a diagram showing the response delay time of the motor according to the torque command value.
- FIG. 6 is a flowchart showing a method of correcting the torque ripple compensation value.
- FIG. 7 is a diagram illustrating a torque ripple compensation value with the phase corrected.
- FIG. 1 is a configuration diagram illustrating a motor control device according to an embodiment of the present invention.
- the motor control device 1 controls an electric motor mounted on a vehicle in this embodiment.
- the motor control device 1 includes a battery 2, a motor 20, a torque ripple compensation unit 30, and a control unit 100.
- the control unit 100 includes an inverter 10, a calculator 41, and a current control unit 42.
- the inverter 10 is a device that controls the motor 20.
- the inverter 10 converts the DC power of the battery 2 into three-phase AC power. Further, the inverter 10 converts regenerative power (three-phase AC power) generated by the rotational force of the motor 20 into DC power and supplies it to the battery 2.
- the inverter 10 is composed of a plurality of switching elements.
- the switching element is realized by, for example, a transistor that connects or disconnects the battery 2 and the motor 20.
- the electric power supplied to the motor 20 can be adjusted by the switching element.
- the switching element switches the connection state between the battery 2 and the motor 20 in accordance with a PWM (pulse width modulation) signal received at the control terminal of the switching element.
- PWM pulse width modulation
- the switching element connects between the battery 2 and the motor 20 when the PWM signal is at the H (High) level.
- a control current is supplied from the battery 2 to the motor 20.
- the PWM signal is at L (Low) level, the connection between the battery 2 and the motor 20 is disconnected. Thereby, the control current supplied to the motor 20 is stopped.
- control current corresponding to the PWM signal is supplied from the battery 2 to the motor 20 by the switching element of the inverter 10.
- the motor 20 is an electric motor that drives the vehicle.
- the motor 20 is rotated by the control current adjusted by the inverter 10.
- the motor 20 is provided with a detection sensor 21 that detects the rotational state of the motor.
- the detection sensor 21 detects the electrical angle of the motor 20.
- the detection sensor 21 is, for example, a resolver.
- the detection sensor 21 calculates an electrical angular velocity from the electrical angle detected every predetermined time.
- the detection sensor 21 outputs the rotation state information which shows the electrical angle and electrical angular velocity of the motor 20 for every predetermined time.
- the rotation state information is input to the torque ripple compensation unit 30 via the feedback signal line 120.
- the torque ripple compensation unit 30 uses the rotation state information from the detection sensor 21 to calculate a torque ripple compensation value.
- the torque ripple compensation value is used to compensate for torque pulsation (ripple) generated in the motor 20.
- the torque ripple compensation unit 30 outputs the calculated torque ripple compensation value to the calculator 41.
- the control unit 100 controls the inverter 10 according to the torque command value input from the signal line 110 to drive the motor 20.
- the torque command value indicates a torque value to be generated by the motor 20.
- the torque command value is sent via a signal line 110 from a controller (not shown) that controls the running state of the vehicle.
- the calculator 41 feeds back the torque ripple compensation value from the torque ripple compensation unit 30 to the torque command value. Specifically, the computing unit 41 subtracts the torque ripple compensation value from the torque command value, and outputs the subtracted torque command value to the current control unit 42.
- the current control unit 42 generates a PWM signal according to the torque command value from the computing unit 41. That is, the current control unit 42 generates a PWM signal based on the torque command value and the torque ripple compensation value, and outputs the PWM signal to the inverter 10.
- the current control unit 42 controls the switching element of the inverter 10 by the PWM signal.
- the current control unit 42 determines the power to be supplied to the motor 20 based on the torque command value.
- the current control unit 42 adjusts the pulse width of the PWM signal according to the determined power.
- the current control unit 42 outputs the adjusted PWM signal to the control terminal of the switching element in the inverter 10. As a result, the switching element is switched at a high speed according to the PWM signal, and the control current adjusted by the switching element flows to the motor 20.
- the current control unit 42 includes a setting unit 421.
- Setting unit 421 sets the carrier frequency (hereinafter referred to as “carrier frequency”) of the PWM signal based on the operating state of the switching element of inverter 10. For example, when the temperature of the switching element exceeds the allowable upper limit value, the setting unit 421 switches the carrier frequency of the PWM signal from “reference carrier” to “low frequency carrier” having a frequency lower than the reference carrier. Thereby, it is possible to avoid the element from being damaged due to heat generated by the high-speed switching of the switching element.
- FIG. 2 is a conceptual diagram showing torque ripple caused by a change in control delay with respect to the motor.
- the torque ripple that should be originally generated in the motor is indicated by a dotted line
- the torque ripple compensation value that is shifted in phase with the change of the carrier frequency of the PWM signal is indicated by a broken line.
- the torque ripple after compensation obtained by subtracting the torque ripple compensation value from the torque command value is shown by a solid line.
- the horizontal axis indicates time
- the vertical axis indicates the amplitude of torque ripple.
- the phase of the torque ripple compensation value is corrected in accordance with switching of the carrier frequency of the PWM signal.
- the carrier frequency of the PWM signal is hereinafter also referred to as “PWM carrier frequency”.
- the setting unit 421 sets the carrier frequency of the PWM signal
- the setting unit 421 outputs the set carrier frequency to the torque ripple compensation unit 30 via the signal line 130.
- a torque command value from the signal line 110 is input to the torque ripple compensation unit 30.
- the torque ripple compensation unit 30 calculates a torque ripple compensation value based on the torque command value, the rotation state information, and the PWM carrier frequency. For example, the torque ripple compensator 30 specifies a torque ripple generated in the motor 20 using the torque command value and the rotation state information, and corrects the phase of the specified torque ripple according to the PWM carrier frequency. The torque ripple compensation unit 30 feeds back the corrected torque ripple to the calculator 41 as a torque ripple compensation value.
- FIG. 3 is a configuration diagram showing details of the torque ripple compensation unit 30.
- the torque ripple compensation unit 30 includes a torque ripple estimation unit 31, a phase correction coefficient calculation unit 32, a compensation value calculation unit 33, a compensation coefficient holding unit 311, and a correction information holding unit 321.
- the compensation coefficient holding unit 311 holds a torque ripple compensation coefficient corresponding to the torque command value.
- the compensation coefficient holding unit 311 records a compensation coefficient map (MAP) for each order of torque ripple.
- MAP compensation coefficient map
- the compensation coefficient map, the order n for each torque command value (n is a positive number) and the amplitude K n and phase theta n of are associated with each other. Details of the compensation coefficient map will be described later with reference to FIG.
- the torque ripple estimation unit 31 predicts the amplitude and phase of torque ripple generated in the motor 20 based on the torque command value from the signal line 110.
- the torque ripple estimation unit 31 refers to the compensation coefficient holding unit 311, and calculates the coefficient of the amplitude K n and the phase ⁇ n corresponding to the torque command value for each order n of the torque ripple. Output to.
- the correction information holding unit 321 records reference carrier information indicating a control delay time in a reference carrier and low frequency carrier information indicating a control delay time in a low frequency carrier.
- Response delay time t x is the adjustment delay time by the sampling hold circuit, a computation delay time of the torque command value, is the time obtained by integrating the response delay time due to the current control.
- the adjustment delay time by the sampling hold circuit is an adjustment time necessary for timing adjustment for feeding back the torque ripple compensation value to the torque command value by the calculator 41, for example.
- the calculation delay time of the torque command value is a calculation time for determining the control current value supplied to the motor 20 based on the torque command value or a delay until the pulse width of the PWM signal is set to a value corresponding to the control current value. Includes time etc.
- the response delay time by the current control includes the response delay time of the inverter 10 and the response delay time of the motor 20 determined by the control current value. Since the inductance generated in the motor 20 changes for each control current value, the response delay time of the motor 20 changes according to the control current value. For this reason, a motor response delay map showing the relationship between the response delay time of the motor 20 and the torque command value may be stored in the correction information holding unit 321. The motor response delay map will be described later with reference to FIG.
- Phase correction coefficient calculation unit 32 based on the PWM carrier frequency from the signal line 130, refers to the correction information holding unit 321, calculates the response delay time t x.
- the phase correction coefficient calculation unit 32 acquires the control delay time t x indicated in the low frequency carrier information of the correction information holding unit 321.
- the phase correction coefficient calculation unit 32 outputs the acquired control delay time t x to the compensation value calculation unit 33 as a phase correction coefficient for torque ripple.
- the compensation value calculation unit 33 calculates a torque ripple compensation value in which the phase of the torque ripple is corrected according to the phase correction coefficient t x from the phase correction coefficient calculation unit 32.
- the compensation value calculator 33 obtains the compensation coefficient of the amplitude K n and the phase ⁇ n of each order n from the torque ripple estimator 31 and the phase correction coefficient t x from the phase correction coefficient calculator 32 and also provides a feedback signal.
- the electric angle ⁇ and the electric angular velocity ⁇ of the motor 20 are acquired from the line 120.
- the compensation value calculation unit 33 uses the compensation coefficient of the amplitude k n and the phase ⁇ n of each order n, the position complementary coefficient t x , the electrical angle ⁇ and the electrical angular velocity ⁇ , as shown in the following formula (1): n is calculated the following torque ripple component T n.
- the compensation value calculation unit 33 multiplies the electrical angular velocity ⁇ by the phase correction coefficient t x and adds the electrical angle ⁇ to the multiplied value ( ⁇ ⁇ t x ) to obtain the phase correction value ( ⁇ ⁇ t x + ⁇ ). calculate.
- the compensation value calculator 33 multiplies the phase correction value by the order n , adds the multiplied phase correction value ⁇ n ⁇ ( ⁇ ⁇ t x + ⁇ ) ⁇ to the phase ⁇ n , and corrects the corrected torque ripple phase ⁇ n ⁇ ( ⁇ ⁇ t x + ⁇ ) + ⁇ n ⁇ is calculated.
- the compensation value calculation unit 33 the corrected phase ⁇ n ⁇ ( ⁇ ⁇ t x + ⁇ ) + ⁇ n ⁇ to the value of the sine wave by multiplying the amplitude K n for each degree of order n the torque ripple component T n in calculate.
- the compensation value calculation unit 33 outputs to the calculator 41 the sum of all the number of the next torque ripple component T n as torque ripple compensation value Ts.
- the compensation value calculator 33 corrects the torque ripple compensation value by calculating the phase correction value ⁇ n ⁇ ( ⁇ ⁇ t x + ⁇ ) ⁇ of the torque ripple corresponding to the control delay time t x for the motor 20. . Accordingly, since the corrected phase in accordance with the respective components of the torque ripple, the phase shift of the torque ripple compensation value caused by the response delay time t x can be accurately corrected. Therefore, even if the carrier frequency of the PWM signal is changed by the setting unit 421, torque ripple generated in the motor 20 can be suppressed.
- FIGS. 4A and 4B are diagrams illustrating compensation coefficient maps held in the compensation coefficient holding unit 311.
- FIG. Figure 4A is a diagram showing the relationship between the compensation coefficient of the torque command value and the amplitude K n.
- FIG. 4B is a diagram illustrating a relationship between the torque command value and the compensation coefficient of the phase ⁇ n .
- the phase ⁇ n once lowered as the torque command value increases becomes the value at the time when the torque command value is zero from the middle.
- the phase ⁇ n that has increased as the torque command value becomes smaller returns to the value when the torque command value is zero from the middle.
- the amplitude K n and the phase ⁇ n of the torque ripple change according to the torque command value.
- torque ripple characteristics obtained beforehand through experimental results or the like are recorded in the compensation coefficient holding unit 311, and the amplitude K associated with the compensation coefficient map according to the torque command value from the signal line 110 is recorded.
- Obtain n and ⁇ n Thereby, every time the torque command value is input, the complicated calculation processing required for the analysis of the torque ripple can be reduced, so that the processing load of the torque ripple estimation unit 31 can be reduced.
- the response delay time of the motor 20 also changes according to the torque command value. For this reason, a motor response delay map indicating the relationship between the torque command value and the response delay time may be recorded in the correction information holding unit 321.
- FIG. 5 is a diagram showing a motor response delay time map.
- the horizontal axis represents the torque command value
- the vertical axis represents the response delay time of the motor 20.
- the response delay time increases as the torque command value approaches zero.
- the response delay time increases exponentially, so that the error in the control delay time increases and the accuracy of the torque ripple compensation value decreases.
- the correction information holding unit 321 stores a correction map together with the control delay time t x for each PWM carrier frequency.
- the phase correction coefficient calculation unit 32 when the signal line 130 receives the PWM carrier frequency, referring to the correction information holding unit 321, specifying each control delay time t x corresponding to the PWM carrier frequency correction map and the.
- the phase correction coefficient calculation unit 321 refers to the correction map identified, obtains the response delay time corresponding to a torque command value from the signal line 110, the response delay time t x with the response delay time to correct. Thereafter, the phase correction coefficient calculation unit 321 outputs the corrected control delay time to the compensation value calculation unit 33 as a phase correction coefficient. Thereby, the phase shift of the torque ripple compensation value can be further reduced.
- FIG. 6 is a flowchart showing a method of correcting the torque ripple compensation value.
- step S91 the phase correction coefficient calculation unit 32 determines whether or not the PWM carrier frequency input from the signal line 130 is the frequency of the reference carrier.
- Phase correction coefficient calculating unit 32 in step S92 when the PWM carrier frequency is determined the frequency of the reference carrier is set to the phase correction factor t x the response delay time of the reference carrier.
- the phase correction coefficient calculation unit 32 refers to the correction information holding unit 321 and calculates a control delay time associated with the reference carrier information.
- the phase correction coefficient calculation unit 32 in step S93 when the PWM carrier frequency is determined the frequency of the low frequency carrier, sets a phase correction factor t x the response delay time of the low-frequency carrier.
- the phase correction coefficient calculation unit 32 refers to the correction information holding unit 321 and calculates a control delay time associated with the low frequency carrier information.
- the compensation value calculation unit 33 in step S93 calculates the torque ripple compensation value corrected by the phase correction factor t x, and feeds back the calculation result to the torque command value.
- FIG. 7 is a diagram showing a torque ripple compensation value whose phase has been corrected by the compensation value calculation unit 33.
- the torque ripple that should originally occur in the motor 20 is indicated by the dotted line
- the torque ripple compensation value in phase by application of the phase correction coefficient is indicated by the broken line
- the compensated torque ripple is indicated by the solid line.
- the horizontal axis represents time
- the vertical axis represents the torque ripple amplitude.
- the torque ripple compensation value is corrected according to the carrier frequency of the low frequency carrier.
- torque ripple can be suppressed regardless of whether the carrier frequency of the PWM signal is changed.
- the torque ripple estimation unit 31 estimates the amplitude and phase for each order of torque ripple based on the torque command value, and the phase correction coefficient calculation unit 32 controls the control delay time for the motor 20 based on the carrier frequency. Is calculated. And the compensation value calculating part 33 calculates the torque ripple compensation value which correct
- phase shift of the torque ripple compensation value caused by the change of the PWM carrier frequency by correcting the phase of the torque ripple component T n for each order, it is possible to match the torque ripple occurring in the motor 20. Therefore, it is possible to prevent the torque ripple from becoming larger as shown in FIG. 2 due to poor adjustment of the phase deviation of the torque ripple compensation value.
- control delay time includes the processing time for feeding back the torque ripple compensation value to the torque command value, the calculation time for calculating the control current value from the torque command value to the motor 20, and the motor 20 by current control. Response delay time.
- the phase correction coefficient calculation unit 32 calculates the control delay time t x using a map in which the torque command value and the response delay time of the motor 20 are associated with each other.
- the error of the response delay time of the motor 20 becomes large near the zero of the torque command value. Therefore, by correcting the errors of the control delay time t x in accordance with the torque command value by using the correction map, it is possible to reduce the phase shift of the torque ripple compensation value.
- the torque ripple estimation unit 31 estimates torque ripple generated in the motor 20 using an estimation map in which the amplitude and phase of each order are associated with each torque command value.
- the carrier frequency input to the torque ripple compensation unit 30 is output from the main controller (not shown) to the torque ripple compensation unit 30 at the same time as the carrier frequency switching command is output from the main controller (not shown) to the setting unit 421. It may be.
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Abstract
Description
図1は、本発明の実施形態におけるモーター制御装置を示す構成図である。
Claims (6)
- モーターを制御するスイッチング素子と、
スイッチング素子を駆動するためのPWM信号を出力する電流制御部と、
PWM信号のキャリア周波数を設定する設定部と、
モータートルク指令値と、キャリア周波数と、モーターの回転状態とに基づいて、トルクリプル補償値を設定するトルクリプル補償部と、
を含み、
電流制御部は、モータートルク指令値とトルクリプル補償値とに基づいてPWM信号を出力する、
モーター制御装置。 - 請求項1に記載のモーター制御装置であって、
前記トルクリプル補償部は、
トルク指令値に基づいてトルクリプルの次数ごとに振幅と位相を推定する推定部と、
キャリア周波数に基づいてモーターに対する制御遅れ時間を算出する算出部と、
前記モーターの回転状態と制御遅れ時間とに基づいて、前記次数ごとに位相を補正したトルクリプル補償値を演算する補償値演算部と、を含む、
モーター制御装置。 - 請求項2に記載のモーター制御装置であって、
前記制御遅れ時間は、トルク指令値にトルクリプル補償値をフィードバックする処理時間と、トルク指令値からモーターへの制御電流値を演算する演算時間と、電流制御によるモーターの応答遅れ時間と、を含む、
モーター制御装置。 - 請求項2又は請求項3に記載のモーター制御装置であって、
前記算出部は、トルク指令値とモーターの応答遅れ時間とが互いに対応付けられた応答遅れマップを用いて、前記制御遅れ時間を算出する、
モーター制御装置。 - 請求項2から請求項4のいずれか1項に記載のモーター制御装置であって、
前記推定部は、トルク指令値ごとに各次数の振幅と位相が対応付けられた推定マップを用いて前記モーターに生じるトルクリプルを推定する、
モーター制御装置。 - モーターのトルクリプルを補償するモーター制御方法であって、
モーターを制御するスイッチング素子を駆動するためのPWM信号を出力する電流制御工程と、
PWM信号のキャリア周波数を設定する設定工程と、
モータートルク指令値と、キャリア周波数と、モーターの回転状態とに基づいて、トルクリプル補償値を設定するトルクリプル補償工程と、
前記電流制御工程は、モータートルク指令値とトルクリプル補償値とに基づいてPWM信号を出力する、
モーター制御方法。
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JP2014536679A JP5949929B2 (ja) | 2012-09-18 | 2013-08-12 | モーター制御装置及びモーター制御方法 |
US14/428,091 US9252689B2 (en) | 2012-09-18 | 2013-08-12 | Motor control device and motor control method |
CN201380045427.7A CN104838584B (zh) | 2012-09-18 | 2013-08-12 | 电机控制装置以及电机控制方法 |
EP13838390.6A EP2899878B1 (en) | 2012-09-18 | 2013-08-12 | Motor control device and motor control method |
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JP2012-204633 | 2012-09-18 | ||
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CN106797189A (zh) * | 2014-08-29 | 2017-05-31 | 日产自动车株式会社 | 可变磁化机控制器 |
WO2023281794A1 (ja) * | 2021-07-08 | 2023-01-12 | 日立Astemo株式会社 | モータ制御装置、モータ制御方法、ステアリングシステム、および車両駆動システム |
WO2023067798A1 (ja) * | 2021-10-22 | 2023-04-27 | 日立Astemo株式会社 | モータ制御装置、およびモータ制御方法 |
CN116460853A (zh) * | 2023-05-17 | 2023-07-21 | 苏州艾利特机器人有限公司 | 柔性关节速度脉动补偿方法、装置、系统及存储介质 |
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US20170077854A1 (en) * | 2015-09-15 | 2017-03-16 | GM Global Technology Operations LLC | Method and apparatus for controlling an electric machine |
CN105915138A (zh) * | 2016-05-01 | 2016-08-31 | 上海大学 | 基于改进型dob和扭矩高通滤波的弹性连接传动系统扭振抑制方法 |
JP7048388B2 (ja) * | 2018-03-29 | 2022-04-05 | 株式会社シマノ | 人力駆動車用制御装置 |
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Publication number | Publication date |
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CN104838584B (zh) | 2016-12-28 |
EP2899878A4 (en) | 2015-12-09 |
CN104838584A (zh) | 2015-08-12 |
EP2899878A1 (en) | 2015-07-29 |
US20150229250A1 (en) | 2015-08-13 |
JP5949929B2 (ja) | 2016-07-13 |
EP2899878B1 (en) | 2018-03-07 |
US9252689B2 (en) | 2016-02-02 |
JPWO2014045760A1 (ja) | 2016-08-18 |
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