Motor controller and control method thereof

A control device which controls the current supplied to a motor (

1) comprises a phase sensor (

2) which detects a rotor phase of the motor (

1) at a predetermined angular resolution, and outputs a phase signal corresponding to plural phase determining ranges, a motor drive device (

4, 5), and a controller (

3). The controller (

3) selects one method from plural different methods which determine a current control rotor phase from the phase signal, computes the current control rotor phase from the phase signal using the selected method, computes a command value of the current supplied to the motor (

1) using the computed current control rotor phase, and outputs this to the motor drive device (

4, 5).

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic block diagram of a motor control system relating to this invention.

FIG. 2 is a drawing showing a relation between a rotor phase and power output of a phase detector.

FIG. 3 is a characteristic drawing showing a relation between a beta angle and motor torque.

FIG. 4 is a drawing showing a relation between beta angle and a current vector.

FIG. 5 is a flowchart of a rotor rotation speed computation routine.

FIG. 6 is a flowchart of a main control routine.

FIG. 7 is a flowchart of a rotor phase computation subroutine.

FIG. 8 is a flowchart of a rotor phase computation subroutine in an estimation mode.

FIG. 9 is a flowchart of a rotor phase computation subroutine in a fixed mode.

FIG. 10 is a flowchart of a rotor phase computation subroutine in a correction mode.

FIG. 11 is a phase variation amount computation table.

FIG. 12 is a flowchart of a mode selection routine.

FIG. 13 shows a second embodiment, and is a flowchart of a correction mode beta angle computation subroutine.

FIG. 14 is a beta angle variation amount computation table.

FIG. 15 shows a third embodiment, and is a flowchart of a routine for calculating a command value of a supply current to a motor.

FIG. 16 is a flowchart of a torque command value computation subroutine.

FIG. 17 is a flowchart of a rotor phase computation subroutine.

FIG. 18 is a flowchart of a current amplitude computation subroutine.

FIG. 19 is a time chart showing an operation when the control mode shifts to the estimation mode from the fixed mode.

FIG. 20 is a time chart showing an operation when the control mode shifts to the estimation mode from the fixed mode.

FIG. 21 shows a fourth embodiment, and is a flowchart of a torque command value computation subroutine.

FIG. 22 is an initial torque computation table.

FIG. 23 is a time chart showing an operation when the control mode shifts to the estimation mode from the fixed mode.

1. A control device for controlling current supplied to a motor, comprising:

2. The control device as defined in claim 1, wherein the controller further functions to:

3. The control device as defined in claim 2, wherein the controller further functions to:

4. The control device as defined in claim 3, wherein the controller further functions to:

5. The control device as defined in claim 4, wherein the fixed rotor position is an intermediate position in the phase determination range where the rotor phase is determined to be from the phase signal.

6. The control device as defined in claim 1, wherein the controller further functions to:

7. The control device as defined in claim 1, wherein the controller further functions to:

8. The control device as defined in claim 7, wherein the controller further functions to:

9. The control device as defined in claim 8, wherein the controller further functions to:

10. The control device as defined in claim 8, wherein the controller further functions to:

11. The control device as defined in claim 10, wherein the controller further functions to:

12. The control device as defined in claim 1, wherein the drive device drives the motor in accordance with the command value of the current.

13. A method for controlling the current supplied to a motor, comprising:

14. The method as defined in claim 13, comprising:

15. The method as defined in claim 13, comprising:

16. The method as defined in claim 13, wherein the motor is driven in accordance with the current supplied to the motor based on the command value of the current.

17. A control device for controlling current supplied to a motor, comprising:

18. The control device as defined in claim 17 wherein the driving means drives the motor according to the command value of the current.