JP2009278733A - Motor controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor controller stably rotationally driving a motor with the production of torque ripples suppressed. <P>SOLUTION: An actual induced voltage produced in a search coil 22 with the rotation of the magnet rotor of a motor 20 is compared with an ideal voltage value of induced voltage of the motor. A voltage sequentially applied to the windings of multiple phases of the motor 20 is corrected according to the difference between the voltage value of the actual induced voltage and the ideal voltage value. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a motor control device, and in particular, has a multi-phase winding and a magnet rotor configured to include a permanent magnet, and a voltage is sequentially applied to the multi-phase winding so that each winding is in turn. The present invention relates to a motor control device in which a magnet rotor is rotated by a rotating magnetic field generated by current flow.

  A brushless motor is known as a motor without a brush and a commutator. This brushless motor is suitable for long-term driving because the brushed motor is in contact with the commutator and the brush is free from frictional wear. For this reason, it is widely used as a drive motor in an environment where the frequency of use is intense and maintenance is not performed regularly.

  In this brushless motor, a magnet rotor including a permanent magnet is rotated by a rotating magnetic field generated by sequentially applying a voltage to a plurality of phase windings and causing a current to flow through each winding in turn.

Vector control is known as a control method for driving the brushless motor with high efficiency (for example, Patent Document 1). In this vector control, currents actually flowing in a plurality of phase windings are detected, and the detected current values of the plurality of phase windings are coordinate-converted into a dq coordinate system by three-phase two-phase conversion, and current values in the dq coordinate system are converted. Is compared with the current command value in the dq coordinate system to perform speed control and torque control.
Japanese Patent Laying-Open No. 2005-237054

  By the way, in an ideal brushless motor, the currents flowing in the windings of the plurality of phases are sine waves. For this reason, in the vector control, the current flowing through each winding is treated as a sine waveform, and three-phase two-phase conversion is performed to perform coordinate conversion into the dq coordinate system.

  However, in an actual brushless motor, the current flowing in each winding is distorted due to uneven magnetization of the magnet of the magnet rotor, current pulsation, current distortion, etc., and this current distortion causes torque ripple in the rotation of the magnet rotor. Has occurred, and there has been a problem that the motor cannot be driven to rotate stably.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a motor control device that can stably rotate and drive a motor while suppressing generation of torque ripple.

  In order to achieve the above object, a motor control device according to a first aspect of the present invention includes a plurality of phase windings and permanent magnets, and a voltage is sequentially applied to the plurality of phase windings. Voltage application means for sequentially applying a voltage to the plurality of phase windings of a motor having a magnet rotor that is rotated by a rotating magnetic field generated by a current flowing in sequence in each winding, and induction with the rotation of the magnet rotor A coil for generating a voltage, deriving means for deriving an ideal motor induced voltage when the waveform of the induced voltage generated in the coil is a sine waveform, and an actual induced voltage generated in the coil The voltage value is compared with the ideal voltage value derived by the deriving means, and the winding of the plurality of phases is performed by the voltage applying means according to the difference between the actual induced voltage value and the ideal voltage value. Applied to the wire It includes a correcting means for correcting the voltage.

  The motor control device according to claim 1 includes a plurality of phase windings and a permanent magnet, and is generated by sequentially applying a voltage to the plurality of phase windings and causing a current to flow in each winding in order. A voltage is sequentially applied to the windings of a plurality of phases of a motor having a magnet rotor rotated by a rotating magnetic field, and an induced voltage is generated in the coil as the magnet rotor rotates.

  The deriving means derives an ideal voltage value of the induced voltage of the motor when the waveform of the induced voltage generated in the coil is a sine waveform.

  In the present invention, the correction means compares the voltage value of the actual induced voltage generated in the coil with the ideal voltage value derived by the deriving means, and compares the actual voltage value of the induced voltage with the ideal voltage value. The voltage applied to the windings of the plurality of phases by the voltage applying means is corrected according to the difference from the voltage value.

  Thus, in the present invention, even if a torque ripple occurs in the rotation of the magnet rotor, the voltage value of the actual induced voltage generated in the coil with the rotation of the magnet rotor is compared with the ideal voltage value. Since the voltage applied to the windings of the multiple phases of the motor in order is corrected according to the difference between the actual induced voltage value and the ideal voltage value, torque ripple is suppressed and the motor is stabilized. It can be rotated.

  In addition, the invention according to claim 1 is the rotation detection means for detecting the rotation speed and rotation angle of the magnet rotor, and the ideal according to the rotation speed and rotation angle of the magnet rotor. Storage means for storing information on the magnetic flux of a typical motor, wherein the derivation means detects the rotation speed and the rotation angle detected by the rotation detection means based on the information on the magnetic flux stored in the storage means. An ideal voltage value according to the above may be derived.

  According to the second aspect of the invention, by storing in advance information on the ideal motor magnetic flux corresponding to the rotation speed and rotation angle of the magnet rotor, the rotation speed and rotation angle of the magnet rotor can be stored. A corresponding ideal voltage value can be quickly derived.

  According to a third aspect of the present invention, the current value flowing through each of the plurality of phase windings is three-phase to two-phase converted, and the d-axis current value corresponding to the excitation current and the q corresponding to the torque generation current are provided. Voltage control means for obtaining an axial current value and controlling the voltage applied to the windings of the plurality of phases from the voltage applying means so that the d-axis current value and the q-axis current value are respectively designated designated current values. The correction means may correct at least the q-axis component according to the difference between the voltage value of the actual induced voltage and the ideal voltage value.

  According to the third aspect of the present invention, the current value flowing through the windings of the plurality of phases is three-phase to two-phase converted, and the vector control for comparing the d-axis current value and the q-axis current value with the current command value is performed. Thus, the motor can be driven with high efficiency. In vector control, it is possible to suppress occurrence of torque ripple by correcting at least the q-axis component.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows a motor control device 10 according to the present embodiment and a motor 20 controlled by the motor control device 10.

  The motor 20 according to the present embodiment is a three-phase brushless motor that includes three-phase (U-phase, V-phase, and W-phase) windings and a magnet rotor. In the motor 20, the magnet rotor is rotated by a rotating magnetic field generated by sequentially applying a voltage to each phase winding and causing a current to flow through each winding in turn.

  Further, the motor 20 according to the present embodiment includes a search coil 22 that generates an induced voltage as the magnet rotor rotates, in addition to the three-phase winding.

  The motor control device 10 includes a rotation sensor 30 for detecting the rotation speed of the motor 20, a controller 50 for controlling the rotation speed of the rotation shaft of the motor 20 based on the output of the rotation sensor 30, An inverter 32 that rotates and drives the motor 20 by supplying an alternating current to each of the three-phase windings according to the control, and a current that actually flows from the inverter 32 to each of the U-phase, V-phase, and W-phase windings of the motor 20. The current sensor 34 to be detected is configured as a main component.

  The inverter 32 is a DC voltage of a DC power source (not shown) such as a battery according to a current designation value of each phase of U, V, and W input from the controller 50 by a power conversion element such as an FET (Field Effect Transistor). And three-phase AC voltages U, V, and W are applied to the three-phase windings.

  The rotation sensor 30 is provided on the rotation shaft of the motor 20. The rotation sensor 30 outputs a pulse signal every time the rotation shaft of the motor 20 rotates by a predetermined angle. The rotation sensor 30 outputs an origin position signal used to detect the rotation angle of the rotation shaft when the rotation shaft of the motor 20 reaches a predetermined rotation angle. The rotation sensor 30 outputs a pulse signal at a cycle corresponding to the rotation speed of the rotation shaft when the rotation shaft of the motor 20 rotates, and outputs an origin position signal every time the rotation shaft rotates once.

  The current sensor 34 detects currents that actually flow through the U-phase, V-phase, and W-phase windings of the motor 20, and current values iu, iv, that flow through the U-phase, V-phase, and W-phase windings, respectively. Each signal indicating iw is output to the controller 50.

  The controller 50 is electrically connected to the rotation sensor 30, the current sensor 34, the search coil 22, and an external device, respectively, and the pulse signal and the origin position signal from the rotation sensor 30, the U phase, V phase, W from the current sensor 34. A signal indicating the current values iu, iv, iw flowing through each phase winding, an induced voltage generated in the search coil 22, and a current command value corresponding to the target rotational speed are input from an external device. Yes.

  The controller 50 includes a CPU that is an arithmetic unit and a RAM and ROM that are storage devices. The controller 50 compares the current command value with the current value actually flowing through the winding, and controls the presence / absence of power feeding to each winding by the inverter 32 and the magnitude of the supplied current so as to eliminate these differences. It has become.

  FIG. 1 is a functional block diagram functionally showing the flow of control of the rotation speed by the controller 50.

  As shown in the figure, the controller 50 includes a rotation angle / rotation speed detection unit 52, a motor magnetic flux information storage unit 54, a voltage value derivation unit 56, an error correction calculation unit 58, and a two-phase AC conversion unit 60. The rotation coordinate conversion unit 62, the addition unit 64, the subtraction unit 66, the PI control unit 68, the orthogonal coordinate conversion unit 70, and the three-phase AC conversion unit 72 are provided.

The pulse signal and the origin position signal output from the rotation sensor 30 are input to the rotation angle / rotation speed detection unit 52. In addition, signals indicating the currents iu, iv, and iw output from the current sensor 34 are input to the two-phase AC converter 60. Further, the induced voltage e _θ generated in the search coil 22 is supplied to the error correction calculation unit 58.

  The rotation angle / rotation speed detection unit 52 detects the rotation angle θ of the rotating shaft of the motor 20 by counting the number of pulses of the input pulse signal with the count value set to zero each time the origin position signal is input. Further, the rotation angle / rotation speed detection unit 52 detects the rotation speed ω of the rotation shaft of the motor 20 by detecting the pulse width of the input pulse signal or the number of pulses per unit time. The rotation angle / rotation speed detection unit 52 outputs the detected rotation angle θ to the voltage value deriving unit 56, the rotation coordinate conversion unit 62, and the orthogonal coordinate conversion unit 70, and the detected rotation speed ω is a voltage value deriving unit 56. Output to.

Here, an induced voltage _eθ is generated in the search coil 22 as the magnet rotor of the motor 20 rotates. Since the induced voltage _eθ is ideally a sine waveform, the generation period of the induced voltage and the voltage value to be generated can be obtained by experiment or computer simulation according to the rotation speed of the magnet rotor.

  In the present embodiment, information regarding the ideal motor magnetic flux is stored in the motor magnetic flux information storage unit 54. In this embodiment, motor magnetic flux information is stored as a table of ideal motor magnetic flux for each rotation speed and rotation angle of the magnet rotor. For example, the rotation speed and rotation of the magnet rotor are stored. The angle may be stored as a function using the input parameter as an input parameter and the ideal motor magnetic flux as an output parameter.

  The voltage value deriving unit 56 is an ideal voltage value corresponding to the rotational speed ω and the rotational angle θ detected by the rotational angle / rotational speed detection unit 52 based on the motor magnetic flux information stored in the motor magnetic flux information storage unit 54. e is derived, and the derived ideal voltage value e is output to the error correction calculation unit 58.

The error correction calculation unit 58 detects the actual induced voltage e _θ generated in the search coil 22, and the detected actual induced voltage value e _θ and the ideal voltage derived by the voltage value deriving unit 56. The difference between the value e and the ideal voltage value e with _respect to the actual induced voltage value eθ is obtained, and the difference is output to the adder 64 as a correction amount Δi.

  The two-phase alternating current conversion unit 60 inputs the current values iu, iv and iw of the three-phase alternating current flowing through the U-phase, V-phase and W-phase windings indicated by the signals input from the current sensor 34 into the two-phase alternating current value iα. , Iβ. The rotation coordinate conversion unit 62 indicates the two-phase AC current values iα and iβ converted by the two-phase AC conversion unit 60 in the rotation coordinate system of the rotation angle θ detected by the rotation angle / rotation speed detection unit 52. The d-axis current value id corresponding to the excitation current and the q-axis current value corresponding to the torque generation current are converted into current values.

  That is, in the present embodiment, the two-phase alternating current conversion unit 60 and the rotary coordinate conversion unit 62 perform three-phase two-phase conversion of the three-phase alternating current values iu, iv, and iw to obtain the d-axis current value id and the q-axis. The current value iq is obtained.

  The rotation coordinate conversion unit 62 outputs the converted d-axis current value id and q-axis current value iq to the subtraction unit 66.

  In addition to the correction amount Δi obtained by the error correction calculation unit 58, the current command value from the external device is also input to the adding unit 64.

In the present embodiment, a d-axis current command value id ^* for commanding a target d-axis current and a q-axis current command value iq ^* for commanding a target q-axis current are used as current command values for the adder 64. input.

The adder 64 outputs the input d-axis current command value id ^* to the subtractor 66 as it is, adds a correction amount Δi to the input q-axis current command value iq ^* , and obtains the value obtained by the addition. The new q-axis current command value iq ^* is output to the subtracting unit 66.

The subtracting unit 66 subtracts the q-axis current value iq from the input q-axis current command value iq ^* to obtain the q-axis deviation, and subtracts the d-axis current value id from the input d-axis current command value id ^*. To obtain the d-axis deviation. The subtraction unit 66 outputs the obtained q-axis and d-axis deviations to the PI control unit 68.

The PI control unit 68 performs, for each q-axis and d-axis, proportional calculation (P control) of the deviation between the q-axis and d-axis obtained by the subtraction unit 66 and integration calculation (I control) that integrates the deviation over time. Then, a value obtained by adding the proportional value and the integral value obtained by the proportional calculation and the integral calculation is multiplied by a predetermined gain coefficient, and the value obtained by the multiplication is designated as a current designated value νd ^* , νq. ^* Is output to the orthogonal coordinate conversion unit 70.

Orthogonal coordinate converting unit 70, obtained by the PI control unit 68, the rotation angle current designated value indicated by the rotational coordinate system theta [nu] d ^*, current value specified stationary coordinate system νq ^* να ^*, converted to Nyubeta ^* To do. The three-phase alternating current conversion unit 72 converts the two-phase alternating current designation values να ^* and νβ ^* of the stationary coordinate system converted by the orthogonal coordinate transformation unit 70 into the three-phase alternating current designation values νu ^* , νv ^* , and νw ^* . The data is converted and output to the inverter 32.

That is, in the present embodiment, the orthogonal coordinate conversion unit 70 and the three-phase alternating current conversion unit 72 perform two-phase three-phase conversion of the current designation values νd ^* and νq ^* of the rotating coordinate system, and the three-phase alternating current designation value νu. ^* , Νv ^* , νw ^* are obtained.

  By the way, each component (the rotation angle / rotation speed detection unit 52, the voltage value derivation unit 56, the error correction calculation unit 58, the two-phase AC conversion unit 60, the rotation coordinate conversion unit) of the motor control device 10 configured as described above. 62, the adding unit 64, the subtracting unit 66, the PI control unit 68, the orthogonal coordinate conversion unit 70, and the three-phase AC conversion unit 72), by executing a program and using a computer, the software configuration Can be realized. However, the present invention is not limited to realization by a software configuration, and needless to say, it can also be realized by a hardware configuration or a combination of a hardware configuration and a software configuration.

  Below, the case where the controller 50 which concerns on this Embodiment implement | achieves the process by said each component by executing a vector control processing program is demonstrated. In this case, the vector control processing program is stored in advance in a ROM provided in the controller 50. The motor magnetic flux information is also stored in advance in the ROM.

  Next, the operation of the motor control device 10 according to the present embodiment will be described.

  The motor 20 is magnetized by a rotating magnetic field generated when the controller 50 is operated and three-phase AC voltages U, V, W are applied from the inverter 32 to the three-phase windings of the motor 20 and currents flow through the windings in turn. The rotor rotates.

When the magnet rotor of the motor 20 rotates, the rotation sensor 30 outputs a pulse signal at a cycle corresponding to the rotation speed of the rotation shaft of the motor 20. The output pulse signal is input to the controller 50. The current sensor 34 detects currents actually flowing in the U-phase, V-phase, and W-phase windings of the motor 20, and current values iu, iv, Each signal indicating iw is output to the controller 50. Furthermore, an induced voltage _eθ is generated in the search coil 22 as the magnet rotor rotates.

  The controller 50 controls the rotational drive of the motor 20 by executing a vector control processing program.

  FIG. 2 shows the flow of processing of the vector control processing program executed by the controller 50. Note that the processing of the following vector control processing program is repeatedly executed at a predetermined cycle while the motor 20 is driven to rotate.

  In step 100, the rotation angle θ of the rotating shaft of the motor 20 is detected from the number of pulses of the pulse signal input from the rotation sensor 30, and the rotation of the motor 20 is determined from the pulse width of the input pulse signal or the number of pulses per unit time. The rotational speed ω of the shaft is detected.

In the next step 102, it detects the voltage value e _theta actual induced voltage by performing a sampling of the induced voltage generated in the search coil 22.

  In the next step 104, an ideal voltage value e corresponding to the rotation angle θ and the rotation speed ω of the rotating shaft of the motor 20 detected in step 100 is derived based on the motor magnetic flux information stored in advance.

In the next step 106 compares the actual induced voltage voltage value e _theta and ideal voltage value e which is derived in step 104, the ideal voltage value for the voltage value of the actual induced voltage e _theta e And the difference is set as a correction amount Δi.

  In the next step 108, three-phase two-phase conversion is performed on the current values iu, iv, iw flowing in the U-phase, V-phase, and W-phase windings detected in step 100 to obtain d-axis current values id and q. A shaft current value iq is obtained.

In the next step 110, the correction amount Δi obtained in step 106 is added to the q-axis current command value iq ^* input from the external device.

In the next step 112, the q-axis current value iq is subtracted from the q-axis current command value iq ^* added with the correction amount Δi to obtain the q-axis deviation, and the d-axis current command value id ^* input from the external device is obtained ^. The d-axis deviation is obtained by subtracting the d-axis current value id from.

In the next step 114, the q-axis and d-axis deviations are proportionally calculated and integrated for each q-axis and d-axis, and the proportional value and the integral value obtained by the proportional calculation and the integral calculation are added. Is multiplied by a predetermined gain coefficient, and current designated values νd ^* and νq ^* are obtained from the values obtained by the multiplication.

In the next step 116, current designation values νd ^* , νq ^* are converted into three-phase AC current designation values νu, νv, νw by performing two-phase / three-phase conversion. Output to the inverter 32.

  The inverter 32 switches the DC voltage of a DC power source such as a battery according to the current designation values νu, νv, νw input from the controller 50, and the three-phase AC voltages U, V are applied to the windings classified into three phases. , W is applied, and a rotating magnetic field is generated by causing current to flow sequentially through the windings of the motor 20. Thereby, the magnet rotor of the motor 20 rotates.

  By the way, in the motor 20, distortion occurs in the current flowing through each winding due to uneven magnetization of the magnet of the magnet rotor, current pulsation, current distortion, and the like, and torque ripple is generated in the rotation of the magnet rotor due to this current distortion. There is a case.

In FIG. 3, an ideal that the waveform of the voltage value e _theta induced voltage actual for one period generated in the search coil 22 in the case where the torque ripple occurs in the rotation of the magnet rotor, the induced voltage with a sinusoidal waveform A waveform of a correct voltage value e is shown.

When torque ripple occurs in the rotation of the magnet rotor of the motor 20 and the actual induced voltage generated in the search coil 22 is distorted, an error occurs between the actual voltage value _eθ and the ideal voltage value e. To do. In FIG. 3, the difference (correction amount Δi) between the ideal voltage value e and the actual voltage value e _θ generated in the search coil 22 is shown as an error. Error waveform, as shown in FIG. 3, becomes negative when the actual voltage value e _theta is larger than the ideal voltage value e, if the actual voltage value e _theta is less than the ideal voltage value e It is a plus.

The controller 50 according to the present embodiment corrects the voltage applied from the inverter 32 to each winding of the motor 20 by adding the correction amount Δi to the q-axis current command value iq ^* input from the external device. Yes.

This correction current actual voltage value generated in the search coil 22 e _theta is flowing through each phase winding of the ideal case greater than the voltage value e is the q-axis current command value iq ^* is negative the motor 20 There was lowered, the current actual voltage value generated in the search coil 22 e _theta is flowing through each phase winding of the ideal is less than the voltage value e is the q-axis current command value iq ^* is positive the motor 20 Will increase.

FIG. 4 shows changes in the current flowing through the windings of the respective phases (for example, the U phase) of the motor 20 due to the correction of the q-axis current command value iq ^* .

  As described above, according to the present embodiment, even if torque ripple is generated in the rotation of the magnet rotor of the motor 20, the actual induced voltage generated in the search coil 22 along with the rotation of the magnet rotor is ideal. Compared with the voltage value, the voltage applied in sequence to the windings of the plurality of phases of the motor 20 is corrected according to the difference between the actual induced voltage value and the ideal voltage value. Thus, the motor can be stably rotated.

  In this embodiment, motor magnetic flux information indicating a voltage value of an ideal induced voltage of the motor according to the rotation speed and rotation angle of the magnet rotor is stored in advance, and the rotation speed and rotation of the magnet rotor are stored. Although the case of deriving an ideal voltage value according to the angle has been described, the present invention is not limited to this. For example, the current value flowing through the plurality of phase windings detected by the current sensor 34 is determined. Based on this, an ideal induced voltage may be derived.

  Further, as in the present embodiment, when the controller 50 divides the current flowing through each winding into a d-axis current and a q-axis current and vector-controls the voltage applied to each winding, the q-axis current is applied to the magnet rotor. This is the component that rotates. For this reason, generation | occurrence | production of the torque ripple in the motor 20 can be reduced by correct | amending the deviation of q-axis current. The d-axis current is a component that vibrates the magnet rotor in the radial direction. If the rigidity of the magnet rotor in the radial direction is low, the yoke (case) of the magnet rotor is vibrated. For this reason, the deviation of the d-axis current may be further corrected.

  In addition, the configuration (see FIG. 1) of the motor control device 10 described in the above embodiments is merely an example, and it is needless to say that the configuration can be appropriately changed without departing from the gist of the present invention.

  The processing flow of the vector control processing program (see FIG. 2) described in the present embodiment is also an example, and it goes without saying that it can be changed as appropriate without departing from the gist of the present invention.

It is a block diagram which shows the motor control apparatus which concerns on embodiment, and the function structure of a motor. It is a flowchart which shows the flow of a process of the vector control processing program which concerns on embodiment. It is a graph which shows the waveform of the actual induced voltage which generate | occur | produces in the search coil which concerns on embodiment, and an ideal induced voltage. It is a graph which shows the change of the electric current which flows into the coil | winding of each phase of the motor which concerns on embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Motor control apparatus, 20 ... Motor, 22 ... Search coil (coil), 30 ... Rotation sensor (rotation detection means), 32 ... Inverter (voltage application means), 34 ... Current sensor (current detection means), 50 ... Controller 52... Rotation angle / rotation speed detection unit (rotation detection unit) 54... Motor magnetic flux information storage unit (storage unit) 56... Voltage value deriving unit (derivation unit) 58 58 error correction calculation unit (correction unit) 60 ... Two-phase AC conversion unit (voltage control means), 62 ... Rotational coordinate conversion part (voltage control means), 64 ... Addition part (correction means), 66 ... Subtraction part (voltage control means), 68 ... PI control part ( Voltage control means), 70 ... Cartesian coordinate conversion section (voltage control means), 72 ... Three-phase AC conversion section (voltage control means)

Claims (3)

A magnet rotor that is configured to include a plurality of phase windings and permanent magnets, and that is rotated by a rotating magnetic field generated by sequentially applying a voltage to each of the plurality of phase windings and causing a current to flow sequentially to each winding. Voltage applying means for sequentially applying a voltage to the plurality of phase windings of the motor having;
A coil that generates an induced voltage as the magnet rotor rotates,
Deriving means for deriving an ideal motor induced voltage value when the induced voltage waveform generated in the coil is a sine waveform;
The voltage value of the actual induced voltage generated in the coil is compared with the ideal voltage value derived by the deriving means, and according to the difference between the voltage value of the actual induced voltage and the ideal voltage value Correction means for correcting the voltage applied to the windings of the plurality of phases from the voltage application means;
A motor control device comprising: Rotation detection means for detecting the rotation speed and rotation angle of the magnet rotor;
Storage means for storing information on the ideal magnetic flux according to the rotation speed and rotation angle of the magnet rotor,
2. The motor according to claim 1, wherein the derivation unit derives the ideal voltage value corresponding to the rotation speed and the rotation angle detected by the rotation detection unit based on information on the magnetic flux stored in the storage unit. Control device. Three-phase two-phase conversion is performed on current values flowing in the windings of the plurality of phases to obtain a d-axis current value corresponding to the excitation current and a q-axis current value corresponding to the torque generation current, and the d-axis current value and the q-axis Voltage control means for controlling the voltage applied to the windings of the plurality of phases from the voltage application means so that the current value becomes a specified current value, respectively,
The motor control device according to claim 1, wherein the correction unit corrects at least a q-axis component according to a difference between a voltage value of the actual induced voltage and the ideal voltage value.

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