A motor control system includes a motor, an encoder, and a controller including a controller transmitter configured to transmit a torque command to control the motor. The encoder includes a position detector configured to detect a rotational position of the motor, an encoder receiver configured to receive the torque command from the controller transmitter, first disturbance estimating circuitry configured to estimate a first disturbance torque based on the rotational position and the torque command, and an encoder transmitter configured to transmit the rotational position and the first disturbance torque to the controller.

A motor control system includes a motor, an encoder, and a controller including a controller transmitter configured to transmit a torque command to control the motor. The encoder includes a position detector configured to detect a rotational position of the motor, an encoder receiver configured to receive the torque command from the controller transmitter, first disturbance estimating circuitry configured to estimate a first disturbance torque based on the rotational position and the torque command, and an encoder transmitter configured to transmit the rotational position and the first disturbance torque to the controller.

A shift range control device switches a shift range by controlling drive of a motor. An angle calculation unit calculates a motor angle based on a signal from a rotation angle sensor that detects a rotation position of the motor. A drive control unit drives the motor so that the motor angle becomes a target angle according to the target shift range, and stops a rotor by a fixed phase energization, when the motor angle reaches a target angle. When the rotor vibrates with respect to stop position, the drive control unit maintains a state in which a brake torque, which is the torque generated when moving away from center of vibration, is larger than an acceleration torque, which is the torque generated when moving toward the center of vibration, and reduces the current that energizes the motor based on a difference between the brake torque and the acceleration torque.

A variety of methods, controllers and electric machine systems are described that facilitate pulsed control of electric machines to improve the energy efficiency of the electric machine when conditions warrant. Selected transitions between pulsing output levels are controlled to provide a cubic or higher order transition torque profile. In various implementations, cubic, quintic or higher order transition profiles are use. The use of such transition torque profiles can improve NVH characteristics of the electric machine while providing energy efficient pulse transitions.

A variety of methods, controllers and electric machine systems are described that facilitate pulsed control of electric machines to improve the energy efficiency of the electric machine when conditions warrant. Selected transitions between pulsing output levels are controlled to provide a cubic or higher order transition torque profile. In various implementations, cubic, quintic or higher order transition profiles are use. The use of such transition torque profiles can improve NVH characteristics of the electric machine while providing energy efficient pulse transitions.

A vehicle system vibration suppression control device is provided for a vehicle system in which a vehicle is driven via an elastic shaft by a motor drive device having a torque control function. The vehicle system vibration suppression control device includes: a section containing an approximate model to which an output torque command is inputted; and a feedback control section. The feedback control section is configured to: employ the approximate model; calculate a motor-accelerating torque component by differentiating a measured speed component of a motor rotational speed; produce a compensation torque component by causing the motor-accelerating torque component to pass through a vibration suppression control filter; and calculate the output torque command by subtracting the compensation torque component from an input torque command. The vibration suppression control filter is expressed by a second order mathematical expression.

A vehicle system vibration suppression control device is provided for a vehicle system in which a vehicle is driven via an elastic shaft by a motor drive device having a torque control function. The vehicle system vibration suppression control device includes: a section containing an approximate model to which an output torque command is inputted; and a feedback control section. The feedback control section is configured to: employ the approximate model; calculate a motor-accelerating torque component by differentiating a measured speed component of a motor rotational speed; produce a compensation torque component by causing the motor-accelerating torque component to pass through a vibration suppression control filter; and calculate the output torque command by subtracting the compensation torque component from an input torque command. The vibration suppression control filter is expressed by a second order mathematical expression.

An estimated value of frequency of a vibration component for automatically adjusting a control unit that suppresses resonance characteristics of a machine is stably and reliably estimated without depending on the magnitude of amplitude of the vibration component and without risk of arithmetic overflow. A motor control device including an automatic adjustment device that adaptively adjusts a controller included in a motor control system based on a frequency of a vibration component superimposed on a response of the motor control system, the automatic adjustment device including a vibration extraction unit that receives the response of the motor control system and extracts the vibration component from the response of the motor control system; a notch filter unit that receives the vibration component from the vibration extraction unit; an encoding unit; a limiter unit that receives an output of the notch filter unit; an adaptive updating unit; and a unit conversion unit.

An estimated value of frequency of a vibration component for automatically adjusting a control unit that suppresses resonance characteristics of a machine is stably and reliably estimated without depending on the magnitude of amplitude of the vibration component and without risk of arithmetic overflow. A motor control device including an automatic adjustment device that adaptively adjusts a controller included in a motor control system based on a frequency of a vibration component superimposed on a response of the motor control system, the automatic adjustment device including a vibration extraction unit that receives the response of the motor control system and extracts the vibration component from the response of the motor control system; a notch filter unit that receives the vibration component from the vibration extraction unit; an encoding unit; a limiter unit that receives an output of the notch filter unit; an adaptive updating unit; and a unit conversion unit.

A motor drive control device includes: a feedback control unit calculating an operation amount (Sad) of a motor such that a rotation speed S3 of the motor matches a target rotation speed S1; a drive control signal generation unit generating a drive control signal Sd based on the operation amount Sad; a current fluctuation detection unit detecting a fluctuation of a current flowing through the motor; a correction instruction unit instructing correction of the operation amount Sad when the fluctuation of the current flowing through the motor is detected by the current fluctuation detection unit; and a correction unit correcting the operation amount Sad and providing the corrected operation amount S2 to the drive control signal generation unit when the correction of the operation amount Sad is instructed from the correction instruction unit.