# US 10,873,281 B2 · Motor controller and motor control method

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- Number: US 10,873,281 B2
- Document ID: US10873281B2
- Status: Granted
- Kind: B2
- Application number: 16/293,874
- Filed: 2019-03-06
- Published: 2019-09-19
- Granted: 2020-12-22
- Earliest claimed: 2018-03-14
- Assignees: Nidec Corporation
- Applicants: Nidec Corporation
- Inventors: Hideo Kishida
- Web page: https://patentgrep.com/patent/US10873281B2

## CPC

- H02P 6/17: and for generating speed information
- H02K 11/215: Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
- H02P 6/08: Arrangements for controlling the speed or torque of a single motor (H02P6/10, H02P6/28 take precedence)
- H02P 6/34: Modelling or simulation for control purposes
- H02P 23/0004: {Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control}
- H02P 23/16: Controlling the angular speed of one shaft (H02P23/18 takes precedence)
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53})

## Abstract

A motor controller is configured or programmed to include a rotational speed acquirer to acquire an actual rotational speed of a motor including a rotor that includes permanent magnets, a commanded voltage calculator to calculate a commanded voltage to be supplied to the motor based on a difference between the actual rotational speed and a target rotational speed, and a feed-forward compensator to compensate the commanded voltage by an amount equal to an induced voltage in the motor based on the target rotational speed. The feed-forward compensator includes a compensation value calculator to calculate a feed-forward compensation value on which smoothing processing has been performed and an adder to add the feed-forward compensation value to the commanded voltage.

## Claims

### Claim 1

A motor controller comprising:
a rotational speed acquirer to acquire an actual rotational speed of a motor that includes a rotor including a permanent magnet;
a commanded voltage calculator to calculate a commanded voltage to be supplied to the motor based on a difference between the actual rotational speed and a target rotational speed; and
a feed-forward compensator to compensate the commanded voltage by an amount equal to an induced voltage in the motor based on the target rotational speed; wherein
the feed-forward compensator includes:
a compensation value calculator to calculate a feed-forward compensation value on which smoothing processing has been performed; and
an adder to add the feed-forward compensation value to the commanded voltage.

### Claim 2 (depends on 1)

The motor controller according to claim 1, wherein the compensation value calculator includes:
a smoothing processor to perform smoothing processing on the target rotational speed; and
a gain multiplier to multiply the target rotational speed on which smoothing processing has been performed by a compensation gain matching an induced voltage constant of the motor to calculate the feed-forward compensation value.

### Claim 3 (depends on 1)

The motor controller according to claim 1, wherein the smoothing processing includes moving average processing.

### Claim 4 (depends on 1)

The motor controller according to claim 1, wherein the smoothing processing includes low-pass filter processing.

### Claim 5 (depends on 1)

The motor controller according to claim 1, wherein the rotational speed acquirer includes a Hall sensor to detect the actual rotational speed of the motor.

### Claim 6 (depends on 1)

The motor controller according to claim 1, wherein the rotational speed acquirer acquires the induced voltage in the motor and infers the actual rotational speed of the motor based on the induced voltage.

### Claim 7 (depends on 1)

The motor controller according to claim 1, wherein the motor is a brushless DC motor.

### Claim 8 (depends on 1)

The motor controller according to claim 1, further comprising an inverter controller to control driving of an inverter by a 120-degree conduction method based on the commanded voltage.

### Claim 9 (depends on 1)

A motor driving device comprising:
a controller for the motor according to claim 1; and
an inverter to control an on/off operation of a switch included in the inverter based on the commanded voltage.

### Claim 10 (depends on 9)

A motor comprising the motor driving device according claim 9 to supply power to the motor.

### Claim 11

A motor controlling method comprising:
acquiring an actual rotational speed of a motor that includes a rotor including a permanent magnet;
calculating a commanded voltage to be supplied to the motor based on a difference between the actual rotational speed and a target rotational speed; and
performing feed-forward compensation on the commanded voltage by an amount equal to an induced voltage in the motor based on the target rotational speed; wherein
the performing feed-forward compensation includes:
calculating a feed-forward compensation value on which smoothing processing has been performed; and
adding the feed-forward compensation value to the commanded voltage.