Motor drive control device and motor drive control method

A motor drive control method, comprising:

• a first step of acquiring a drive current value of a coil of a motor;
• and
• a second step of performing a vector control arithmetic operation based on the drive current value acquired in the first step to generate a drive control signal for driving the motor, wherein
• the second step includes estimating a rotation angle of a rotor of the motor and a rotation speed of the rotor on the basis of a q-axis current value of a two-phase rotating coordinate system calculated on the basis of the drive current value, and a q-axis voltage command value of the two-phase rotating coordinate system, by using a linear Kalman filter, and
• the linear Kalman filter is a stationary Kalman filter with a prediction step expressed linearly and time-invariantly, wherein
• the second step includes:
• an estimation step configured to estimate the rotation angle and the rotation speed;
• a first coordinate transform step configured to perform Clarke transformation and Park transformation on the basis of the drive current value acquired by the drive current value acquisition step and the rotation angle estimated by the estimation step to calculate the q-axis current value and a d-axis current value of the two-phase rotating coordinate system;
• a q-axis current command value calculation step configured to calculate a q-axis current command value of the two-phase rotating coordinate system on the basis of a value indicating a target state of an operation of the motor;
• and
• a q-axis voltage command value calculation step configured to calculate the q-axis voltage command value of the two-phase rotating coordinate system, so that a difference between the q-axis current command value calculated by the q-axis current command value calculation step and a value based on the q-axis current value calculated by the first coordinate transform step is small, and
• the estimation step performs an arithmetic operation based on the linear Kalman filter, and in the arithmetic operation based on the linear Kalman filter, the estimation step receives the q-axis current value calculated by the first coordinate transform step and the q-axis voltage command value calculated by the q-axis voltage command value calculation step and outputs an estimation value of the rotation angle and an estimation value of the rotation speed.