# US 12,224,685 B2 · Motor control device and motor controlling method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,224,685 B2 - Document ID: US12224685B2 - Status: Granted - Kind: B2 - Application number: 17/924,633 - Filed: 2021-01-29 - Published: 2023-06-15 - Granted: 2025-02-11 - Earliest claimed: 2020-06-01 - Assignees: Hitachi Astemo, Ltd. - Applicants: Hitachi Astemo, Ltd. - Inventors: Naoki Shinohara; Keisuke Suzuki - Web page: https://patentgrep.com/patent/US12224685B2 ## CPC - B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed - H02P 21/05: specially adapted for damping motor oscillations, e.g. for reducing hunting - B60L 15/2009: {for braking} - B60L 2220/42: with use of more than one motor - B60L 2240/421: Speed - B60L 2240/423: Torque - B60L 2260/28: Four wheel or all wheel drive - B60L 2260/44: by parameter estimation - H02P 27/06: using DC to AC converters or inverters (H02P27/05 takes precedence) - Y02T 10/64: Electric machine technologies in electromobility - Y02T 10/72: Electric energy management in electromobility - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract Provided is a motor control device that can reduce an error component resulting from braking or the like to bring an estimated motor speed closer to an actual motor speed, thereby improving the accuracy of control of a motor. The motor control device includes a controller 6 that outputs a first torque instruction signal that is an instruction to specify a torque of an electric motor 1, and a damping control unit 500. The damping control unit 500 includes a first high-pass filter 50f that receives input of a motor speed signal indicating a speed of the electric motor 1, the first high-pass filter 50f outputting a first signal, a second high-pass filter 50d that receives input of an estimated motor speed signal obtained from the first torque instruction signal, the second high-pass filter 50d outputting a second signal, and a low-pass filter 50g that receives input of a motor speed deviation signal indicating a deviation between the first signal and the second signal, the low-pass filter 50g obtaining a low-frequency component from the motor speed deviation signal and outputting the low-frequency component as a third signal. ## Claims ### Claim 1 A motor control device comprising: a controller that outputs a first torque instruction signal that is an instruction to specify a torque of an electric motor; and a damping control unit, wherein the damping control unit includes: a first high-pass filter that receives input of a motor speed signal indicating a speed of the electric motor, the first high-pass filter outputting a first signal; a second high-pass filter that receives input of an estimated motor speed signal obtained from the first torque instruction signal, the second high-pass filter outputting a second signal; and a low-pass filter that receives input of a motor speed deviation signal indicating a deviation between the first signal and the second signal, the low-pass filter obtaining a low-frequency component from the motor speed deviation signal and outputting the low-frequency component as a third signal, wherein a signal given by adding up the second signal and the third signal is subtracted from the first signal to obtain a feedback signal, and a second torque instruction signal obtained based on the feedback signal is fed back to the first torque instruction signal and is outputted to the electric motor, as a third torque instruction signal. ### Claim 2 A motor control device comprising: a controller that outputs a first torque instruction signal that is an instruction to specify a torque of an electric motor; and a damping control unit, wherein the damping control unit includes: a first high-pass filter that receives input of a motor speed signal indicating a speed of the electric motor, the first high-pass filter outputting a first signal; a second high-pass filter that receives input of an estimated motor speed signal obtained from the first torque instruction signal, the second high-pass filter outputting a second signal; a low-pass filter that receives input of a motor speed deviation signal indicating a deviation between the first signal and the second signal, the low-pass filter obtaining a low-frequency component from the motor speed deviation signal and outputting the low-frequency component as a third signal; a third high-pass filter to which a feedback signal is inputted; and a first amplifier to which an output signal from the third high-pass filter is inputted, wherein a signal given by adding up the second signal and the third signal is subtracted from the first signal to obtain the feedback signal, and a second torque instruction signal obtained based on the feedback signal is fed back to the first torque instruction signal and is outputted to the electric motor, as a third torque instruction signal, wherein the second torque instruction signal is outputted from the first amplifier. ### Claim 3 A motor control device comprising: a controller that outputs a first torque instruction signal that is an instruction to specify a torque of an electric motor; and a damping control unit, wherein the damping control unit includes: a first high-pass filter that receives input of a motor speed signal indicating a speed of the electric motor, the first high-pass filter outputting a first signal; a second high-pass filter that receives input of an estimated motor speed signal obtained from the first torque instruction signal, the second high-pass filter outputting a second signal; a low-pass filter that receives input of a motor speed deviation signal indicating a deviation between the first signal and the second signal, the low-pass filter obtaining a low-frequency component from the motor speed deviation signal and outputting the low-frequency component as a third signal; a third high-pass filter to which a feedback signal is inputted; a first amplifier to which an output signal from the third high-pass filter is inputted; a second amplifier to which the third signal is inputted; and a gain adjusting unit that according to an output signal from the low-pass filter, adjusts a gain of the first amplifier and a gain of the second amplifier, wherein a signal given by adding up the second signal and the third signal is subtracted from the first signal to obtain the feedback signal, and a second torque instruction signal obtained based on the feedback signal is fed back to the first torque instruction signal and is outputted to the electric motor, as a third torque instruction signal, wherein the second torque instruction signal is outputted from the first amplifier, wherein an output signal from the second amplifier is added to the second signal, as the third signal. ### Claim 4 A motor control device comprising: a controller that outputs a first torque instruction signal that is an instruction to specify a torque of an electric motor; and a damping control unit, wherein the damping control unit includes: a first high-pass filter that receives input of a motor speed signal indicating a speed of the electric motor, the first high-pass filter outputting a first signal; a second high-pass filter that receives input of an estimated motor speed signal obtained from the first torque instruction signal, the second high-pass filter outputting a second signal; a low-pass filter that receives input of a motor speed deviation signal indicating a deviation between the first signal and the second signal, the low-pass filter obtaining a low-frequency component from the motor speed deviation signal and outputting the low-frequency component as a third signal; a third high-pass filter to which a feedback signal is inputted; a first amplifier to which an output signal from the third high-pass filter is inputted; a second amplifier to which the third signal is inputted; and a gain adjusting unit that according to an output signal from the low-pass filter, adjusts a gain of the first amplifier and a gain of the second amplifier, wherein a signal given by adding up the second signal and the third signal is subtracted from the first signal to obtain the feedback signal, and a second torque instruction signal obtained based on the feedback signal is fed back to the first torque instruction signal and is outputted to the electric motor, as a third torque instruction signal, wherein the second torque instruction signal is outputted from the first amplifier, wherein an output signal from the second amplifier is added to the second signal, as the third signal, wherein when an output signal from the low-pass filter becomes larger than a preset rising threshold, the gain adjusting unit reduces a gain of the first amplifier and a gain of the second amplifier. ### Claim 5 A motor control device for a four-wheel drive vehicle comprising: a controller that outputs a first torque instruction signal that is an instruction to specify a torque of an electric motor; a damping control unit, wherein the damping control unit includes; a first high-pass filter that receives input of a motor speed signal indicating a speed of the electric motor, the first high-pass filter outputting a first signal; a second high-pass filter that receives input of an estimated motor speed signal obtained from the first torque instruction signal, the second high-pass filter outputting a second signal; and a low-pass filter that receives input of a motor speed deviation signal indicating a deviation between the first signal and the second signal, the low-pass filter obtaining a low-frequency component from the motor speed deviation signal and outputting the low-frequency component as a third signal; wherein a signal given by adding up the second signal and the third signal is subtracted from the first signal to obtain a feedback signal, and a second torque instruction signal obtained based on the feedback signal is fed back to the first torque instruction signal and is outputted to the electric motor, as a third torque instruction signal, and the electric motor includes: a front wheel electric motor, and a rear wheel electric motor, and the damping control unit further includes; a front wheel damping control unit that outputs a torque instruction signal to the front wheel electric motor, and a rear wheel damping control unit that outputs a torque instruction signal to the rear wheel electric motor, the motor control device further comprising a torque instruction value distribution unit that receives input of the first torque instruction signal, the torque instruction value distribution unit outputting a first torque instruction signal for the front wheel electric motor, to the front wheel damping control unit and outputting a first torque instruction signal for the rear wheel electric motor, to the rear wheel damping control unit, wherein the first torque instruction signal is outputted to the torque instruction value distribution unit and is outputted to the front wheel damping control unit and to the rear wheel damping control unit as well. ### Claim 6 A motor controlling method comprising: outputting a first torque instruction signal from a controller, the first torque instruction signal being an instruction to specify a torque of an electric motor; inputting a motor speed signal to a first high-pass filter, the motor speed signal indicating a speed of the electric motor, and outputting a first signal; inputting an estimated motor speed signal obtained from the first torque instruction signal, to a second high-pass filter and outputting a second signal; inputting a motor speed deviation signal to a low-pass filter, the motor speed deviation signal indicating a deviation between the first signal and the second signal, and obtaining a low-frequency component from the motor speed deviation signal to output the low-frequency component, as a third signal; subtracting a signal given by adding up the second signal and the third signal from the first signal to obtain a feedback signal; and feeding back a second torque instruction signal obtained based on the feedback signal to the first torque instruction signal and outputting the fed back second torque instruction signal to the electric motor, as a third torque instruction signal. ### Claim 7 A motor controlling method comprising: outputting a first torque instruction signal from a controller, the first torque instruction signal being an instruction to specify a torque of an electric motor; inputting a motor speed signal to a first high-pass filter, the motor speed signal indicating a speed of the electric motor, and outputting a first signal; inputting an estimated motor speed signal obtained from the first torque instruction signal, to a second high-pass filter and outputting a second signal; inputting a motor speed deviation signal to a low-pass filter, the motor speed deviation signal indicating a deviation between the first signal and the second signal, and obtaining a low-frequency component from the motor speed deviation signal to output the low-frequency component, as a third signal; subtracting a signal given by adding up the second signal and the third signal from the first signal to obtain a feedback signal; feeding back a second torque instruction signal obtained based on the feedback signal to the first torque instruction signal and outputting the fed back second torque instruction signal to the electric motor, as a third torque instruction signal; inputting the feedback signal to a third high-pass filter; inputting an output signal from the third high-pass filter, to a first amplifier; and outputting the second torque instruction signal from the first amplifier. ### Claim 8 A motor controlling method comprising: outputting a first torque instruction signal from a controller, the first torque instruction signal being an instruction to specify a torque of an electric motor; inputting a motor speed signal to a first high-pass filter, the motor speed signal indicating a speed of the electric motor, and outputting a first signal; inputting an estimated motor speed signal obtained from the first torque instruction signal, to a second high-pass filter and outputting a second signal; inputting a motor speed deviation signal to a low-pass filter, the motor speed deviation signal indicating a deviation between the first signal and the second signal, and obtaining a low-frequency component from the motor speed deviation signal to output the low-frequency component, as a third signal; subtracting a signal given by adding up the second signal and the third signal from the first signal to obtain a feedback signal; feeding back a second torque instruction signal obtained based on the feedback signal to the first torque instruction signal and outputting the fed back second torque instruction signal to the electric motor, as a third torque instruction signal; inputting the feedback signal to a third high-pass filter; inputting an output signal from the third high-pass filter, to a first amplifier; outputting the second torque instruction signal from the first amplifier; inputting the third signal to a second amplifier; causing a gain adjusting unit to adjust a gain of the first amplifier and a gain of the second amplifier according to an output signal from the low-pass filter; and adding an output signal from the second amplifier to the second signal, the output signal being added as the third signal.