Drive apparatus

Abstract

A drive apparatus includes: (a) an electric motor including a rotor and a stator that has a stator core and a stator coil; (b) a gear connected to a shaft of the rotor; and (c) a control device configured to control a drive current flowing through the stator core. The gear has a number of teeth which makes an order of a fluctuation of a meshing torque generated in the gear coincide with an order of a torque ripple generated in the electric motor. When a magnitude of vibration of the gear caused by the torque ripple and the fluctuation of the meshing torque exceeds a predetermined determination value, the control device is configured to execute a harmonic superposition control for superposing a harmonic current on a fundamental wave of the drive current such that the magnitude of the vibration of the gear is reduced.

Dependencies are inferred from the claim text.