Control system, control method, and non-transitory storage medium
AssigneeToyota Jidosha Kabushiki Kaisha
InventorYoshihiro Okumatsu
Life of this patent
Estimating the term…
Abstract
A control system includes: a torque command generator configured to generate a torque command value for an actuator; an inertia compensation calculator configured to calculate an inertia compensation command value based on a derivative of a q-axis current of the actuator, and a drive command calculator configured to calculate a drive command value by adding the torque command value generated by the torque command generator to the inertia compensation command value calculated by the inertia compensation calculator, and output the drive command value to the actuator.
Claims4
A control system, comprising:
- a processor that is configured to:
- generate a torque command value for an actuator;
- calculate an inertia compensation command value based on a derivative of a q-axis current of the actuator;
- calculate a drive command value by adding the torque command value generated to the inertia compensation command value;
- and
- output the drive command value to the actuator,
- wherein the processor is configured to calculate the inertia compensation command value to compensate for torque components caused by actuator inertia, and add the inertia compensation command value calculated to the torque command value generated as feedforward control to calculate the drive command value.
A control method, comprising:
- generating a torque command value for an actuator;
- calculating an inertia compensation command value based on a derivative of a q-axis current of the actuator;
- and
- calculating a drive command value by adding the torque command value to the inertia compensation command value, and outputting the drive command value to the actuator,
- wherein the inertia compensation command value is calculated to compensate for torque components caused by actuator inertia, and the inertia compensation command value calculated is added to the torque command value generated as feedforward control to calculate the drive command value.
A non-transitory storage medium storing instructions that are executable by one or more processors and that cause the one or more processors to perform functions comprising:
- generating a torque command value for an actuator;
- calculating an inertia compensation command value based on a derivative of a q-axis current of the actuator;
- and
- calculating a drive command value by adding the torque command value to the inertia compensation command value, and outputting the drive command value to the actuator,
- wherein the inertia compensation command value is calculated to compensate for torque components caused by actuator inertia, and the inertia compensation command value calculated is added to the torque command value generated as feedforward control to calculate the drive command value.
Dependencies are inferred from the claim text.