Motor control apparatus and vehicle having the same

A motor control apparatus comprising:

• an error sensor configured to detect noise of an indoor space and output the detected noise as an error signal;
• a velocity sensor configured to detect a velocity of a motor;
• and
• a current controller configured to:
• generate a plurality of reference signals based on the velocity of the motor detected by the velocity sensor;
• filter the plurality of reference signals based on the error signal and a preset filter value;
• take a sum of the filtered plurality of reference signals to obtain a target signal;
• and
• generate a d-axis current command configured to reduce noise generated by the motor based on the target signal,
• wherein the plurality of reference signals includes at least one fundamental frequency having a fundamental component and a multiple frequency having a multiple component of the at least one fundamental frequency, and
• wherein the plurality of reference signals are reference sine wave signals in a form of a sine wave.

A vehicle comprising:

• a drive shaft connected to wheels;
• a motor connected to the drive shaft;
• an inverter configured to adjust a voltage applied to the motor;
• an error sensor configured to detect noise of an indoor space and output the detected noise as an error signal;
• a velocity sensor configured to detect a velocity of the motor;
• and
• a motor control apparatus configured to:
• generate a plurality of reference signals based on the velocity of the motor detected by the velocity sensor;
• filter the plurality of reference signals based on the error signal and a preset filter value;
• take a sum of the filtered plurality of reference signals to obtain a target signal;
• generate a d-axis current command configured to reduce noise generated by the motor based on the target signal;
• generate a q-axis current command configured to control the velocity of the motor based on the velocity of the motor detected by the velocity sensor and a velocity command;
• generate a voltage command based on the d-axis current command of the motor and the q-axis current command of the motor;
• and
• output the generated voltage command to the inverter;
• and
• a body configured to, upon receiving vibration generated by the motor, transfer the received vibration to the indoor space in a form of radiation sound.