Motor control apparatus

A motor controller comprising:

• time interval measuring means for measuring the time interval of a rotational position signal, the position signal indicating the rotational position of a rotor of the motor;
• rotation time interval measuring means for measuring the rotation time interval, defined as the time required per rotation of the rotor based on said rotational position signal;
• estimation method switching rotational speed setting means for setting an estimation method switching speed to provide a threshold value for switching the estimation method for the rotational angle;
• estimated rotational angle production means for producing an estimated rotational angle providing an estimated value of the rotational angle by extrapolating the rotational angle based on said time interval when said rotor rotational speed is lower than said estimation method switching rotational speed, and producing said estimated rotational angle by extrapolating the rotational angle based on said rotation time interval when said rotor rotational speed is higher than said estimation method switching rotational speed;
• command production means for producing a current command supplied to the stator windings of the motor or a voltage command applied to said stator windings based on said estimated rotational angle;
• and
• drive means for supplying power to said stator windings based on said current command or said voltage command.

A motor controller for advancing an estimated rotational angle during a control period comprising:

• time interval measuring means for measuring the time interval of a rotational position signal, the position signal indicating the rotational position of a rotor of the motor;
• lead production means for producing a lead indicating the degree to which the estimated rotational angle is to be advanced, based on said time interval;
• estimated rotational angle production means responsive to said lead for producing an estimated rotational angle based on said lead for each control period;
• and
• control means for defining the control period and controlling the current supplied to the stator windings of the motor or the voltage applied to said stator windings based on said estimated rotational angle for each control period.

A motor controller for advancing an estimated rotational angle during a control period comprising:

• rotation time interval measuring means for measuring the rotation time interval, defined as the time required for one rotation of a rotor of the motor based on a rotational position signal;
• lead production means for producing a lead indicating the degree to which, the estimated rotational angle is to be advanced, based on said rotation time interval;
• estimated rotational angle production means responsive to said lead for producing an estimated rotational angle based on said lead for each control period;
• and
• control means for defining the control period and controlling the current supplied to the stator windings of the motor or the voltage applied to said stator windings based on said estimated rotational angle for each control period.

A motor controller comprising:

• time interval measuring means for measuring the time interval of a rotational position signal, the position signal indicating the rotational position of a rotor of the motor;
• deviation calculation means for calculating the deviation of an estimated rotational angle, defined as an estimated value of the rotational angle from the actual rotational angle;
• estimated rotational angle production means for producing said estimated rotational angle based on said time interval applied through a low pass filter and said deviation;
• and
• control means for controlling the current supplied to the stator windings of the motor or the voltage applied to said stator windings based on said estimated rotational angle.

A motor controller comprising:

• rotation time interval measuring means for measuring the rotation time interval, defined as the time required for one rotation of a rotor of the motor based on a rotational position signal indicating the rotational position of said rotor;
• deviation calculation means for calculating the deviation of an estimated rotational angle providing an estimated value of the rotational angle from the actual rotational angle;
• estimated rotational angle production means for producing said estimated rotational angle based on said rotation time interval applied through a low-pass filter and said deviation;
• and
• control means for controlling the current supplied to the stator windings of the motor or the voltage applied to said stator windings based on said estimated rotational angle.