Apparatus for controlling rotary machine

A control apparatus for a rotary electric machine of a vehicle, the vehicle being equipped with a drivetrain that includes a transmission for transmitting power output from rotation of a rotating member of the rotary electric machine to driving wheels according to a variable speed change ratio, the control apparatus comprising

• a suppressor that performs first suppression to suppress a rotational speed of the rotating member from changing associated with change of the speed change ratio;
• a first extractor that extracts, from a suppressed rotational speed of the rotating member to which the first suppression has been applied, a first vibration component included in the suppressed rotational speed of the rotating member, the first vibration component being based on vibrations of the drivetrain;
• a second extractor that extracts, from the rotational speed of the rotating member, a second vibration component included in the rotational speed of the rotating member, the second vibration component being based on vibrations of the drivetrain;
• a mode setter that switchably sets one of an enabling mode to enable the first suppression and a disabling mode to disable the first suppression in the control apparatus according to a parameter indicative of the speed change ratio;
• a compensation torque calculator that calculates, according to a final vibration component input thereto, compensation torque that compensates for the vibrations of the drivetrain;
• a controller that performs drive control of the rotary electric machine according to the compensation torque;
• and
• a gradual changer that:
• selects the first vibration component to thereby output the first vibration component to the compensation torque calculator as the final vibration component upon the enabling mode being set in the control apparatus;
• selects the second vibration component to thereby output the second vibration component to the compensation torque calculator as the final vibration component upon the disabling mode being set in the control apparatus;
• gradually changes the final vibration component to be output to the controller from the second vibration component to the first vibration component upon the disabling mode having been switched to the enabling mode;
• and
• gradually changes the final vibration component to be output to the controller from the first vibration component to the second vibration component upon the enabling mode having been switched to the disabling mode.