# US 9,882,519 B2 · Motor control apparatus and electric power steering apparatus using the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,882,519 B2 - Document ID: US9882519B2 - Status: Granted - Kind: B2 - Application number: 14/648,086 - Filed: 2014-12-19 - Published: 2017-09-28 - Granted: 2018-01-30 - Earliest claimed: 2014-12-19 - Assignees: Nsk Ltd. - Applicants: Nsk Ltd. - Inventors: Tomohiro Miura; Masahiro Maeda; Yousuke Imamura - Web page: https://patentgrep.com/patent/US9882519B2 ## CPC - H02P 6/28: Arrangements for controlling current (H02P6/10 takes precedence) - B62D 5/046: {Controlling the motor} - B62D 5/0472: {for damping vibrations} - H02P 6/08: Arrangements for controlling the speed or torque of a single motor (H02P6/10, H02P6/28 take precedence) - H02P 6/10: Arrangements for controlling torque ripple, e.g. providing reduced torque ripple - H02P 23/04: specially adapted for damping motor oscillations, e.g. for reducing hunting - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract A motor control apparatus that calculates duty command values of respective phases for controlling currents of a motor by means of a control calculation, forms PWM-signals in correspondence to the duty command values, drives the motor by means of an inverter based on the PWM-signals, and which is provided a rotation sensor to detect a motor angle of the motor. ## Claims ### Claim 1 A motor control apparatus that calculates duty command values of respective phases for controlling currents of a motor forms PWM-signals in correspondence to said duty command values of said respective phase, drives said motor by means of an inverter based on said PWM-signals, and inputs a motor angle from a rotation sensor to detect said motor angle of said motor: wherein a 1-shunt type current detecting circuit is connected to a power source side or a ground side of said inverter; and comprising; a comparing section to compare said duty command values and determine a size relation of said duty command values; a timing control section to sequentially enable timings of rising or falling with respect to said PWM-signals with a predetermined order based on said size relation; and a motor angle output section to detect a change of an order of said rising in correspondence to a predetermined algorithm, to output said motor angle from said rotation sensor when said predetermined order of said rising is not changed, and to estimate a motor angle estimation value based on past motor angles of said rotation sensor and output said motor angle estimation value as said motor angle when said predetermined order of said rising is changed, wherein said motor is drive-controlled by means of an output signal from said motor angle output section. ### Claim 2 (depends on 1) The motor control apparatus according to claim 1, wherein said predetermined order is an order of a maximum phase, an intermediate phase, a minimum phase of said duty command values. ### Claim 3 (depends on 2) The motor control apparatus according to claim 2, wherein said predetermined algorithm is an algorithm that said order of said rising is also changed at a timing when a relation of said maximum phase, said intermediate phase and said minimum phase of said respective phases is changed. ### Claim 4 (depends on 3) An electric power steering apparatus provided with said motor control apparatus according to claim 3. ### Claim 5 (depends on 2) The motor control apparatus according to claim 2, wherein said motor angle output section comprising a phase-change detecting section to detect a change of a relation of said maximum phase, said intermediate phase and said minimum phase, a storing section to store a motor angle of said rotation sensor with a predetermined period, and a motor angle estimating section to estimate said motor angle estimation value from plural past values in said storing section. ### Claim 6 (depends on 5) The motor control apparatus according to claim 5, wherein said motor angle estimating section estimates said motor angle estimation value by means of a linear approximation or a logarithmic approximation. ### Claim 7 (depends on 2) An electric power steering apparatus provided with said motor control apparatus to claim 2. ### Claim 8 (depends on 1) The motor control apparatus according to claim 1, wherein said predetermined algorithm is an algorithm that said order of said rising is also changed at a timing when a relation of a maximum phase, an intermediate phase and a minimum phase of said respective phases is changed. ### Claim 9 (depends on 8) The motor control apparatus according to claim 8, wherein said motor angle output section comprising a phase-change detecting section to detect a change of a relation of said maximum phase, said intermediate phase and said minimum phase, a storing section to store a motor angle of said rotation sensor with a predetermined period, and a motor angle estimating section to estimate said motor angle estimation value from plural past values in said storing section. ### Claim 10 (depends on 9) The A motor control apparatus according to claim 9, wherein said motor angle estimating section estimates said motor angle estimation value by means of a linear approximation or a logarithmic approximation. ### Claim 11 (depends on 8) An electric power steering apparatus provided with said motor control apparatus according to claim 8. ### Claim 12 (depends on 1) The motor control apparatus according to claim 1, wherein said motor angle output section comprising a phase-change detecting section to detect a change of a size relation of respective phase duty command values of a maximum phase, an intermediate phase and a minimum phase, a storing section to store said motor angle of said rotation sensor at a predetermined period, and a motor angle estimating section to estimate said motor angle estimation value from plural past values in said storing section. ### Claim 13 (depends on 12) The motor control apparatus according to claim 12, wherein said motor angle estimating section estimates said motor angle estimation value by means of a linear approximation or a logarithmic approximation. ### Claim 14 (depends on 1) The motor control apparatus according to claim 1, wherein said rotation sensor is a resolver. ### Claim 15 (depends on 1) An electric power steering apparatus provided with said motor control apparatus to claim 1.