PERIODICITY DISTURBANCE SUPPRESSION DEVICE AND PERIODICITY DISTURBANCE SUPPRESSION METHOD

摘要

With a torque ripple suppression control by a periodicity disturbance observer, it is necessary to take into account a plant fluctuation over time, or a plant characteristic fluctuation over time. Hence, improved robustness with respect to an identification model error is required. Disposed are: a phase correction quantity computation unit (11) which computes a phase of a vector trajectory which a frequency component of a periodicity disturbance renders, and computes a phase correction quantity; a gain correction quantity computation unit (12) which computes a progress speed of the vector trajectory which the frequency component of the periodicity disturbance renders, and computes the gain correction quantity while comparing said progress speed with a threshold; and a rotation vector computation unit (13) which multiplies the phase correction quantity by the gain correction quantity, computes a system identification model correction value, and corrects a system identification model of a periodicity disturbance observer (14) unit on the basis of the correction value.