JP3259614B2 - Motor control device and control method thereof - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device for driving a motor and a control method therefor.

[0002]

2. Description of the Related Art FIG. 10 is a block diagram of a main part of an inverter control device as a motor control device according to a conventional speed control method. In the figure, 1 is a three-phase AC power supply, 2 is a power conversion circuit composed of a pulse width modulation circuit, a converter circuit and an inverter circuit, 3 is an induction motor (hereinafter referred to as a motor), 4 is a primary current of the motor 3 Current detection means for detecting the detection value I, 5 speed detection means for detecting the speed of the motor 3, 6 speed calculation means for calculating the speed based on the speed detection signal from the speed detection means 5, 7 reference speed for the motor 3 Speed command means 8 for giving the command value ωr * of the speed command means 7
Speed control means for calculating the primary current command value I * of the motor 3 based on the deviation between the output and the output ωr of the speed calculation means 6, and 9 is the primary current command value I * from the speed control means 8 and the current detection means 4
Is a current loop processing means for calculating a command voltage V * for driving the motor 3 based on the primary current detection value I from.

FIG. 11 is a waveform diagram of a speed detection signal processing of an inverter control device according to a conventional speed control method. FIG.
1, the speed calculation of the speed calculation means 6 will be described. In the figure, reference numeral 601 denotes a sine wave output signal from the speed detecting means 5;
It is a sine wave output signal from the speed detecting means 5 shifted by 0 ° (the signal from the speed detecting means 5 is a sine wave output signal). 603 is a count output signal when the difference or sum between the sine wave output signal 601 and the sine wave output signal 602 is zero, and 604 is an interpolation obtained by increasing the resolution of the count output signal by dividing the count output signal 603 by interpolation. This is a count output signal.

If the number of sine wave pulses per rotation of the motor 3 is A, the number of pulses of the count output signal 603 is 4 × A, and if the interpolation resolution of the interpolation count output signal 604 is B, the motor The output frequency f of the interpolation count output signal 604 of the speed detecting means 5 when the speed 3 is rotating at the speed N (rpm) is represented by f = 4 · A · B · N / 60 (Hz). Therefore, the speed of the motor 3 can be calculated from the number of pulses per unit time of the interpolation count output signal 604.

FIG. 12 is a current loop processing block diagram of an inverter control device according to a conventional speed control method. The current loop processing means 9 will be described with reference to FIG.
In the drawing, 18 is a three-phase to two-phase conversion means for distinguishing the primary current detection value I from the current detection means 4 into a torque current feedback IqFB and an excitation current feedback IdFB, and 19 is the torque of the primary current command value I *. Current command value Iq
と Iq between * and torque current feedback IqFB
And a deviation ΔId between the excitation current command value Id * of the primary current command value I * and the excitation current feedback IdFB into a voltage value, and 20 denotes the torque from the current / voltage conversion means 19. Current voltage Vq * and excitation current voltage Vd *
Is a two-phase / three-phase conversion means for converting into a command voltage V * applied to the motor 3.

FIG. 13 is a timing chart of the current loop processing of the inverter control device according to the conventional speed control method.
In the figure, 401 is a current loop processing time, 402 is a trigger of the sampling time T, 403 is a trigger of the sampling time T, and a primary current detection value I inputted from the current detection means 4 to the current loop processing means 9 is a motor. 3 is the command voltage V * to be given.

The sampling time T is usually about 200 μsec or about 100 μsec in consideration of the processing speed of the CPU.
The current loop processing is performed in which the primary current detection value I is set for each sampling time T and the command voltage V * is calculated.

[0008]

In the inverter control apparatus according to the conventional speed control method and position control method as described above, the motor is rotated at an extremely high speed (about 50,000 rpm).
In the case of driving at low speed, the processing time of the current loop cannot be reduced due to the limit of the digital processing speed (the limit of the processing speed of the CPU).
However, the fluctuation rate of the current feedback and the current command (the fluctuation rate of the speed) is increased, which causes an increase in the speed ripple and the torque ripple of the motor and a decrease in the responsiveness to a load change.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and provides a motor control device and a control method for driving a motor capable of performing stable and accurate speed control and position control over a wide range. It is.

[0010]

[Means for Solving the Problems]

A motor control device according to the present invention takes in a primary current detection value from current detection means for detecting a primary current detection value of a motor, and calculates a three-phase two-phase conversion for calculating a torque component current feedback and an excitation component current feedback. Means, and an incremental value is calculated from the torque current feedback calculated by the three-phase to two-phase conversion means and the previously calculated torque current feedback, and the incremental values are sequentially added to obtain a pseudo torque component. An incremental value is calculated from a pseudo-torque component current feedback calculating means for dividing and outputting the current feedback, and the exciting component current feedback calculated by the three-phase / two-phase converting means and the previously calculated exciting component current feedback. By sequentially adding the increment values, the pseudo excitation current feedback for dividing and outputting the pseudo excitation current feedback is output. A readback operation means, those provided with.

Further, the control method of the motor control device according to the present invention includes a step of calculating a torque component current feedback and an excitation component current feedback from the primary current detection value detected by the current detection means; From the current feedback and the previously calculated torque component current feedback, an increment value is calculated, and the increment value is sequentially added to separately output the pseudo torque component current feedback. From the previously calculated excitation current feedback, an increment value is calculated, and the increment value is sequentially added to divide and output the pseudo excitation current feedback; and a pseudo torque current feedback and a pseudo excitation current feedback. Calculating the torque component voltage and the excitation component voltage from Calculating a command voltage to be applied from the Classification voltage and the excitation component voltage to the motor, and has a.

[0013] The motor control device according to the present invention includes:
A three-phase to two-phase conversion means for taking in a primary current detection value from a current detection means for detecting a primary current detection value of a motor and calculating torque current feedback and excitation current feedback, and calculation by the three-phase two-phase conversion means Current-voltage conversion means for calculating a torque component voltage and an excitation component voltage based on the obtained torque component current feedback and excitation component current feedback, respectively, and a torque component voltage calculated by the current voltage converter and a torque component voltage calculated last time. And a pseudo torque component voltage calculating means for dividing and outputting the pseudo torque component voltage by sequentially adding the increment values, and an excitation component voltage calculated by the current / voltage conversion means and a previous calculation value. An incremental value is calculated from the obtained excitation voltage, and the incremental value is sequentially added, whereby the pseudo excitation voltage is divided and output. And the divided voltage calculating means, those provided with.

Still further, the control method of the motor control device according to the present invention includes a step of calculating a torque component current feedback and an excitation component current feedback from a primary current detection value detected by the current detecting means; Calculating the torque component voltage and the excitation component voltage from the current feedback and the excitation component current feedback, respectively, calculating the increment value from the calculated torque component voltage and the previously calculated torque component voltage, and sequentially adding the increment values. In this way, the pseudo-excitation voltage is divided and output, and the increment value is calculated from the calculated excitation component voltage and the previously calculated excitation component voltage, and the increment value is sequentially added, whereby the pseudo-excitation voltage is added. A step of dividing and outputting a divided voltage, and a step of calculating a command voltage to be applied to the motor from the pseudo torque divided voltage and the pseudo excitation divided voltage. A.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 of the Invention FIG. 1 is a configuration diagram of a main part of an inverter control device according to an embodiment of the present invention. In the figure, 1-4 and 6-
Reference numeral 9 is the same as the above-mentioned conventional device, and the description thereof is omitted. Reference numeral 10 denotes speed detection means, and reference numeral 12 denotes speed detection signal correction means for inputting sine wave output signals from the sensors a and b of the speed detection means 10 and correcting the sine wave output signals. Further, a magnetic sensor or an optical sensor is used as the sensor a and the sensor b, and the sensors a and b are located symmetrically to each other.

FIG. 2 is a waveform diagram of the inverter control device according to one embodiment of the present invention. The waveform of the sine wave output signal input to the speed detection signal correction means 12 and the waveform detected by the speed detection signal correction means 12 are corrected. 9 shows a waveform of a sine wave output signal. In addition, although the sensor a and the sensor b output sine wave output signals whose phases are shifted from each other by 90 °, in the following description, in order to make it easy to understand the correction method, each sine wave output signal is corrected for one sine wave output signal. Describe the method.

In the figure, 701 is the waveform of the sine wave output signal from the sensor a, 702 is the waveform of the sine wave output signal from the sensor b, and 703 is the waveform of the sine wave output signal corrected by the speed detection signal correction means 12. Yes, here 703 is
Waveform 701 of sine wave output signal from sensor a and sensor b
From the waveform 702 of the sine wave output signal from the waveform (702), [(the waveform 701 of the sine wave output signal from the sensor a) + [the waveform 702 of the sine wave output signal from the sensor b]) /
2 shows an example of synthesis.

In one embodiment of the present invention, FIG.
Since the speed detecting means 10 having the two sensors of the sensor a and the sensor b is used as shown in the above, the influence on the accuracy of the speed control can be reduced even when the gap between the sensor and the speed detecting means is not equal. Can be. For example, when the gap g1 of the sensor a is narrow, the waveform voltage level of the waveform 701 of the sine wave output signal decreases, but when the gap g1 is narrow, the gap g2 on the sensor b side increases, and the waveform 702 of the sine wave output signal increases. Since the waveform voltage level becomes larger, the speed detection signal correction means 12 synthesizes the waveform 701 of the sine wave output signal from the sensor a and the waveform 702 of the sine wave output signal from the sensor b, and performs correction. , A sine wave output signal 70 having a uniform waveform voltage level
3 can be obtained.

The speed calculating means 6 calculates the speed by using the sine wave output signal 703 having a uniform waveform voltage level. Hereinafter, similarly to the above-described conventional device, the command value ωr * of the speed command means 7 and the output ω
A primary current command value I * of the motor 3 is calculated from the deviation from r, and a current loop processing means 9 calculates a primary current command value I * from the speed control means 8 and a primary current detection value I from the current detection means 4. Command voltage V for driving motor 3
Calculate *.

FIG. 3 is a block diagram of a main part of an inverter control device according to an embodiment of the present invention. In the figure,
Reference numerals 4 and 6 to 9 are the same as those of the above-mentioned conventional device, and the description thereof will be omitted. 10 is a speed detecting means, 12 is a speed detecting signal correcting means for inputting the sine wave output signals from the sensors a and b of the speed detecting means 10 and correcting the sine wave output signals, and 13 is a position command of the motor 3. A position command means for giving θr *, 14 is an integrating means for integrating the output ωr of the speed calculating means 6 to output a position detection value θr, and 15 is a position loop gain Kp which is a deviation between the position command θr * and the position detection value θr. And a position loop gain means for outputting the result as a speed command ωr *. In FIG. 3, the method for correcting the sine wave output signal described with reference to FIGS. 1 and 2 is also applied to motor position control.

FIG. 4 is a waveform diagram of speed and position with respect to time of the inverter control device according to one embodiment of the present invention. This figure shows the speed and position of the motor 3 when there is no sine wave output signal correction and when the sine wave output signal correction is performed. In the figure, reference numeral 901 denotes the actual speed waveform of the motor, 902 denotes the actual position waveform of the motor, 903
Is the actual speed waveform of the motor, 904 is the actual position waveform of the motor,
911 is a motor speed command waveform, and 912 is a motor position command waveform.

Reference numeral 91a denotes a speed with respect to time when there is no sine wave output signal correction, reference numeral 91b denotes a position (moving distance of the motor) with respect to time when there is no sine wave output signal correction, and 92a Indicates the speed with respect to the time when the sine wave output signal corrected by the speed detection signal correction means 12 is used, and 92b indicates the time with respect to the time when the sine wave output signal correction corrected by the speed detection signal correction means 12 is used. It shows the position.

When there is no sine wave output signal correction, the 91b
The position command waveform 912 and the actual position waveform 902 have an error. However, by correcting the sine wave output signal by the speed detection signal correction means 12, the error of the actual speed waveform 903 with respect to the speed command waveform 911 and the actual position waveform 90 with respect to the position command waveform 912 as in 92a and 92b.
It can be seen that the error of No. 4 has decreased.

FIG. 5 is a current loop processing block diagram of the inverter control device according to one embodiment of the present invention. In the figure, reference numeral 16 denotes pseudo torque current feedback calculating means, and reference numeral 17 denotes pseudo excitation current feedback calculating means.

FIG. 6 is an operation flowchart of the current loop processing by the current loop processing means of the inverter control device according to one embodiment of the present invention. In step S120, the current loop process is started when the trigger for the sampling time T is turned on. In step S121, a = 0 (a is an integer) is checked. In step S122, it is checked whether or not a = 0. If a = 0, the current detection unit 4 is determined in step S123.
From the primary current detection value In from step S12
In step 4, the three-phase / two-phase conversion means 18 calculates the torque component current feedback IqFBn and the excitation component current feedback IdFBn. Next, in step S125, the torque component current feedback IqFBn and the excitation component current feedback IdFBn are stored.
The command voltage V * is calculated through the phase conversion means 20. In step S127, a = a + 1 is set, and step S122 is performed.
Return to

If a = 0 is not found in the check in step S122, in step S130, the torque component current feedback IqFBn and the excitation component current feedback IdFBn calculated by the three-phase / two-phase conversion means 18 and the previous torque component current, respectively. The difference between the feedback IqFBn-1 and the excitation current feedback IdFBn-1 is divided by a coefficient χ, and an increment value △ I
Calculate q, △ Id. Here, χ is an integer of 2 or more, and can be increased to a value that does not cause a problem in processing time.

In step S131, the torque component current feedback IqFBn and the excitation component current feedback I
The increment values △ Iq and △ Id are added to dFBn, and step S132
The command voltage V * is calculated through the current-voltage conversion means 19 and the two-phase / three-phase conversion means 20. In step S133, it is checked whether or not the integer a = χ−1. If a = χ−1, it is determined that a = a + 1 in step S134, and the process returns to step S131. Step S until a = χ−1
The processes from 131 to S134 are repeated, and when a = χ−1 in step S133, the current loop process ends.

Steps S130 to S134 surrounded by a dotted line show a pseudo current loop process (a process of calculating the command voltage V * by the pseudo torque component current feedback calculation unit 16 and the pseudo excitation component current feedback calculation unit 17).

FIG. 7 is a diagram showing the processing timing of the current loop processing of the inverter control apparatus according to one embodiment of the present invention. As an example, the current loop processing timing processing operation when the coefficient χ is set to χ = 4 It is shown. In the figure, reference numerals 401 and 402 are the same as those of the above-mentioned conventional device, and the description thereof will be omitted. Reference numeral 403 denotes a primary current value In input from the current detection means 4 to the current loop processing means 9 at each sampling time T when the motor 3 is driven, 1201 denotes a pseudo current loop processing time, and 12
02 is a command voltage V * calculated in the current loop processing time 401 and the pseudo current loop processing time 1201, and 1203 is a theoretical command voltage for driving the motor 3.

As shown in the figure, by performing a pseudo current loop process at the same sampling time T as in the prior art, a command voltage V * 1202 approximated by a theoretical command voltage 1203 for driving the motor 3 can be calculated.

In the present invention, since the current loop processing time can be pseudo shortened by software, the conventional inverter control device can be used, and the function can be improved without increasing the cost.

Embodiment 2 of the Invention FIG. 8 is a block diagram of the current loop processing by the current loop processing means of the inverter control device according to one embodiment of the present invention. In the figure, 18, 19 and 20 are the same as those of the above-mentioned conventional device, and the description thereof is omitted. 21
Is a pseudo torque component voltage calculating means, and 22 is a pseudo excitation component voltage calculating means.

FIG. 9 is an operation flowchart of a current loop process of the inverter control device according to one embodiment of the present invention. In step S140, the current loop process starts when the trigger for the sampling time T is turned on. Step S1
At 41, a = 0 (a is an integer), and at step S142, a
It is checked whether or not = 0. If a = 0, the primary current detection value In from the current detection means 4 is fetched in step S143, and the three-phase / two-phase conversion means 18 and the current / voltage conversion means 19 are fetched in step S144. To calculate the torque component voltage Vq * n and the excitation component voltage Vd * n. Next, in step S145, the torque component voltage Vq * n and the excitation component voltage Vd * n are stored, and in step S146, the command voltage V * is calculated through the two-phase / three-phase conversion means 20. Next, in step S147, a = a + 1
And returns to step S142.

If a = 0 is not found in the check in step S142, the difference between the immediately preceding torque component voltage Vq * n-1 and the excitation component voltage Vd * n-1 is obtained in step S150 and divided by a coefficient χ. Calculate the increment values ΔVq and ΔVd. Here, χ is an integer of 2 or more, and can be increased to a value that does not cause a problem in processing time.

In step S151, the increment values △ Vq and △ Vd are added to the torque component voltage Vq * n and the excitation component voltage Vd * n, respectively. In step S152, the command voltage V is passed through the two-phase to three-phase conversion means 20. Calculate *. In step S153, it is checked whether or not the integer a = χ−1. If a = χ−1, it is determined that a = a + 1 in step S154, and the process returns to step S151. Step S1 until a = χ−1
Steps S51 to S154 are repeated, and
When a = χ−1 in 153, the current loop processing ends.

Steps S150 to S154 surrounded by a dotted line show a pseudo current loop process (a process of calculating the command voltage V * by the pseudo torque divided voltage calculating means 21 and the pseudo excitation divided voltage calculating means 22).

In the present invention, since the current loop processing time can be simulated by software, a conventional inverter control device can be used, and the function can be improved without increasing the cost.

Here, in comparison with the above-described first embodiment, in the first embodiment, in the first half of the current loop processing, the pseudo-torque component current feedback calculation means 16 and the pseudo-excitation component current feedback calculation means 17 use the current loop processing time. In the second embodiment, the pseudo-torque component voltage calculating means 21 is provided in the latter half of the current loop.
The difference is that the pseudo-excitation component voltage calculation means 22 realizes the pseudo shortening of the current loop processing time. For this reason, one pseudo current loop process in software can be shortened, so that the value of the coefficient χ can be further increased, and the command speed V * n approximated by the theoretical command voltage 19 for driving the motor 3 can be obtained. Value can be calculated.

Conversely, in the first embodiment and the second embodiment, when the coefficient χ has the same value, in the third embodiment, in the first half of the current loop processing, the torque component current feedback IqF
Since the pseudo current loop processing is performed on the value of Bn and the exciting current feedback IdFBn, the value of the command speed V * n closer to the theoretical command voltage 1204 can be calculated than the command speed V * n according to the fourth embodiment. .

Therefore, when the processing time of the software has a margin, the first embodiment is used, and when the processing time is not enough, the second embodiment performs the pseudo shortening of the current loop processing time. High-precision and stable speed control is possible from low-speed / high-speed operation to ultra-high-speed operation.

[0041]

Since the present invention is configured as described above, it has the following effects.

That is, according to the present invention, the current loop processing time is pseudo-shortened by the pseudo torque current feedback means and the pseudo excitation current feedback means. Responsiveness to load fluctuations is improved, and stable and accurate speed control and position control over a wide range can be performed.

Further, an incremental value is calculated from the calculated torque component current feedback and the previously calculated torque component current feedback, and the increment value is sequentially added, whereby a pseudo torque component current feedback that is divided and output is provided. An incremental value is calculated from the calculated exciting component current feedback and the previously calculated exciting component current feedback, and the incremental value is sequentially added. And the excitation component voltage are calculated, the current loop processing time can be shortened in a pseudo manner, the response to load fluctuations is improved, and a wide range of stable and accurate speed control and position control can be performed. .

Further, since the current loop processing time is pseudo shortened by the pseudo torque component voltage calculating means and the pseudo excitation voltage calculating means, the speed ripple and the torque ripple can be reduced even at ultra-high speed rotation. As a result, responsiveness to a load change is improved, and stable and accurate speed control and position control over a wide range can be performed.

Further, an increment value is calculated from the calculated torque component voltage and the previously calculated torque component voltage, and the increment value is sequentially added, whereby a pseudo torque component voltage to be divided and output is calculated. From the excitation component voltage and the previously calculated excitation component voltage, an increment value is calculated, and by sequentially adding the increment values,
Since the command voltage to be applied to the motor is calculated, the current loop processing time can be shortened in a pseudo manner, the responsiveness to load changes is improved, and a wide range of stable and accurate speed control and position control can be performed. Become.

[Brief description of the drawings]

FIG. 1 is a main part configuration diagram of an inverter control device according to an embodiment of the present invention;

FIG. 2 is a waveform chart of the inverter control device according to the embodiment of the present invention;

FIG. 3 is a main part configuration diagram of an inverter control device according to one embodiment of the present invention;

FIG. 4 is a waveform diagram of speed and position with respect to time of the inverter control device according to one embodiment of the present invention.

FIG. 5 is a current loop processing block diagram of the inverter control device according to the embodiment of the present invention.

FIG. 6 is an operation flowchart of current loop processing by current loop processing means of the inverter control device according to one embodiment of the present invention;

FIG. 7 is a diagram showing processing timings of a current loop processing of the inverter control device according to one embodiment of the present invention;

FIG. 8 is a block diagram of a current loop processing by a current loop processing unit of the inverter control device according to the embodiment of the present invention;

FIG. 9 is an operation flowchart of a current loop process of the inverter control device according to the embodiment of the present invention.

FIG. 10 is a main part configuration diagram of an inverter control device as a motor control device according to a conventional speed control method.

FIG. 11 is a speed detection signal processing waveform diagram of the inverter control device according to the conventional speed control method.

FIG. 12 is a current loop processing block diagram of an inverter control device according to a conventional speed control method.

FIG. 13 is a current loop processing timing chart of the inverter control device according to the conventional speed control method.

[Explanation of symbols]

3 Induction motor (motor), 4 Current detection means, 5
Speed detection means, 6 speed calculation means, 7 speed command means, 8 speed control means, 9 current loop processing means,
10 speed detection means, 12 speed detection signal correction means, 13 position command means, 14 integration means, 15
Position loop gain means, 16 pseudo torque current feedback calculation means, 17 pseudo excitation current feedback calculation means, 18 three-phase to two-phase conversion means, 19
Current-voltage conversion means, 20 two-phase three-phase conversion means, 2
DESCRIPTION OF SYMBOLS 1 Pseudo torque component voltage calculation means, 22 Pseudo excitation component voltage calculation means, 401 Current loop processing time, 402
Trigger of sampling time T, 403 Primary current value In, 701 Waveform of sine wave output signal from sensor a, 702 Waveform of sine wave output signal from sensor b,
703 Waveform 701 of sine wave output signal from sensor a
The waveform of the sine wave output signal calculated from the waveform 702 of the sine wave output signal from the sensor b, the actual speed waveform of the 901 motor, the actual position waveform of the 902 motor, the actual speed waveform of the 903 motor, the actual position waveform of the 904 motor, 9
11 Motor speed command waveform, 912 Motor position command waveform, 1201 Pseudo-current loop processing time, 1
202 Command voltage V *, 1203 Theoretical command voltage for driving the motor 3.

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-6-54571 (JP, A) JP-A-4-69080 (JP, A) JP-A-61-151716 (JP, A) JP-A-56-151 166786 (JP, A) JP-A-3-277194 (JP, A) JP-A-4-58776 (JP, A) JP-A-7-308100 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) H02P 5/00 G01P 3/48 G05D 3/12 H02P 21/00

Claims (4)

(57) [Claims] 1. A current detection means for detecting a primary current detection value of a motor, and a three-phase to two-phase conversion means for taking in a primary current detection value from the current detection means and calculating a torque component current feedback and an excitation component current feedback. And an incremental value is calculated from the torque component current feedback calculated by the three-phase to two-phase conversion means and the torque component current feedback calculated last time, and the incremental value is sequentially added to obtain a pseudo torque component current. An incremental value is calculated from a pseudo-torque component current feedback calculating means for dividing and outputting the feedback, the exciting component current feedback calculated by the three-phase / two-phase converting means, and the exciting component current feedback calculated last time. By sequentially adding the values,
A motor control device comprising: a pseudo-excitation current feedback calculating means for dividing and outputting the pseudo-excitation current feedback. Calculating a torque component current feedback and an excitation component current feedback from the primary current detection value detected by the current detection means; and calculating the calculated torque component current feedback and the previously calculated torque component current feedback. , The incremental value is calculated, and the incremental value is sequentially added, whereby the pseudo torque component current feedback is divided and output, and the increment value is calculated from the calculated excitation component current feedback and the previously calculated excitation component current feedback. Calculating the values and sequentially adding the increment values to divide and output the pseudo excitation component current feedback, and calculating the torque component voltage and the excitation component voltage from the pseudo torque component current feedback and the pseudo excitation component current feedback, respectively. And a finger given to the motor based on the torque component voltage and the excitation component voltage. Control method for a motor controller having the steps of calculating the voltage. 3. A current detection means for detecting a primary current detection value of a motor, and a three-phase to two-phase conversion means for taking in a primary current detection value from the current detection means and calculating a torque component current feedback and an excitation component current feedback. Current-voltage conversion means for calculating a torque component voltage and an excitation component voltage from the torque component current feedback and the excitation component current feedback calculated by the three-phase two-phase conversion device, and the current-voltage conversion device calculates the torque component voltage and the excitation component voltage, respectively. A pseudo torque component voltage calculating means for calculating an increment value from the torque component voltage and the previously calculated torque component voltage and sequentially adding the increment values, thereby dividing and outputting the pseudo torque component voltage; An incremental value is calculated from the excitation component voltage calculated by the means and the excitation component voltage calculated last time, and the increment value is sequentially added, thereby making a doubt. A motor control device comprising: a pseudo-excitation voltage calculating means for dividing and outputting the pseudo-excitation voltage. Calculating a torque current feedback and an excitation current feedback from the primary current detection value detected by the current detection means; and obtaining a torque voltage and an excitation current from the torque current feedback and the excitation current feedback, respectively. Calculating a divided voltage; calculating an increment value from the calculated torque divided voltage and the previously calculated torque divided voltage; and sequentially adding the increment values, thereby dividing and outputting the pseudo torque divided voltage. Calculating an increment value from the calculated excitation component voltage and the previously calculated excitation component voltage, and sequentially adding the increment value, thereby dividing and outputting the pseudo excitation component voltage; and a pseudo torque component current. Calculating the torque component voltage and the excitation component voltage from the feedback and the pseudo excitation component current feedback, respectively. Control method for a motor controller having the steps of calculating a command voltage to be applied from the 磁分 voltage to the motor, the.