JP3805637B2 - Electric motor control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to timing control when sampling a rotation angle and a current value of an electric motor in an electric motor control device that drives the electric motor by an inverter.
[0002]
[Prior art]
When a synchronous motor is controlled with high accuracy by the vector control method, it is common to perform a control calculation using the current value flowing through the motor and the rotation angle of the rotor as control information. A current detector is provided on a power supply line to the electric motor, and an angle detector or a rotation speed detector having a specific angle detection function is attached to the rotor. A CT using a shunt resistor or a Hall element is used for the current detector, and a resolver, an encoder, or the like is used for the angle detector or the rotational speed detector. In addition, a semiconductor power conversion element controlled by a PWM signal from a control device is used as a switching element for an inverter that supplies electric power to a synchronous motor, and commutation noise due to the operation of the switching element is used to detect an angle and a current. Since this causes an error when superimposed on the signal, there are no noise prevention or avoidance measures when detecting the current value or angle. Who Used This The
[0003]
In such a conventional motor control device, a noise prevention circuit is often provided in the signal input path from the current detector and the signal input path from the angle detector, but at the time of detecting the current value and angle One technique is to avoid the influence of commutation noise in terms of timing. For example, the technique disclosed in Japanese Patent Laid-Open No. 11-136950 is also based on this technique. In the technique disclosed in this publication, current sampling is performed while avoiding a period in which commutation noise is generated while synchronizing with a PWM carrier signal. Specifically, the peak of a triangular wave of a carrier signal is used. Alternatively, current sampling is performed when a predetermined time has passed from the apex.
[0004]
[Problems to be solved by the invention]
By setting the current sampling timing in this way, errors due to commutation noise can be avoided, but there is another problem that cannot be ignored when controlling the synchronous motor with high accuracy. That is, when a synchronous motor is to be controlled with high accuracy by the vector control method, it is necessary to obtain the rotation angle information at the same time as the current value detection timing and perform the control calculation, and the rotation angle information and the current value When there is a temporal difference in detection timing, there is a problem that a coordinate axis is shifted in the control calculation, the control accuracy is deteriorated, and the control responsiveness is also lowered. Although it is generally well known that the rotation angle information and the current value need to be sampled simultaneously, in actual control, the rotation angle detection system and the current value detection system Since there is a difference in transmission characteristics, it is common that sampling of rotation angle information and current value is not synchronized. Therefore, conventional control methods have limitations in control accuracy and responsiveness. It was a thing.
[0005]
The present invention has been made in order to solve such a problem, and ensures the simultaneousness of the sampling of the rotation angle information and the current information, and is good by performing sampling while avoiding commutation noise. An object of the present invention is to obtain an electric motor control device having excellent control accuracy and responsiveness.
[0006]
[Means for Solving the Problems]
An electric motor control device according to the present invention includes a PWM signal generating means for providing a PWM signal based on a voltage command value and a carrier signal to an inverter that converts electric power supplied to the electric motor, and an electric current value signal of the electric motor is input to obtain current information. Current information detection means for outputting; angle information detection means for outputting angle information by inputting a rotation angle signal of the motor; current information sampler and angle information for sampling the current information and angle information and giving them to the vector control calculation means A sampler, and sampling time calculation means for calculating the sampling time of each of the current information sampler and the angle information sampler, In order to sample the current information and rotation information from the current signal and rotation angle signal of the motor at the same time, Sampling time output by sampling time calculation means But , Set to have a predetermined time difference between current information sampling time and angle information sampling time Is It is a thing.
[0007]
In addition, the carrier signal is a triangular wave, and the sampling time of the angle information calculated by the sampling time calculating means is set after elapse of a predetermined time including zero from the maximum value or the minimum value of the triangular wave. .
Further, the predetermined time difference between the sampling timing of the current information and the sampling timing of the angle information is set based on the time difference between the signal processing delay time of the current information detection means and the signal processing delay time of the angle information detection means. It is a thing.
Furthermore, the gate drive means for converting the PWM signal into the gate signal is provided in the inverter, and the signal processing when the predetermined time from the maximum value or the minimum value of the triangular wave is converted from the PWM signal of the gate drive means to the gate signal. It is set based on the delay time.
[0008]
Further, temperature detection means is provided in the current information detection means, the angle information detection means, and the gate drive means, and is set based on the time difference between the signal processing delay time of the current information detection means and the signal processing delay time of the angle information detection means. The predetermined time difference and the predetermined time set based on the signal processing delay time when converting the PWM signal of the gate driving means to the gate signal are corrected by the respective temperatures.
Furthermore, the carrier signal is a sawtooth wave, and the sampling time of the angle information calculated by the sampling time calculating means is set a predetermined time before the maximum value of the sawtooth wave.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
1 to 8 are diagrams for explaining an electric motor control apparatus according to Embodiment 1 of the present invention. FIG. 1 is a block diagram showing a system configuration, and FIG. 2 is a current information detecting means 10 in FIG. FIG. 3 is a diagram for explaining the operation of the gate drive unit 8 in FIG. 1, and FIG. 3 is a diagram for explaining the operation of the gate driving means 8 in FIG. FIG. 5 is an explanatory diagram for explaining the transfer characteristics of the gate drive operation, FIG. 6 is an explanatory diagram for explaining the commutation noise prevention timing with respect to the rotation angle information, and FIGS. 7 and 8 show the simultaneity of sampling and commutation. It is explanatory drawing explaining the timing of noise prevention.
[0010]
The configuration and operation of the system will be described with reference to FIG. 1. The system includes a DC power source 1, an inverter 2 that converts DC power from the DC power source 1 into three-phase AC power of U phase, V phase, and W phase, 2, a motor 3 driven by AC power from 2, a U-phase current detector 4 a and a V-phase current detector 4 b provided in a power supply path from the inverter 2 to the motor 3, and a rotation angle of the rotor of the motor 3 Control for controlling the motor 3 by inputting signals from the angle detector 5 for detecting the noise, the U-phase current detector 4a, the V-phase current detector 4b, and the angle detector 5 and applying a PWM signal to the inverter 2. The apparatus 6 is comprised.
[0011]
The inverter 2 includes a U-phase p-side IGBT 7a, a U-phase n-side IGBT 7b, a V-phase p-side IGBT, a V-phase n-side IGBT, a W-phase p-side IGBT, not shown, as semiconductor power conversion devices. A total of six switching elements of the W-phase n-side IGBT are connected in a three-phase bridge configuration, and the switching operation is performed by the gate signal of the gate driving means 8 driven by the PWM signal from the control device 6. DC power from the power source 1 is converted into three-phase AC power and supplied to the motor 3.
[0012]
The control device 6 includes a vector control calculation means 9 for outputting a voltage command value to be applied to the motor 3 based on a torque command value from the outside, current information and angle information described later, and each of the current detectors 4a and 4b. Current information detection means 10 for inputting the detected current signal and outputting current information, angle information detection means 11 for inputting the rotation angle signal from the angle detector 5 and outputting angle information, and a triangular wave carrier signal A carrier signal generating means 12 to be generated; a sampling time calculating means 13 for calculating a sampling time of current information and angle information by inputting a carrier signal; and a sampling instruction for outputting a sampling instruction signal by the signal of the sampling time calculating means 13 Means 14 and samplers 15a and 15 for sampling current information based on instructions from sampling instruction means 14. And a gate drive means 8 by generating a PWM signal from the sampler 16 for sampling angle information based on the instruction of the sampling instruction means 14, the voltage command value of the vector control calculation means 9 and the carrier signal from the carrier signal generation means 12. And a PWM signal generating means 17 for supplying to the signal.
[0013]
The control device 6 includes a torque command value τm given to the motor 3 from an external device (not shown), a U-phase current signal detected by the U-phase current detector 4a, and a V-phase detected by the V-phase current detector 4b. The current signal and the rotation angle signal of the electric motor 3 detected by the angle detector 5 are input as input signals. The current information detection means 10 for inputting the current signal of each phase has a configuration as shown in a circuit example to be described later, performs waveform shaping for removal of noise components contained in the signal, signal level conversion, etc. Iu is output as information and iv is output as V-phase current information. Further, the angle information detection means 11 also has a configuration as in a circuit example described later, and shapes the signal waveform and outputs the angle information θ.
[0014]
The sampling timing calculation means 13 calculates the sampling timing of current information and the sampling timing of angle information based on the triangular wave carrier signal output from the carrier signal generation means 12, and samples each timing signal as sampling instruction means, as will be described later. 14 The sampling instruction means 14 gives instructions to the samplers 15a and 15b by the given timing signal, samples the current information iu and iv at that timing, gives them to the vector control arithmetic means 9, and gives instructions to the sampler 16 At this timing, the angle information θ of the electric motor 3 is sampled and given to the vector control calculation means 9. The vector control calculation means 9 is a three-phase AC voltage command value Vu to be applied to the motor 3 by a known vector control method based on the torque signal τm, current information iu and iv, and angle information θ input from the outside. And Vv and Vw are calculated and output to the PWM signal generating means 17.
[0015]
The three-phase AC voltage commands Vu, Vv, and Vw and the triangular wave carrier signal Vc from the carrier signal generating means 12 are input to the PWM signal generation means 17, and the six signals of the inverter 2 are obtained by a known triangular wave comparison PWM generation method. Tup, Tun, Tvp, Tvn, Twp, and Twn are generated and output as PWM signals for operating the IGBT. Here, u, v, and w of each PWM signal are identification codes indicating three phases, and p and n are identification codes indicating a positive side and a negative side. These PWM signals Tup to Twn are applied to the gate drive means 8 of the inverter 2, the signal level is converted and applied to each IGBT as a gate signal, and a three-phase AC voltage is output from the inverter 2 to torque the motor 3. Drive based on the value τm.
[0016]
The electric motor control apparatus in this embodiment operates as described above. However, in order to improve the control accuracy, the simultaneous sampling of the current information sampled by the samplers 15a and 15b and the angle information sampled by the sampler 16 is performed. It is necessary to ensure the sampling simultaneity by adjusting the sampling timing by the sampling timing calculation means 13. The contents of the sampling timing adjustment will be described below. Note that the sampling simultaneity means the simultaneity at the measurement timing by the current detectors 4a and 4b and the angle detector 5.
[0017]
The current information detection means 10 performs waveform shaping for removing noise components contained in the current signal and for signal level conversion by a circuit as shown in FIG. 2A for each phase, for example. Therefore, an electrical processing delay occurs, and a signal processing delay time ti occurs in the output signal with respect to the input signal as shown in the current waveform of the figure. Further, the angle information detection means 11 performs signal waveform shaping using, for example, a circuit as shown in FIG. 2B, but this process also causes an electrical processing delay. As shown, a signal processing delay time tθ occurs in the output signal with respect to the input signal.
[0018]
The configurations of the current information detection means 10 and the angle information detection means 11 differ depending on the characteristics of the current detectors 4a and 4b and the angle detector 5, and generally the signal processing delay time ti and the angle of the current information. The information signal processing delay time tθ has different values. Therefore, when current information and angle information after signal processing are simultaneously sampled, i1 and θ1 are sampled where i2 and θ2 in FIG. The current information and the angle information lose simultaneity due to the difference in signal processing time.
[0019]
In order to maintain the sampling of the current information and the angle information at the same time, as shown in FIG. 3, the current information signal processing delay time ti in the current information detecting means 10 and the angle information in the angle information detecting means 11 Considering the difference in the signal processing delay time tθ, the angle information sampling timing tsmpl-θ has a time difference of (ti−tθ) that is the difference in the signal processing delay time with respect to the current information sampling timing tsmpl-i. Sampling needs to be executed, and by providing this timing difference to the timing instruction of the sampling time calculation means 13, the simultaneity of sampling of the current information and the angle information is maintained.
[0020]
Further, the gate drive means 8 is configured by a circuit as shown in FIG. 4 for each phase, for example, and receives a PWM signal from the PWM signal generation means 17 to convert it into a gate signal for driving the IGBT. However, a photocoupler or the like is used for signal transmission between the input side and the output side in order to insulate the signal path. Generally, the transfer characteristic of the gate driving means 8 is in the control calculation cycle of the vector control calculation circuit 9. It has a signal processing delay time that cannot be ignored in comparison.
[0021]
The transfer characteristic explanatory diagram of the gate drive operation shown in FIG. 5 shows the relationship between the transfer characteristic and the commutation noise, with the U phase of the three phases as a representative, and (a) in the figure is a triangular wave at a certain point in time. The relationship between the carrier signal Vc and the voltage command value Vu is shown. When the triangular wave comparison PWM generation method is used for this relationship, the PWM signal becomes a signal as shown in Tup and Tun in FIG. When this PWM signal is converted into a gate signal by the gate driving means 8, it becomes like the gate signals IGBTTup and IGBTTun of FIG. 5C, and the signal processing delay indicated by tg is between the PWM signal and the gate signal. Time occurs, and the current waveform of the U-phase current generated by the gate signal changes as shown in FIG. 4D, and switching noise, that is, commutation noise is superimposed every time commutation occurs.
[0022]
FIG. 6 shows the relationship between the carrier signal Vc, the gate signal, and the angle information. Although the commutation noise is superimposed on the angle information every time the IGBT is commutated by the gate signal, the maximum value of the carrier signal Vc is shown. And the minimum value are approximately in the middle of this commutation, so that the sampling timing calculation means 13 detects the maximum value and the minimum value of the carrier signal Vc, and the time corresponding to the signal processing delay time tg from the maximum value and the minimum value. If the angle information sampling instruction is given later, commutation noise can be avoided.
[0023]
FIG. 7 shows the sampling timing for realizing the synchronism of the angle information and the current information and avoiding commutation noise superposition. The PWM signal is inverted at the intersection of the triangular wave carrier signal Vc and the voltage command value Vu shown in (a) of the figure, and the gate signal is inverted after the signal processing delay time tg to operate the IGBT. As described above, the maximum value and the minimum value of the carrier signal Vc are detected, the angle information is sampled (tsmpl-θ) after time tg, and the current information signal processing delay time ti and the angle information signal processing are performed from this sampling point. Sampling of current information with a timing difference of (ti−tθ) that is a difference from delay time tθ (tsmpl-i), thereby avoiding commutation noise while maintaining the synchronism of current information and angle information. Is possible.
[0024]
FIG. 8 shows another sample timing for performing sampling avoiding commutation noise while maintaining the synchronism of current information and angle information. The signal is detected by detecting the maximum value and the minimum value of the carrier signal Vc. The current information is sampled (tsmpl-i) after the processing delay time tg, and the timing (ti-tθ) which is the difference between the current information signal processing delay time ti and the angle information signal processing delay time tθ from this sampling point. The angle information is sampled by the difference (tsmpl-θ), and is shifted by (ti-tθ) from the timing shown in FIG. 7, but at this timing, the current information and the angle information are also different. Commutation noise can be avoided while maintaining simultaneity.
[0025]
As described above, the sampling time calculation means 13 calculates and outputs the sampling timing from the carrier signal, and the sampling instruction means 14 drives the samplers 15a and 15b and the sampler 16 to sample current information and angle information. Accordingly, commutation noise can be prevented from being superimposed while ensuring the synchronism between the angle information and the current information, and the motor control with high control accuracy and excellent responsiveness can be obtained. In addition, although current detection was demonstrated by the detection of U phase and V phase, any phase may be detected and the same operation | movement and effect will be acquired even if all three phases are detected. .
[0026]
Embodiment 2. FIG.
FIG. 9 is a block diagram showing the configuration of the system of the motor control device according to the second embodiment of the present invention. This embodiment is different from the motor control device of the first embodiment in that the gate driving means 8 is used. The temperature detection means 18 is provided, the current information detection means 10 is provided with a temperature detection means 19, and the angle information detection means 11 is provided with a temperature detection means 20. A temperature signal is input from each of these temperature detection means and the sampling timing calculation means 13 is input. A temperature fluctuation compensating means 21 for correcting the sampling timing by outputting correction values Δtg, Δti, and Δtθ of time delay due to temperature is provided.
[0027]
The current information detecting means 10, the angle information detecting means 11, and the gate driving means 8 are generally constituted by electronic devices. Since many electronic devices have temperature dependence that changes their characteristics with respect to temperature changes, the signal processing delay times tg, ti, and tθ of each means change depending on the temperature depending on the circuit configuration. Accordingly, the temperature detecting means 18 to 20 are provided in each of the gate driving means 8, the current information detecting means 10 and the angle information detecting means 11 that need to perform timing correction, and the detected temperature is input to the temperature fluctuation compensating means 21. By calculating Δtg with respect to tg, Δti with respect to ti, and Δtθ with respect to tθ as fluctuations of the signal processing delay time with respect to each temperature, and adding them to the original signal processing delay time tg, ti, and tθ, respectively. Even when the temperature changes, the angle information and the current information can always be synchronized, and commutation noise can be avoided.
[0028]
In the calculation by the temperature fluctuation compensating means 21, the temperature dependence of the characteristics of each means may be an equation relating to temperature, or may be stored as a lookup table. It is also possible to install temperature detection only in circuits that affect current information sampling and angle information sampling. It is also possible to represent the temperature by the environmental temperature based on the environmental temperature, operation time, and load status. It is also possible to adopt a method to do this.
[0029]
Embodiment 3 FIG.
FIG. 10 is an explanatory diagram for explaining the operation of the motor control device according to the third embodiment of the present invention. In this embodiment, the carrier signal generating means 12 is different from the motor control device of the first embodiment. The carrier wave waveform of the triangular wave to be generated is different, and for this purpose, the setting of the sampling time by the sampling time calculation means 13 is changed according to the carrier signal waveform.
[0030]
As shown in FIG. 10A, the carrier signal generating means 12 of this embodiment outputs a sawtooth wave carrier signal Vc. Since the PWM signal generated by the PWM signal generation means 17 is inverted at the intersection of the sawtooth carrier signal Vc and the voltage command value Vu, the inversion occurs at the rising edge of the carrier signal voltage and at the maximum value time = minimum value time. Will do. Since the inversion of the gate signal generated by the gate driving means 8 has a signal processing delay time tg with respect to the PWM signal as in the case of the first embodiment, as shown in FIGS. 10B and 10C. In addition, commutation noise occurs after time tg from the maximum value and the minimum value of the carrier signal, and commutation noise is superimposed on the angle information and the current information at the same sampling time as in the first embodiment.
[0031]
Therefore, in this embodiment, as shown in FIG. 10, the sampling timing is advanced by time tΔ with respect to the inversion of the gate signal. For example, when the signal processing delay time ti of the current information is larger than the signal processing delay time tθ of the angle information, the sampling timing calculation means 13 detects the maximum value of the carrier signal and reaches the point of time (tg−tΔ). The sampling time is set so that the angle information is sampled and the current information is sampled at (ti-tθ) earlier than the time (tg-tΔ). When the current information signal processing delay time ti is smaller than the angle information signal processing delay time tθ, the opposite is true, but usually ti> tθ.
[0032]
By setting the sampling time by the sampling time calculating means 13 in this way, even if the carrier signal generated by the carrier signal generating means 12 is a sawtooth wave, the synchronism between the angle information and the current information can be ensured, and the commutation Noise superimposition can be avoided, and a motor control device with high control accuracy and excellent response can be obtained.
[0033]
【The invention's effect】
As described above, in the electric motor control device of the present invention, according to the first aspect of the invention, the PWM signal generating means for supplying the PWM signal to the inverter that supplies electric power to the electric motor, and the current information from the electric current of the electric motor. Current information detection means for outputting, angle information detection means for outputting angle information from the rotation angle signal of the motor, current information sampler for sampling current information and angle information, angle information sampler, and sampling timing of each of these samplers Sampling time calculation means for calculating In order to sample the current information and rotation information from the current signal and rotation angle signal of the motor at the same time, Sampling time output by sampling time calculation means But , Set to have a predetermined time difference between current information sampling time and angle information sampling time Is Therefore, it is possible to ensure the simultaneity of sampling of the angle information and the current information, and to obtain a motor control device with high control accuracy and excellent responsiveness.
[0034]
According to the invention described in claim 2, in the invention described in claim 1, when the carrier signal of the PWM signal generating means is a triangular wave, the sampling time of the angle information sampler calculated by the sampling time calculating means is: Since the maximum value or the minimum value of the triangular wave is set after a lapse of a predetermined time including zero, each information is affected by commutation noise while ensuring the synchronization of angle information and current information. Can be prevented.
[0035]
Further, according to the invention described in claim 3, in the invention described in claim 1, the predetermined time difference between the sampling timing of the current information and the sampling timing of the angle information is determined by the signal processing delay of the current information detecting means. Since it is set based on the time difference between the time and the signal processing delay time of the angle information detection means, it is possible to correct for the non-synchronization of the sampling timing caused by the signal processing delay time.
Furthermore, according to the invention of claim 4, in the invention of claim 2, the gate drive means is provided in the inverter, and the signal processing delay time when the PWM signal of the gate drive means is converted into the gate signal. Since the predetermined time from the maximum value or the minimum value of the triangular wave is set based on this, the sampling time of angle information and current information can be reliably set to a time outside the influence of commutation noise. .
[0036]
According to the invention of claim 5, the invention of claims 3 and 4 are provided. In The temperature detection means is provided in the current information detection means, the angle information detection means, and the gate drive means, and is set based on the time difference between the signal processing delay time of the current information detection means and the signal processing delay time of the angle information detection means. Since the predetermined time difference and the predetermined time set based on the signal processing delay time when converting from the PWM signal of the gate drive means to the gate signal are corrected by the respective temperatures, the environmental temperature changes. Even in this case, it is possible to always correct the non-synchronization of the sampling timing caused by the signal processing delay time, and to reliably set the sampling timing of the angle information and the current information outside the influence of the commutation noise. .
[0037]
According to the sixth aspect of the present invention, when the carrier signal is a sawtooth wave, the sampling time of the angle information sampler calculated by the sampling time calculating means is a predetermined time before the maximum value of the sawtooth wave. The sampling timing caused by the signal processing delay time can be corrected without affecting the carrier signal waveform, and the sampling timing of angle information and current information can be reliably affected by commutation noise. It can be set outside.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a system configuration of an electric motor control apparatus according to Embodiment 1 of the present invention.
FIG. 2 is an explanatory diagram of current information detection means and angle information detection means of the motor control device according to Embodiment 1 of the present invention;
FIG. 3 is an explanatory diagram of a sampling operation of the motor control device according to Embodiment 1 of the present invention.
FIG. 4 is an explanatory diagram of gate drive means of the motor control device according to Embodiment 1 of the present invention;
FIG. 5 is an explanatory diagram of a gate drive operation of the motor control device according to Embodiment 1 of the present invention.
FIG. 6 is an explanatory diagram for preventing commutation noise in the motor control device according to Embodiment 1 of the present invention;
FIG. 7 is an explanatory diagram of sampling synchronization and commutation noise prevention of the motor control device according to Embodiment 1 of the present invention;
FIG. 8 is an explanatory diagram of sampling synchronization and commutation noise prevention of the motor control device according to Embodiment 1 of the present invention;
FIG. 9 is a block diagram showing a system configuration of an electric motor control device according to Embodiment 2 of the present invention.
FIG. 10 is an operation explanatory diagram of an electric motor control device according to Embodiment 3 of the present invention.
[Explanation of symbols]
1 DC power supply, 2 inverter, 3 motor, 4a, 4b current detector,
5 angle detector, 6 control device, 7a, 7b IGBT,
8 gate drive means, 9 vector control calculation means,
10 current information detection means, 11 angle information detection means,
12 carrier signal generating means, 13 sampling time calculating means,
14 Sampling instruction means, 15a, 15b, 16 sampler,
17 PWM signal generating means, 18, 19, 20 Temperature detecting means,
21 Temperature fluctuation compensation means.

Claims (6)

PWM signal generating means for providing a PWM signal based on a voltage command value and a carrier signal to an inverter that converts power supplied to the motor, current information detecting means for inputting current signals of the motor and outputting current information, An angle information detecting means for inputting a rotation angle signal and outputting angle information; a current information sampler and an angle information sampler for sampling the current information and the angle information and giving them to a vector control calculating means; the current information sampler and the angle Sampling time calculating means for calculating each sampling time with the information sampler is provided, and the sampling time calculating means outputs the current information and angle information from the current signal and the rotation angle signal of the motor at the same time. sampling timing of the sampling of the current information Period and motor control device characterized in that it is set to have a predetermined time difference between the sampling timing of the angle information. The carrier signal is a triangular wave, and the sampling time of the angle information calculated by the sampling time calculating means is set after elapse of a predetermined time including zero from the maximum value or the minimum value of the triangular wave. The electric motor control device according to claim 1. The predetermined time difference between the sampling timing of the current information and the sampling timing of the angle information is set based on a time difference between the signal processing delay time of the current information detection means and the signal processing delay time of the angle information detection means. The motor control device according to claim 1, wherein When the inverter is provided with gate drive means for converting the PWM signal into a gate signal, and a predetermined time from the maximum value or the minimum value of the triangular wave is converted from the PWM signal of the gate drive means to the gate signal The electric motor control device according to claim 2, wherein the electric motor control device is set based on a signal processing delay time. Temperature detection means is provided in the current information detection means, the angle information detection means, and the gate drive means, and based on a time difference between the signal processing delay time of the current information detection means and the signal processing delay time of the angle information detection means. The predetermined time difference that is set and the predetermined time that is set based on the signal processing delay time when the gate signal is converted from the PWM signal to the gate signal are corrected by the respective temperatures. The electric motor control apparatus according to claim 3 or 4, wherein the electric motor control apparatus is configured as described above. The carrier signal is a sawtooth wave, and the sampling time of the angle information calculated by the sampling time calculating means is set a predetermined time before the maximum value of the sawtooth wave. The electric motor control device according to claim 1.

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