| 摘要 |
It is an object of the invention to provide a motor control apparatus capable of ensuring a control function even for a large inertia moment ratio. In a motor control apparatus including a position detecting portion ( 1 B) of a motor ( 18 ) for driving a mechanism a moment of inertia of which is unknown, a speed calculating portion ( 1 C), a position control portion ( 15 ) for outputting a speed reference by inputting a difference between a position reference and a position of the motor, a speed control portion ( 16 ) for inputting a difference between the speed reference and a speed of the motor, a torque control portion ( 17 ) for controlling a torque of the motor from a torque reference, and an inertia variation restraining portion ( 13 ) for outputting the torque reference by predicting a disturbance of the motor from the torque reference and the speed of the motor, the motor control apparatus further includes a phase compensating portion ( 14 ) for inputting the speed reference and inputting a speed advancing a phase to the speed control portion as a new speed reference, regards the torque of the motor generated by a deviation in a set value with regard to an actual moment of inertia as a disturbance and compensates for the disturbance by the inertia variation restraining portion ( 13 ) and the phase compensating portion ( 14 ).
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