| 摘要 |
<p>Provided are a motor control device (100) and a motor system (10) that allow a robust control system to be constructed. This motor control device (100) is equipped with: a position/speed estimation unit (120) that outputs an estimated motor position and an estimated motor speed on the basis of an estimated position deviation, that is, a difference between a motor position and an estimated motor position of a motor (12); and a control unit (110) that outputs a torque command for controlling the motor (12) on the basis of the estimated motor position, the estimated motor speed, and a position command. The position/speed estimation unit (120) has a nonlinear compensator (124) that outputs a compensating torque on the basis of the estimated position deviation in order to compensate for an error in a model (128) of the motor (12).</p> |
