| 摘要 |
[Problem] An object of the present invention is to provide a motor control apparatus that is capable of making the whole control system robust not only with respect to motor parameter variations such as the temperature variation and the manufacturing unevenness but also with respect to disturbances while using a cheap and compact one-shunt type current detecting circuit and simultaneously diagnosing an estimation error and an electric power steering apparatus provide with the motor control apparatus. [Means for solving the problem] A motor control apparatus comprising a current detecting circuit to detect a current of a motor as a current detected-value, a drive control unit to drive and control the motor with duty based on a voltage command value determined based on at least a current command value, and a rotation detecting unit to detect an angle and an angular speed of the motor, wherein, the motor control apparatus further comprising: an adaptive current observer to identify parameter variations of an output model of the motor, to calculate a current estimated-value of the motor and to use the current estimated-value for a calculation of the voltage command value; an adaptive identifying diagnosis section to diagnose an estimation error of the current estimated-value outputted from the adaptive current observer; and a current-detection-impossible state detecting section to detect a current-detection-impossible state that a detection of the current detected-value is impossible, wherein the adaptive identifying diagnosis section diagnoses the estimation error of the current estimated-value based on the current estimated-value, the current detected-value, the angle and the current-detection-impossible state and controls the duty based on a diagnosis result. |
