| 摘要 |
<p>In order to obtain a motor control apparatus for achieving high speed and good response characteristics, the motor control apparatus is provided with: a speed model (21) for calculating the change component of a first state variable (ξ) on the basis of the first state variable (ξ) and a speed command (Vr), updating the first state variable (ξ), and outputting a speed feed forward (Vff) and an electric current feed forward (Uff) on the basis of the first state variable (ξ) after updating; a speed controller (33) for calculating the change component of a second state variable (η) on the basis of the actual speed (V) of a motor (11) and the speed feed forward (Vff) and the electric current feed forward (Uff), updating the second state variable (η), and outputting an electric current command (U) on the basis of the actual speed (V) of the motor (11), the speed feed forward (Vff), the electric current feed forward (Uff), and the second state variable (η) after updating; an electric current restrictor (34) for outputting a post-restriction electric current command (Usat) using the electric current command (U) as an input; and a change component coefficient calculation unit (36) for calculating a change component coefficient (α) on the basis of the electric current command (U) and the post-restriction electric current command (Usat).</p> |
