| 摘要 |
[Problem] To provide a current control system with high gain and wide band width. [Solution] A motor controller comprises: a proportional-integral (PI) compensator (11) that generates a voltage command on the basis of a deviation between a current command and an estimated current; a voltage conversion unit (12) that controls an output voltage to a motor (M) on the basis of the voltage command; a current detection unit (13) that detects a motor current supplied to the motor (M); and a phase compensation disturbance current observer (14B) into which the detected motor current and voltage command are inputted, and which outputs the motor current, which is obtained by compensating for a phase delay, as an estimated current. The phase compensation disturbance current observer (14B) comprises: a motor voltage equation model (21) into which the voltage command is inputted, and which outputs the estimated current; a delay system model (23) that converts delay elements of a current control system into a model; and an observer gain (k1) and an observer gain (k2), which are multiplied by the difference between the motor current and the output of the delay system model (23). The output of the observer gain (k1) is added to the motor voltage equation model (21), and the output of the observer gain (k2) is added to the delay system model (23). |
