| 摘要 |
[Problem] To suppress the effects of disturbances such as parameter fluctuations. [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 the effects of disturbances, 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; an observer gain (k1) and an observer gain (k2), which are multiplied by the difference between the motor current and the estimated current; and an integrator (24) that integrates the output of the observer gain k2. The output of the observer gain k1 is added to the motor voltage equation model (21), and the output of the integrator (24) is added to the voltage command. |
