| 摘要 |
<p>A motor control device (100, 100A) according to an embodiment includes a first subtractor (9), a speed controller (2), and a phase compensating speed observer (7). The first subtractor (9) subtracts a speed reference from a speed feedback signal to obtain a speed deviation. The speed controller (2) receives the speed deviation and outputs a first torque reference. The phase compensating speed observer (7) receives the first torque reference and a speed of a controlled object including a motor, and outputs the speed feedback signal. The phase compensating speed observer (7) includes a delay element model having an integral element of an order optimally satisfying a setting condition based on a degree of easiness for implementation and a degree of usefulness for phase delay compensation of the speed feedback signal to the speed reference.</p> |
