| 摘要 |
Provided are: a motor control device (100) that can configure a robust control system; and a motor system (10). The motor control device (100) is provided with: a position/velocity estimation unit (120) that, on the basis of a position estimation deviation, which is the difference between the motor position and the estimated motor position of a motor (10), outputs an estimated motor position and an estimated motor velocity; and a control unit (110) that, on the basis of the estimated motor position, the estimated motor velocity, and a position command, outputs a torque command that controls the motor. The position/velocity estimation unit (120) has: an observer corrector (122) that outputs an observer correction value on the basis of the position estimation deviation; a nonlinear compensator (124) that outputs a compensated torque on the basis of the position estimation deviation; a computation unit (126) that outputs a computed value on the basis of the observer correction value and the compensated torque; and a motor model (128) that is of the motor (12) and that outputs the estimated motor position and the estimated motor velocity on the basis of the computed value. |
