| 摘要 |
<p>Disclosed are a motor control device which enables robustness of the whole control even against motor parameter fluctuations caused by temperature changes, manufacturing variations, and the like, and against disturbance, and an electric power steering apparatus equipped with the motor control device. Specifically disclosed is a motor control device provided with a current detector which detects a current in a motor, and a controller which determines a voltage command value on the basis of at least a current command value. The controller is provided with an adaptive identification means which identifies each parameter fluctuation of the output model of the motor, a current estimation means which estimates the current in the motor, and a voltage command value determination means which determines the voltage command value, the adaptive identification means performs the identification on the basis of at least a current detection value detected by a current detector and a current estimate calculated by a current estimation means, the current estimation means calculates the current estimate on the basis of at least the result of the identification and the voltage command value, and the voltage command value determination means determines the voltage command value on the basis of the current command value and the current estimate.</p> |
