| 摘要 |
PROBLEM TO BE SOLVED: To provide a motor controller for accurately estimating a rotor angle for control, even if the rotation speed of a rotor suddenly changes or the rotating direction is not inverted.SOLUTION: While a detected rotor angle θr discretely detected by a rotor angle position detecting section 162 cannot be obtained, a rotor angle estimating section 164 executes a normal estimating operation (S72), so long as an elapsed time ΔTL is a previous time interval ΔTor below, and executes a return estimating operation (S62), when it is the time interval or more. In this case, if the difference between the last detected rotor angle θr and an electric angle estimated value θre exceeds 30°, a steering torque code is obtained (S58) to determine whether the rotor is inverted or not (S60). Here, when it is determined that the rotor is not inverted, the estimating section executes normal estimating operation (S72) as reverse return processing, thereby accurately calculating the electric angle estimated value θre, even if the rotation direction of the rotor is not inverted in executing the returning processing. |
