| 摘要 |
A velocity control loop of a motor control apparatus including a notch filter. The notch filter attenuates a signal component at a central frequency from a motor driving command, and outputs the attenuated motor driving command. The driving of a motor is controlled based on the attenuated motor driving command. The central frequency of the notch filter is set equal to a frequency at which a phase of open loop frequency characteristics of the velocity control loop that does not include a notch filter is a value obtained by subtracting 180 degrees from a preset phase margin. An attenuation factor of the notch filter by which the signal component at the central frequency is attenuated is set so that a gradient of a phase diagram of the open loop frequency characteristics of the velocity control loop including the notch filter is substantially zero.
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