| 摘要 |
The present invention provides a motor controller and a motor control method in which displacement does not arise even when an external force is present during the identification of inertia. In the motor controller including a position control section (3) that generates a speed command based on a position command and a motor position, a speed control section (4) that generates a torque command based on the speed command and a motor speed, and a motor driving section (8) that generates a motor current based on the torque command, and a speed feed forward command generating section (5) that generates a speed feed forward command by differentiating the position command, the motor controller includes: a model control section (2) that generates a model torque command based on the speed feed forward command and the speed of a model; and an inertia identifying section (9) that identifies inertia based on the ratio of an integrated value of the motor torque command obtained by time-integrating the motor torque command in a prescribed section to an integrated value of model torque command obtained by time-integrating the model torque command in a prescribed section, from a prescribed position command.
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