| 摘要 |
Energization stages are formed by means of the first and second sensor groups and a torque constant is defined for each of the stages. A target current value is computationally determined so as to drive the motor under control. As a torque command showing a target torque of the motor 1 is input to the controller 11, the target current value is computationally determined for each stage according to a torque constant map, which provides a table of torque constants for different phases and different stages. The rotor angle of the motor 1 is detected by Hall sensors 10 and the current stage is computationally determined on the basis of the detected rotor angle. Then, a target current value is defined as a function of the target torque for each stage on the basis of the current stage and the motor 1 is driven by the driver under PID control based on the target current value.
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