Patent ID: 9323254
Filing Date: 2016-04-26
CPC Classification: G05D,H02P

Claim Text:
1. A motor control apparatus comprising: a position-command generating unit configured to output a position command for causing a rotor position of a motor to follow a reference position; a position control unit configured to perform control such that the rotor position of the motor and the position command coincide with each other and output a motor rotor speed command; and a torque-limit output unit configured to output a torque limit value that is an allowable torque of the motor, wherein the torque-limit output unit outputs, according to rotor speed of the motor, the torque limit value with which power consumption required for driving of the motor is equal to or smaller than a predetermined motor power limit value and voltage amplitude required for the driving of the motor is equal to or smaller than a predetermined motor voltage limit value, and wherein the position-command generating unit includes a motor model simulating a machine motion of the motor, performs a constant speed motion in the motor model or performs acceleration operation, or deceleration operation at torque equal to or smaller than the torque limit value to obtain motor model speed, and integrates the obtained motor model speed to generate a motor model position as the position command.