Patent ID: 8164288

Claim:
A motor control device that controls a motor with a stator having armature winding and a rotor having a permanent magnet, comprising: a torque fluctuation component estimation unit for estimating a torque fluctuation component generated at the motor based on flux-linkage of the armature winding and an armature current that flows the armature winding; wherein the motor control is performed based on the estimated torque fluctuation component; wherein the torque fluctuation component estimation unit estimates the torque fluctuation component based on an inner product of a flux-linkage vector which is a vectorial representation of the flux-linkage or a vector according to the flux-linkage and a current vector which is a vectorial representation of the armature current, and wherein when a first component and a second component of the flux-linkage vector or the vector according to the flux-linkage are respectively φ 1 and φ 2 , and a first component and a second component of the current vector are respectively i 1 and i 2 , the inner product is φ 1 i 1 +φ 2 i 2 .