Patent ID: 7345443

Claim:
A motor control apparatus comprising: a position detecting portion for detecting a position of a motor for driving a mechanism a moment of inertia or an inertia mass of which is unknown, a speed calculating portion for outputting a speed of the motor by inputting an output of the position detecting portion, a position control portion for outputting a speed reference by inputting a difference between a position reference and the position of the motor, an inertia variation restraining portion for outputting a new torque reference by predicting a disturbance of the motor by inputting a torque reference and the speed of the motor, a torque control portion for controlling a torque of the motor by inputting the new torque reference, a phase compensating portion for outputting a new speed reference of advancing a phase by inputting the speed reference, and a speed control portion for outputting the torque reference by inputting a difference between the new speed reference and the speed of the motor.