Patent ID: 7265511

Claim:
A motor controller comprising: a current detecting unit for detecting a motor current to be controlled; a current control unit for outputting a voltage command, based on a current difference between a current indicated by a current command and a fed-back current based on the motor current detected by the current detector; and a driving means for supplying the motor current to the motor, based on the voltage command; wherein the current control unit comprises: a delay compensation low-pass filter in the current control unit having a transfer function corresponding to a delay of a current control system; an integral control system including a current integrator, the current integrator for integrating a current difference between the fed-back current and the current indicated by a delay current command, the delay current command being obtained by inputting the current command into the delay compensation low-pass filter in the current control unit; a proportional control system for outputting a command proportional to the current difference between the fed-back current and the current indicated by the current command; an addition means for adding an output of the integral control system and an output of the proportional control system; and a multiplication means for multiplying an output of the addition means by a current proportional gain to output the voltage command.