Patent ID: 8380398

Claim:
A motor control unit that is used to control a motor that includes a rotor and a stator that faces the rotor, comprising: a current drive unit that drives the motor at an axis current value of a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control; a control angle calculation unit that obtains, at every predetermined calculation cycle, a present value of the control angle by adding an addition angle to an immediately preceding value of the control angle; a torque detection unit that detects a torque that is other than a motor torque and that is applied to a drive target that is driven by the motor; a command torque setting unit that sets a command torque that is to be applied to the drive target; and an addition angle calculation unit that calculates the addition angle that is to be added to the control angle through a proportional-integral control based on a torque deviation of the torque that is detected by the torque detection unit from the command torque that is set by the command torque setting unit.