Patent ID: 6873132

Claim:
An electric motor control device for providing appropriate torque commands to a machine system that comprises: a load machine, a transfer mechanism for transferring power, an electric motor for driving said load machine by way of said transfer mechanism, and a power conversion circuit for providing electric power for driving said electric motor based on said torque commands; said torque commands being provided to said power conversion circuit such that said machine system performs desired movements; and said electric motor control device comprising: a command generator for providing an actual command signal; an actual state observer for observing the state quantities of said machine system and providing an actual response signal with each first control sampling time period; a host control section for providing a first simulation position signal, a first simulation speed signal, and a first simulation torque signal with each second control sampling time period that is longer than said first control sampling time period based on said actual command signal; a regulatory control section for providing a second simulation torque signal with each first control sampling time period based on said first simulation position signal, said first simulation speed signal, and said actual response signal; a torque compensator for providing a third simulation torque signal with each second control sampling time period based on said first simulation position signal, said first simulation speed signal, and said actual response signal; and a torque synthesizer for providing torque commands with each first control sampling time period based on said first simulation torque signal, said second simulation torque signal, and said third simulation torque signal.