Patent ID: 6914404

Claim:
A motor controller for controlling a machine system having a power converting circuit which operates to drive an electric motor coupled to a load mechanism through a transmission mechanism in response to a torque command, and actual observing unit which provides an actual rotation angle signal and an actual speed signal of said electric motor, said motor controller characterized by comprising: first simulation control means for calculating a first simulation position signal, a first simulation speed signal and a first simulation acceleration signal based on a commanded rotation angle signal provided from an upper rank apparatus and at least one first control parameter, to provide the calculated signals; second simulation control means for calculating a second simulation position signal, a second simulation speed signal, a second simulation acceleration signal and a simulation torque signal based on said first simulation position signal, said first simulation speed signal, said first simulation acceleration signal and at least one second control parameter to provide the calculated signals; and actual control means for performing a feedback control based on said second simulation position signal, said second simulation speed signal, said second simulation acceleration signal and said simulation torque signal to calculate and provide said torque command.