Patent ID: 8892306

Claim:
A motor control unit that controls a motor and that includes a rotor and a stator that faces the rotor, comprising: a current drive unit that drives the motor based on 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 and calculated without receiving an output signal of rotational angle sensor that detects a rotation angle of the rotor so that the control angle is determined independently from the rotation angle of the rotor; a control angle calculation unit that obtains a present value of the control angle by adding an addition angle to an immediately preceding value of the control angle in predetermined calculation cycles; a torque detection unit having a torque sensor that detects a torque other than a motor torque, which is applied to a drive target that is driven by the motor; a command torque setting unit that sets a command torque that is a torque that is other than the motor torque and that is to be applied to the drive target; an addition angle calculation unit that calculates, without detecting a change of the rotation angle of the rotor, the addition angle based on a torque deviation that is a deviation of a detected torque that is detected by the torque detection unit from the command torque that is set by the command torque setting unit; and a command current setting unit that sets a command current value that is a target value of the axis current value based on the torque deviation, wherein the command current setting unit sets a present value of a command current by correcting an immediately preceding value of the command current by a correction amount that corresponds to the torque deviation, and wherein the command current setting unit includes a correction amount calculation unit that calculates the correction amount such that an absolute value of the correction amount increases as an absolute value of the torque deviation increases.