Patent ID: 7187145

Claim:
A motor controller comprising: a speed command generating unit that outputs a speed command V ref ; a speed control unit, to which the speed command V ref and a motor speed detecting signal V fb are inputted, that outputs a torque command T ref so that the motor speed detecting signal V fb corresponds to the speed command V ref ; a torque control unit, to which the torque command T ref is inputted, that controls a torque and outputs a motor driving current to a motor; a detector that detects a position or a speed of the motor and outputs the motor speed detecting signal V fb ; and a control parameter adjusting unit that calculates an inertia total value J and a viscous friction coefficient D at least based on the torque command T ref and the motor speed detecting signal V fb , wherein the inertia total value J is a total value obtained by adding up a value of a rotor inertia of the motor and a value of an inertia of a load machine driven by the motor that are converted to a rotation axis of the motor.