Patent ID: 8862323

Claim:
A motor controller for controlling a motor including a rotor and a stator opposed to the rotor, the motor controller comprising: a torque detecting unit which detects a torque applied to an object to be driven by the motor; at least one processor; at least one computer-readable storage medium, the at least one computer-readable storage medium storing instructions that when executed cause the at least one processor to perform as: a command torque setting unit which sets a command torque; an electric current driving unit which drives the motor with an axis electric current value defined in a rotating coordinate system defined with respect to a control angle that is a rotation angle for control and calculated without using an input from a rotation 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 computing unit which computes a current value of the control angle by adding an addition angle to a previous value of the control angle in each predetermined computing cycle; an addition angle computing unit which computes, without detecting a change of the rotation angle of the rotor, the addition angle according to a deviation of the torque detected by the torque detecting unit from the command torque set by the command torque setting unit, and a limiting unit which limits the addition angle.