Patent ID: 7102305

Claim:
A motor control apparatus comprising: a direct-current power source, which outputs a direct-current power source voltage, an inverter circuit, which outputs a pulse voltage generated from the power source voltage to a motor, a voltage sensor configured to read the direct-current power source voltage in every control cycle, and a control unit configured to (a) receive a current command value in every control cycle, (b) calculate a current deviation accumulated value based on a previous current deviation accumulated value, (c) compute a voltage command value in accordance with at least the current deviation accumulated value, and (d) control the inverter circuit based on the voltage command value, wherein the control unit is further configured to (e) judge whether the computed voltage command value is saturated by determining in every control cycle whether the computed voltage command value exceeds a voltage (i) which can be output from the inverter circuit and (ii) which is calculated based on the sensed direct-current power source voltage; and (f) restrict the accumulation of the current deviation when the voltage command value is judged to be saturated.