Patent ID: 8716972

Claim:
A motor control apparatus comprising: a power converter configured to output a current to drive a motor based on a torque command; a speed controller configured to generate the torque command based on an error between a speed command of the motor and a motor speed of the motor; and a stop position controller configured to: calculate an acceleration command to output a predetermined torque after detection of a reference position per revolution of a position detector for a first time during speed control of the motor, the position detector being configured to detect a motor position; generate a torque feed-forward command based on the acceleration command, the torque feed-forward command being to be added to the torque command; generate a position command based on the acceleration command, the position command being indicative of the reference position detected for the first time relative to a target stop position of the motor; and generate the speed command based on an error between the position command and the motor position to execute position control of the motor.