Patent ID: 8862322

Claim:
A motor control unit that is used to control a motor that includes a rotor and a stator that faces the rotor, comprising: at least one processor; at least one non-transitory computer-readable storage medium, the at least one non-transitory computer-readable storage medium storing instructions that when executed cause the at least one processor to perform as: a current drive unit that drives the motor at 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 using an output signal of a 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; an addition angle calculation unit that calculates, without detecting a change of the rotation angle of the rotor, an addition angle that is to be added to the control angle based on a deviation of a control torque calculated by a control torque calculation unit from a command torque set by a command torque setting unit; a control angle calculation unit that obtains, at each calculation cycle among a plurality of calculation cycles, a present value of the control angle by adding the addition angle that is calculated by the addition angle calculation unit to an immediately preceding value of the control angle; an angular speed calculation unit that calculates an angular speed of the rotor; an addition angle correction unit that corrects the addition angle based on the angular speed calculated by the angular speed calculation unit, and a filtering unit that filters the angular speed calculated by the angular speed calculation unit.