| 简介 |
PROBLEM TO BE SOLVED : To provide a motor controller which can update the resistance characteristics, used for estimating the rotational speed of an electric motor, based on a highly reliable resistance estimate without using an external sensor for detecting steering holding state.SOLUTION : A steering holding determination unit 51 determines a counter electromotive force estimate Ke×ω on the basis of a current detection value I, a voltage detection value V, and a resistance estimate R held in a resistance estimate holding unit 55, and determines whether or not the steering state is the steering holding state on the basis of the counter electromotive force estimate. When a determination is made that the steering state is the steering holding state by the steering holding determination unit 51, a resistance estimate calculation unit 52 calculates a resistance estimate R, which is then stored in a weighted average value calculation memory 53a. When N resistance estimates R-Rare stored in the weighted average value calculation memory 53a, a weighted average value calculation unit 53 calculates these weighted average values R. |
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