Abstract: Host control section 8 is provided with simulation model 8c for simulating the signal transmission characteristics of an electric motor control device. Host control section 8 performs an operation on the actual position command signal ?ref that is supplied from the host device in accordance with the simulation model, calculates the speed and position of the electric motor corresponding to the actual position command signal ?ref, and applies this speed and position as first simulation speed signal ?F and first simulation position signal ?F, respectively, with each second control sampling period t2. Host control section 8 further generates a linear combination of ?ref??F and ?F using, as combination coefficients, constants determined by parameters that characterize the simulation model, and supplies this linear combination as feedforward torque signal TFF for each second control sampling period t2.

Abstract: A motor controller comprising a machine system (12) having a load machine (1), a transmission mechanism (2) for transmitting power, and a motor for driving the load machine through the transmission mechanism; a simulator unit (11) having a numeric model (9) including the machine system, a simulation control section (19) for giving a torque command to the numeric model by using an observable quantity of state of the numeric model, and an evaluating section (10) for sending a control parameter to the simulation control section and an actual control unit; and the actual control unit (18) having an actual control section which receives an observable quantity of state of an actual system and has the same structure as that of the simulator unit and adapted to supply a torque signal to the motor serving as a drive source. Therefore the control gain of a motor controller can be automatically adjusted quickly and optimally.

Abstract: Host control section 8 is provided with simulation model 8c for simulating the signal transmission characteristics of an electric motor control device. Host control section 8 performs an operation on the actual position command signal &thgr;ref that is supplied from the host device in accordance with the simulation model, calculates the speed and position of the electric motor corresponding to the actual position command signal &thgr;ref, and applies this speed and position as first simulation speed signal &ohgr;F and first simulation position signal &thgr;F, respectively, with each second control sampling period t2. Host control section 8 further generates a linear combination of &thgr;ref−&thgr;F and &ohgr;F using, as combination coefficients, constants determined by parameters that characterize the simulation model, and supplies this linear combination as feedforward torque signal TFF for each second control sampling period t2.