In the periodic torque ripple suppression control performed by the disturbance observer, than the time used it is necessary to consider the variation of the variation and characteristics of the plant caused by plant. Thus, the improvement of the robust model identification is required for the error. In order to meet this requirement, a phase correction amount for inducing a phase correction vector by calculating the phase of the frequency components of the periodic disturbance locus drawn calculation section 11, calculates the traveling speed of the frequency components of the vector locus drawn periodic disturbance compares the calculated traveling speed to the threshold gain correction gain calculation unit for deriving the correction amount 12, and multiplying the gain correction amount and phase correction amount to induce the system identification model, and the correction value based on the system identification model correction value periodic disturbance observer unit system comprising system identification calculation section for correcting the rotation vector 13 of the model 14 is provided. ;
展开▼
