Motor control device and electric brake device including the same

A motor control device comprising:

• a motor;
• and
• an electronic control unit (ECU) that generates a torque command to be input to the motor;
• wherein the motor is configured to receive voltage based on the torque command, and
• the ECU is configured to:
• estimate disturbance of the motor from a feedback value that is a control amount of the motor and voltage applied to the motor, and
• estimate a delay from the torque command, the feedback value, and the disturbance,
• stop estimating the disturbance of the motor while the motor is performing unloaded operation,
• estimate a delay from the torque command and the feedback value while the motor is performing unloaded operation, and
• control rotation of the motor based at least in part on the torque command,
• wherein the delay is set to the voltage.

An electric brake device comprising:

• a motor;
• a piston that presses a brake pad against a disc rotor;
• a rotation/linear motion conversion mechanism that converts a rotational motion output of the motor into a linear motion to propel the piston;
• and
• an electronic control unit (ECU) configured to:
• estimate disturbance by using a torque command input to the motor and a feedback value of the motor,
• estimate delay estimation unit estimate a delay by using the torque command, the feedback value of the motor, and disturbance torque, and
• control rotation of the motor based at least in part on the torque command.