Accordingly, a manufacturer of the motor control apparatus may generate a corresponding relationship reference table of the torque command (T_e*) and the injection angle (?_i) according to the position (θ_r) of the rotor, for individual motors. The corresponding relationship reference table may be stored in the reference table storing unit 175, and the compensator 170 may generate the second compensation signal by using the corresponding relationship reference table stored in the reference table storing unit 175.

As described above, the injection angle applicable to solve the first angular error resolution has a predetermined range, but an intermediate value within the predetermined range may also be used for convenience of calculation and data storage efficiency.

FIGS. 13A to 13J show a second compensation current signal to which an injection axis is applied and the current signal (FIGS. 11A to 11J) is compensated according to the second embodiment of the present disclosure. Specifically, FIGS. 13A to 13J show the second compensation current signal (i_sig″) for the first angular error ({tilde over (θ)}_r) and the torque command (T_e*) at each rotor position (θ_r).

Referring to FIGS. 13A to 13J, since the second compensation current signal (i_sig″) input to the angle estimator 180 does not have a portion making zero down-crossing near the point where the angular error ({tilde over (θ)}_r) is 0, the convergence point may be easily determined as a point where the angular error ({tilde over (θ)}_r) is 0.

Comparison of Simulation and Experiment Result