Referring to FIG. 16A, the observer loses the position estimation before the motor controller stops due to an overcurrent fault. However, in FIG. 16B, the observer maintains position estimation performance in the entire torque range from ?3.5 pu to 3.5 pu while keeping the position error within ±10°. This indicates that sensorless control is available in the entire torque range by the method of the present disclosure.

Although the present disclosure has been described based on embodiments and drawings that are limited to specific matters such as specific components, or the like, this is merely to help a more comprehensive understanding of the present disclosure, and the present disclosure is limited to the embodiments. Various modifications and variations can be made from this description by those skilled in the art.

Accordingly, the present disclosure should not be limited to the described embodiments, and all equivalents or modifications of the claims as well as the appended claims are to be regarded as falling within the scope of the present disclosure.

100: motor control apparatus

101: motor

110: current controller

120: high frequency voltage generator

130: first coordinate converter

140: inverter

150: second coordinate converter

160: filter

170: compensator

175: reference table storing unit

180: angle estimator