Motor control device, motor control method and computer readable recording medium

A motor control method for a motor control device of a motor coupled with a driven part of a machine via an elastically deformable element, the method comprising:

• generating a velocity command;
• calculating a torque command by a velocity controller based on a difference between the velocity command and a velocity of the driven part, the velocity of the driven part being detected by a second velocity detector;
• calculating a compensation torque command by multiplying error between motor velocity of the motor and the velocity of the driven part by a compensation gain and compensation filter, the motor velocity of the motor being detected by a first velocity detector;
• controlling torque of the motor based on a value obtained by adding the torque command and the compensation torque command;
• and
• changing the gain of the velocity controller in response to the operating condition of the motor control device, and changing at least one among the compensation gain and the compensation filter in accordance with the change in the gain of the velocity controller.

A non-transitory computer-readable recording medium encoded with a motor control program enabling a computer serving as a motor control device of a motor coupled to a driven part of a machine via an elastically deformable element to execute:

• processing of generating a velocity command;
• processing of calculating a torque command by way of a velocity controller based on the velocity command and a velocity of the driven part, the velocity of the driven part being detected by a second velocity detector;
• processing of calculating a compensation torque command by multiplying error between a motor velocity of the motor and the velocity of the driven part by a compensation gain and a compensation filter, the motor velocity of the motor being detected by a first velocity detector;
• processing of controlling torque of the motor based on a value obtained by adding the torque command and the compensation torque command;
• and
• processing of changing the gain of the velocity controller in response to the operating condition of the motor control device, and changing at least, one among the compensation gain and the compensation filter in accordance with the change in the gain of the velocity controller.