Motor control device

A motor control device for a vehicle including:

• an engine and a motor generator each serving as a power source;
• a transmission that transmits, to a wheel side, driving torque based on at least one of engine torque of a crankshaft of the engine and motor torque of a motor shaft of the motor generator at a selected change gear ratio;
• and a damper including an input inertial member connected to the crankshaft, an output inertial member connected to the input inertial member via an elastic member, and a dynamic vibration absorber disposed on at least one of the input inertial member and the output inertial member, the damper being configured to reduce vibration of the crankshaft,
• the motor control device comprising a hardware processor configured to:
• calculate calculational damper torque that is generated by the damper in accordance with a fluctuation of the engine torque on a basis of a difference between a crank angle as a rotation angle of the crankshaft detected by a first sensor disposed on the vehicle and a motor angle as a rotation angle of the motor shaft detected by a second sensor disposed on the vehicle;
• calculate a reversed phase torque in reverse phase to the calculated calculational damper torque;
• calculate, on a basis of at least the crank angle detected by the first sensor and the motor angle detected by the second sensor, at least one of a phase correction amount and an amplitude correction amount for correcting, respectively, a phase shift and an amplitude shift between the calculational damper torque and actual damper torque generated by the damper, the phase shift and the amplitude shift occurring due to dynamic vibration absorption torque generated by the dynamic vibration absorber;
• and
• output a motor torque command to be provided to the motor generator on a basis of the reversed phase torque having been corrected based on at least one of the phase correction amount and the amplitude correction amount.