Motor control device and motor control computer program

A non-transitory recording medium that stores a motor control computer program for controlling a motor that drives a movable member in such a way as to cause the movable member to repeat a certain operation, wherein the motor control computer program causes a computer to execute:

• generating a phase signal having a predetermined period;
• generating a disturbance signal repeated in the predetermined period, based on the phase signal;
• calculating, for each predetermined sampling period, a position deviation between a position of the movable member designated by a position command and a position of the movable member measured by a position detector, adding an amount of correction for correcting the position deviation to the position deviation, adding the disturbance signal to a drive signal for driving the motor being generated based on the position deviation to which the amount of correction is added, and causing the motor to operate based on the drive signal to which the disturbance signal is added;
• calculating the amount of correction by using a dynamic characteristic compensation filter for compensating for a dynamic characteristic of a control system of the motor in such a way as to reduce the position deviation;
• calculating, for each repetitive period including at least one of the predetermined periods, an evaluation value representing magnitude of the position deviation at each of the predetermined sampling periods in the repetitive period;
• and
• changing a configuration of the dynamic characteristic compensation filter in such a way that the evaluation value satisfies a predetermined condition.