Motor control device and motor control method

A motor control device that controls a motor including coil groups, the motor control device comprising processing circuitry, wherein the processing circuitry includes at least one microcomputer configured to:

• calculate individual torque command values that respectively correspond to the coil groups,
• calculate, for each of the coil groups, a theoretical output torque using the individual torque command value corresponding to the coil group while taking into consideration a response characteristic of torque generated in the coil group, wherein the theoretical output torque is theoretically expected to be generated in the coil group in a calculation cycle subsequent to a current calculation cycle by a single cycle,
• calculate, for each of the coil groups, a predictive output torque using an actual output torque while taking into consideration a response characteristic of torque generated in the coil group, wherein the predictive output torque is realistically expected to be generated in the coil group in the calculation cycle subsequent to the current calculation cycle by the single cycle, and the actual output torque has been actually generated in the coil group,
• calculate a differential torque for each of the coil groups, wherein the differential torque is a difference between the theoretical output torque and the predictive output torque,
• correct, using the differential torque corresponding to at least one of the coil groups, the individual torque command value for at least an other one of the coil groups, and
• independently control, for each of the coil groups, power feeding to the coil groups using a corresponding one of the individual torque command values subsequent to the correction.