Device and method for controlling motor

A motor control device comprising:

• a speed detection unit that detects a speed of a body driven by a motor;
• a target speed setting unit that determines a target speed of the driven body;
• a speed feedback control unit that compares the target speed determined by the target speed setting unit and the speed detected by the speed detection unit, and performs a speed feedback control of the motor in order to coincide the target speed with the speed of the driven body;
• and
• a deceleration directive generation unit that generates a deceleration directive which is the target speed of the driven body during a deceleration control period in a driving period, the driving period being from when the body starts to be driven until it is stopped, the deceleration control period starting from the deceleration control start timing and ending when the driven body is stopped, wherein
• the speed feedback control unit performs the speed feedback control based on the deceleration directive generated by the deceleration directive generation unit during the deceleration control period,
• the deceleration directive generation unit generates the deceleration directive corresponding to time elapsed from the deceleration control start timing using a deceleration function of the elapsed time, and
• the deceleration function is a function which monotonically decreases from the deceleration control start timing until the deceleration directive becomes zero (0) and of which derivative is a monotonically decreasing or increasing function or a constant.

The motor control device according to claim 16, further comprising:

• an arrival detection unit that detects whether the driven body has reached the target stop position;
• and
• a braking control unit that performs a braking control of the motor to stop the driven body, wherein
• when the arrival detection unit detects that the driven body has reached the target stop position, the speed feedback control unit stops the speed feedback control based on the deceleration directive, and the braking control unit performs the braking control.