Motor controller

A motor controller for controlling a motor that drives a driving object to press the driving object against a pressure object at a pressure corresponding to a reference torque, the motor controller comprising:

• a velocity controller that calculates a torque command to the motor and a regression torque for compensating for the torque command based on a detected velocity value of the motor;
• and
• a regression torque controller that calculates a first velocity command corresponding to a deviation between the reference torque and the regression torque calculated by the velocity controller, wherein
• the regression torque controller limits the calculated first velocity command up to a desired velocity limit value that is defined based on a contact velocity between the driving object and the pressure object, and outputs the first velocity command, and
• the velocity controller calculates the torque command so that the detected velocity value follows the first velocity command output from the regression torque controller.