Motor control device

A motor control device configured to control a rotation operation of a motor so that a rotational position of the motor follows a positional instruction entered externally, the motor control device comprising:

• a control and computation unit configured to perform computation processing based on the rotational position of the motor, the rotational position being detected, and the positional instruction, and to generate a first torque instruction signal to be used to drive the motor;
• a compensation signal generation unit configured to generate a torque compensation signal to be used to compensate the first torque instruction signal;
• an adder configured to add the torque compensation signal to the first torque instruction signal, and to output a result of the addition as a second torque instruction signal;
• and
• a drive unit configured to be supplied with the second torque instruction signal, and, based on the second torque instruction signal, to generate a drive signal to be used to power-drive winding wires of the motor,
• wherein the compensation signal generation unit is further configured to generate the torque compensation signal that switches to a torque compensation value having a predetermined value at a switching timing based on a timing when a rotation direction of the motor inverts.