Motor control device

A motor control device of a vehicle including an engine and a motor generator as power sources, a transmission configured to transmit a driving torque based on at least one of an engine torque of a crankshaft of the engine and a motor torque of a motor shaft of the motor generator to a wheel at a selected gear ratio, and a damper configured to reduce vibration of the crankshaft by an elastic member and a friction material, the motor control device comprising:

• a damper torque calculation unit configured to calculate a damper torque including a torsional torque and a hysteresis torque generated by the damper according to fluctuation in engine torque based on a difference between a crank angle as a rotation angle of the crankshaft and a motor angle as a rotation angle of the motor shaft;
• a reverse-phase torque calculation unit configured to calculate a reverse-phase torque with a reverse phase to the damper torque based on the damper torque;
• a correction amount calculation unit configured to calculate a first value corresponding to a phase shift of the motor torque generated due to the hysteresis torque, which is calculated at least based on the crank angle and the motor angle as a correction amount of the phase of the reverse-phase torque;
• and
• a motor torque command output unit configured to output a motor torque command given to the motor generator based on the reverse-phase torque whose phase is corrected by the correction amount.