Motor control device

A motor control device for controlling a motor having a first winding and a second winding whose response to a current command is slower than that of the first winding, the motor control device comprising:

• a processor for executing a program;
• and
• a memory or a hard disk for storing the program, wherein
• the following operation is performed by the program executed by the processor,
• regularly acquiring motor state data indicating a state of the motor, and acquiring a motor parameter corresponding to the motor state data;
• and
• calculating current commands for the first winding and the second winding on the basis of a torque command for the motor and the motor parameter, wherein
• the process of calculating current commands for the first winding and the second winding includes
• a process of calculating a first current command for the first winding,
• a process of calculating a second current command for the second winding, and
• a process of reproducing, in the second current command, response delay of the second winding relative to the second current command, wherein
• in the process of calculating the first current command, the first current command is calculated using the second current command in which the response delay is reproduced.