Motor control device

A motor control device that controls an electric motor that applies steering force to an output shaft linked to a steering wheel via a torsion bar, the motor control device comprising:

• a steering torque detection unit that detects a steering torque applied to the steering wheel;
• and
• a motor torque command value setting unit that sets a motor torque command value that is a target value of motor torque of the electric motor, wherein
• the motor torque command value setting unit includes
• a basic torque command value setting unit that sets a basic torque command value,
• a correction unit that corrects the basic torque command value set by the basic torque command value setting unit, using a resonance control torque, and
• a motor torque command value computation unit that computes the motor torque command value based on the basic torque command value following correction by the correction unit, and
• the resonance control torque is set using a first torque obtained by multiplying a differential value of the steering torque by a predetermined first gain, and a second torque obtained by multiplying the steering torque by a predetermined second gain.