Motor control device and parking lock device

A control device for a motor with a stator including a three-phase coil, a rotor including a magnet disposed opposite the stator, and a Hall element for generating a detection signal indicating an angular position of the rotor, the control device comprising:

• a position determination part configured to determine whether the angular position of the rotor obtained from the detection signal of the Hall element has reached a target angular position of the rotor;
• and
• a control mode switching part configured to switch a control mode between a feedback control mode in which energizing control is performed for a pair of phase coils corresponding to the angular position among the three-phase coil at an output decided by feedback control based on a deviation between the angular position of the rotor obtained from the detection signal of the Hall element and the target angular position and a stop control mode in which energizing control is performed for last energized coils that have been energized last in the feedback control mode among the three-phase coil,
• the control mode switching part being configured to switch the control mode from the feedback control mode to the stop control mode when the position determination part determines that the angular position has reached the target angular position.