Motor control device

A motor control device for outputting a driving-force command to a current controller of a motor based on a motion command for a motion of the motor as a speed or a position and a motor motion detection value corresponding to a result of detection of the motion, the motor control device comprising:

• a feedforward computing section for computing a motion reference value corresponding to a reference signal for the motion of the motor and a feedforward driving force based on the motion command;
• a deviation compensation computing section for receiving a control deviation determined by a predetermined computation as an input to output a result of a control computation including an integral computation as a deviation compensation driving force, the control computation being performed by using a preset control parameter so as to reduce the control deviation;
• a driving-force command synthesizing section for outputting the driving-force command to the current controller by a computation for obtaining a sum of the feedforward driving force and the deviation compensation driving force as steady characteristics based on the feedforward driving force and the deviation compensation driving force;
• a reaction-force compensation computing section for computing a motion correction value based on a predetermined reaction-force reference value and the deviation compensation driving force;
• and
• a control-deviation computing section for computing the control deviation based on a deviation between the motion reference value and the motor motion detection value, and the motion correction value.