Motor control device

A motor control device that drives a motor included in a control object, the motor control device comprising:

• a speed detection unit that detects a motion speed of the motor and outputs a detection speed;
• a control computation unit that computes a drive force command for the motor to conform the detection speed with a speed command;
• an amplifier compensation unit that performs computing of multiplying a feedback transfer function that is a transfer function from the detection speed to the drive force command by a speed gain Kv within the control computation unit;
• a feedback filter that has filter characteristics that a frequency response gain is substantially one at frequencies equal to or lower than a filter cutoff frequency, a frequency response gain decreases with increase in frequency in a range from the filter cutoff frequency to a filter upper limit frequency higher than the filter cutoff frequency, and a frequency response gain is substantially constant at frequencies equal to or higher than the filter upper limit frequency, and performs computing to apply the filter characteristics to the feedback transfer function within the control computation unit;
• a control-constant set unit that sets the speed gain Kv and at least one of the filter cutoff frequency and the filter upper limit frequency according to an input from the external;
• and
• a drive-force control unit that drives the motor to match a drive force of the motor with the drive force command,
• wherein the control-constant set unit sets the speed gain Kv and at least one of the filter cutoff frequency and the filter upper limit frequency to decrease a ratio of the filter upper limit frequency to the filter cutoff frequency with increase in the speed gain Kv.