Motor control device, image forming apparatus including the motor control device, and motor control method

A control method employing a motor control device that executes speed control and position control of a motor simultaneously, the method comprising:

• receive detected position information, target position information and set target speed information,
• generating position feedback information based on the detected position information and the target position information;
• generating speed feedback information based on the position feedback information, position feed-forward information obtained from the target position information, and detected speed information obtained from the detected position information;
• and
• generating motor control information based on the speed feedback information and the speed feed-forward information, the speed feed-forward information obtained from the set target speed information.

A non-transitory recording medium comprising computer readable code that, when executed by a motor control device, configures the motor control device to:

• receive detected position information, target position information and set target speed information,
• generate position feedback information based on the detected position information and the target position information,
• generate speed feedback information based on the position feedback information, position feed-forward information obtained from the target position information, and detected speed information obtained from the detected position information,
• generate motor control information based on the speed feedback information and speed feed-forward information, the speed feed-forward information obtained from the set target speed information, and
• output the motor control signal based on the motor control information.