Motor control device

A motor control device that drives two motors, which are a first motor and a second motor, connected to a mechanical device and that includes a first feedback control unit that calculates a first torque command based on a first operation command signal that commands an operation of the first motor and a first operation detection signal that detects an operation of the first motor, and a first current control unit that outputs a drive current for driving the first motor based on the first torque command, the device comprising:

• a first operation determination unit that determines that the first motor is in an operating state when an absolute value of a speed signal of the first motor acquired directly or by a calculation based on the first operation command signal or the first operation detection signal is equal to or larger than a threshold and that determines that the first motor is in a stopped state when the absolute value is smaller than the threshold;
• a second operation determination unit that determines that the second motor is in an operating state when an absolute value of a speed signal of the second motor acquired directly or by a calculation based on a second operation command signal that commands an operation of the second motor or a second operation detection signal that detects an operation of the second motor is equal to or larger than a threshold and that determines that the second motor is in a stopped state when the absolute value is smaller than the threshold;
• an operated-time amplitude estimation unit that, when it is determined by the second operation determination unit that the second motor is in a stopped state and it is determined by the first operation determination unit that the first motor is in an operating state, sequentially calculates a vibration amplitude value included in a control state quantity of the first feedback control unit or the first current control unit, when it is determined by the second operation determination unit that the second motor is in an operating state or it is determined by the first operation determination unit that the first motor is in a stopped state, stops a calculation of the vibration amplitude value and maintains an internal state, and outputs the vibration amplitude value as an operated-time amplitude value;
• and
• a stopped-time amplitude estimation unit that, when it is determined by the second operation determination unit that the second motor is in a stopped state and it is determined by the first operation determination unit that the first motor is in a stopped state, sequentially calculates a vibration amplitude value included in a control state quantity of the first feedback control unit or the first current control unit, when it is determined by the second operation determination unit that the second motor is in an operating state or it is determined by the first operation determination unit that the first motor is in an operating state, stops a calculation of the vibration amplitude value and maintains an internal state, and outputs the vibration amplitude value as a stopped-time amplitude value.