Motor control device and motor control method

A motor control method comprising:

• performing velocity control of a motor in response to input of a stop initiating command for stopping the motor, so that a motor velocity of the motor becomes a detectable velocity at which a reference position of a position detector that detects a position of the motor is detectable;
• and
• performing position control of the motor when the reference position is detected first after a difference between the detectable velocity and the motor velocity has become smaller than a predetermined value, so that the motor is stopped at a preset target stop position in a torque schedule that is changed in a certain process,
• wherein, in the performing position control, a torque command to be input to the motor is corrected so that a torque output by the motor is compliant with the torque schedule.

A motor control device comprising:

• power conversion means for outputting a current for driving a motor on the basis of a first torque command;
• velocity control means for generating a second torque command on the basis of a difference between a velocity represented by a velocity command for the motor and a motor velocity of the motor;
• and
• certain-position stop control means for performing position control of the motor by, after first detecting a reference position per rotation of a position detector that detects a motor position of the motor during velocity control of the motor, generating a position command for positioning the motor from the reference position detected first to a target stop position at a torque of a torque schedule that is changed in a certain process, generating the velocity command on the basis of a difference between a position represented by the position command and the motor position, and outputting, as the first torque command, a value resulting from adding a torque feedforward command generated on the basis of the torque schedule to the second torque command,
• wherein the certain-position stop control means includes torque feedforward command correction means for correcting the torque feedforward command on the basis of the first torque command.