Patent ID: 8680797

Claim:
A motor control device comprising: an acceleration upper limit estimating unit configured to estimate an acceleration upper limit that is realizable in a motor as a control target; a target acceleration setting unit configured to set a target acceleration at each time in accordance with an acceleration profile representing a target acceleration locus of the motor to a predetermined speed, the target acceleration setting unit configured to, during a period in which the target acceleration based on the acceleration profile exceeds the acceleration upper limit estimated by the acceleration upper limit estimating unit, correct and set the target acceleration at each time to be equal to or lower than the acceleration upper limit estimated by the acceleration upper limit estimating unit; a motor control unit configured to determine a control input for the motor on the basis of the target acceleration set by the target acceleration setting unit to control the motor; and a deficit calculating unit configured to, when the target acceleration based on the acceleration profile exceeds the acceleration upper limit, calculate a temporal integration of a difference between the target acceleration set at each time during the period, in which the target acceleration based on the acceleration profile exceeds the acceleration upper limit, and the target acceleration based on the acceleration profile as an acceleration deficit during the period, wherein, after the period has ended, the target acceleration setting unit corrects the target acceleration based on the acceleration profile by an amount corresponding to the acceleration deficit within a range in which the target acceleration does not exceed the acceleration upper limit on the basis of the acceleration deficit calculated by the deficit calculating unit to set the target acceleration at each time.