Patent ID: 8872462

Claim:
A motor control device comprising: a feedforward control unit configured to compute a feedforward signal according to an input operation command to reduce signal components at a set plurality of vibration-damping frequencies; a driving-command computing unit configured to compute, using the feedforward signal, a driving command for driving a controlled object; a vibration-damping-control setting unit configured to designate one of a plurality of candidate frequencies of a vibration-damping frequency; a signal-for-estimation computing unit configured to output, based on an operation signal equivalent to a value of a position, speed, or acceleration related to the controlled object, a signal for estimation in which the signal components of the other candidate frequencies excluding the designated one candidate frequency among the candidate frequencies are reduced from a vibration component of a control system including the controlled object; and a resonance-characteristic estimating unit configured to estimate one resonance frequency from the output signal for estimation, wherein the vibration-damping-control setting unit designates each of the candidate frequencies individually as one candidate frequency, sets the feedforward control unit and the signal-for-estimation computing unit such that the signal-for-estimation computing unit outputs the signal for estimation in which the signal components of the other candidate frequencies excluding the designated one candidate frequency, and sets, as the vibration-damping frequency of the feedforward control unit, each of resonance frequencies estimated by the resonance-characteristic estimating unit related to the individually designated each one candidate frequency.