JPH077986A - Method and device for controlling motor - Google Patents

Abstract

PURPOSE:To control a motor accurately without taking time with a simple configuration by controlling the operation of the motor after the initial time of motor operation passes based on the load of the motor which is inferred by a motor load inference means. CONSTITUTION:A means 4 for detecting the amount of operation of a device detects a value for quantitatively obtaining values such as the current value, the rotation frequency, power consumption, etc., of a motor 2 which can be obtained quantitatively based on the operation of the motor 2 to a motor load inference means 6 and a mechanical loss inference means 8. Then, the motor load inference means 6 and the mechanical loss inference means 8 infer the load and mechanical loss of each motor based on the amount of operation. A control part 10 controls the drive of the motor 2 according to the load and mechanical loss of the motor. As a result, the amount of operation is detected within the initial time of motor operation and the motor operation after the lapse of initial time of motor operation based on the inferred load, thus controlling the motor accurately with a simple configuration.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control method and apparatus for controlling the motor based on the load of the motor or mechanical loss of the motor.

[0002]

2. Description of the Related Art When controlling the driving of a motor, there are a method of detecting the load of the motor and performing feedback control, and a method of detecting the mechanical loss (mechanical loss) of the motor and performing feedback control. The mechanical loss is a loss of motor power caused by resistance during driving, such as deterioration of a bearing of a motor and a driving belt, friction, and the like.

First, when performing feedback control based on the load on the motor, the load on the motor is measured using a measuring instrument or the like. As such a measuring instrument, for example, there is an instrument that takes in a current value and a power value of a motor and measures the load of the motor. A mechanical loss coefficient peculiar to the motor is stored in this measuring device, and the load of the motor is calculated based on the fetched current value and electric power value.

Further, as a technique for detecting the mechanical loss of the motor and performing feedback control of the rotation speed of the motor, there is a technique described in Japanese Patent Application Laid-Open No. 5-22974. This technology changes the speed reference of the motor in a stepwise manner in advance,
The mechanical loss torque with respect to the change of the speed reference is made into a function and stored in the function table in advance. After that, the rotation speed of the motor is controlled based on the mechanical loss torque obtained in advance.

[0005]

However, the conventional motor control has the following problems. When measuring the load of the motor, it is necessary to prepare a measuring instrument, and the configuration is complicated to control the motor, which increases the cost of the product.
Further, when measuring the mechanical loss, it is necessary to change the speed reference in advance and convert the mechanical loss into a function and store it as described above. That is, in order to measure the mechanical loss, it is necessary to drive the motor in advance to perform the measurement process, which is a problem that it is troublesome.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a motor control method and an apparatus therefor which can perform highly accurate motor control with a simple structure and without trouble.

[0007]

According to a first aspect of the present invention, there is provided a motor control device, wherein an operation amount detecting means for detecting an operation amount indicating an operation state of the motor and an operation detected by the operation amount detecting means within an initial time of the motor operation. A motor load inference means for inferring the motor load based on the amount, and a control means for controlling the operation of the motor after the lapse of the initial time of the motor operation based on the motor load inferred by the motor load inference means are provided. It is characterized by that.

According to another aspect of the motor control device of the present invention, in the initial time of the motor operation, the operation amount detecting means for detecting the operation amount indicating the operation state of the motor and the operation amount detected by the operation amount detecting means are used for the machine control. Mechanical loss inference means for inferring loss,
It is characterized by further comprising control means for controlling the operation of the motor after the initial time of the motor operation based on the mechanical loss inferred by the mechanical loss inferring means.

According to another aspect of the motor control device of the present invention, the motor load inference is performed to infer the motor load based on the operation amount detecting means for detecting the operation amount indicating the operation state of the motor and the operation amount detected by the operation amount detecting means. Means, mechanical loss inference means for inferring mechanical loss based on the amount of movement detected by the movement amount detection means,
The present invention is characterized by including a motor load inferred by the motor load inference means and a control means for controlling the operation of the motor based on the mechanical loss inferred by the mechanical loss inference means.

A motor control device according to a fourth aspect is the motor control device according to the first aspect, wherein the motor load inference means infers the motor load by fuzzy inference, and the control means comprises:
It is characterized in that the target rotation speed of the motor is controlled based on the inferred load of the motor.

A motor control device according to a fifth aspect is the motor control device according to the second aspect, wherein the mechanical loss inference means infers the mechanical loss by fuzzy inference. The control means is based on the inferred mechanical loss of the motor. It is characterized in that the speed change time with respect to the target rotation speed of the motor is controlled.

According to a sixth aspect of the present invention, there is provided a motor control device according to the third aspect, wherein the motor load inference means infers the motor load by fuzzy inference based on the operation amount detected by the operation amount detection means, The loss inference means infers the mechanical loss by fuzzy inference based on the operation amount detected by the operation amount detection means, and the control means controls and infers the target rotation speed of the motor based on the inferred load of the motor. It is characterized in that the speed change time with respect to the target rotation speed of the motor is controlled based on the mechanical loss of the motor.

According to another aspect of the motor control method of the present invention, there is provided a step of detecting an operation amount indicating an operation state of the motor, a step of inferring a load of the motor based on the operation amount detected by the operation amount detection means, and an operation amount detection means. A step of inferring a mechanical loss based on the detected operation amount, a step of controlling the operation of the motor based on the load of the motor inferred by the motor load inference means, and a mechanical loss inferred by the mechanical loss inference means. Is characterized by.

[0014]

In the motor control device according to the first aspect, the operation amount detecting means detects the operation amount indicating the operation state of the motor,
The motor load inferring means infers the load of the motor based on the operation amount detected by the operation amount detecting means. The control means controls the operation of the motor based on the load of the motor inferred by the motor load inference means.

Therefore, by detecting the operation amount of the motor, the load of the motor can be easily inferred and the operation of the motor can be controlled based on the load.

The operation amount detecting means detects the operation amount within the initial time of the motor operation, and the control means controls the operation of the motor after the initial time of the motor operation based on the inferred load of the motor. .

Therefore, when the motor is operated, the operation amount can be individually detected within the initial time, and the motor load can be inferred based on this operation amount. Therefore, it is not necessary to measure the motor load in advance.

According to another aspect of the motor control device of the present invention, the operation amount detecting means detects the operation amount indicating the operation state of the motor, and the mechanical loss inferring means detects the operation amount based on the operation amount detected by the operation amount detecting means. Infer mechanical loss. And the control means
The operation of the motor is controlled based on the mechanical loss inferred by the mechanical loss inference means.

Therefore, by detecting the operation amount of the motor, it is possible to easily infer the mechanical loss and control the operation of the motor based on the mechanical loss.

The operation amount detection means detects the operation amount within the initial time of the motor operation, and the control means controls the operation of the motor after the initial time of the motor operation based on the inferred mechanical loss.

Therefore, it is possible to individually detect the operation amount within the initial time during the motor operation and to infer the mechanical loss based on the operation amount. Therefore, it is not necessary to measure the mechanical loss in advance.

In the motor control device of the third aspect, the operation amount detecting means detects the operation amount indicating the operation state of the motor. Then, the motor load inference means infers the load of the motor based on the operation amount, and the mechanical loss inference means infers the mechanical loss based on the operation amount detected by the operation amount detecting means. The control means controls the operation of the motor based on the load and mechanical loss of the motor.

Therefore, by detecting the operation amount of the motor, the load and mechanical loss of the motor can be easily inferred, and the operation of the motor can be controlled based on this.

In the motor control device of the fourth aspect, the motor load inference means infers the motor load by fuzzy inference, and the control means controls the target rotation speed of the motor based on the inferred motor load.

Therefore, the load of the motor can be more accurately and easily inferred, and the operation of the motor can be controlled on the basis thereof.

According to another aspect of the motor control device of the present invention, the mechanical loss inference means infers the mechanical loss by fuzzy inference, and the control means infers the mechanical loss of the inferred motor.
The speed change time with respect to the target rotation speed of the motor is controlled.

Therefore, the mechanical loss can be more accurately and easily inferred, and the operation of the motor can be controlled based on this.

In the motor control device of the sixth aspect, the motor load inference means infers the motor load by fuzzy inference based on the operation amount detected by the operation amount detection means, and the mechanical loss inference means detects the operation amount. The mechanical loss is inferred by fuzzy inference based on the motion amount detected by the means.

Therefore, the load and mechanical loss of the motor can be more accurately and easily inferred.

Further, the control means controls the target rotation speed of the motor based on the inferred load of the motor, and controls the speed change time with respect to the target rotation speed of the motor based on the inferred mechanical loss of the motor.

Therefore, the driving of the motor can be controlled more accurately.

According to the seventh aspect of the motor control method, the operation amount indicating the operation state of the motor is detected, and the load and mechanical loss of the motor are inferred based on the operation amount. Then, the operation of the motor is controlled based on the load and mechanical loss of these motors.

Therefore, by detecting the operation amount of the motor, the load and mechanical loss of the motor can be easily inferred, and the operation of the motor can be controlled based on this.

[0034]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a motor control method and device according to the present invention will be described with reference to the drawings. First, FIG. 1 shows a functional block diagram of this motor control device. Motion amount detecting means 4
Detects an operation amount indicating the operation state of the motor 2. The operation amount is a value that can be quantitatively obtained based on the operation of the motor 2, such as the current value of the motor 2, the rotation frequency, and the power consumption value. The operation amount detecting means 4 detects such an operation amount and supplies it to the motor load inference means 6 and the mechanical loss inference means 8.

Motor load inference means 6 and mechanical loss inference means 8
Deduces the load and mechanical loss of each motor based on this operation amount. Then, the control unit 10 controls the drive of the motor 2 according to the load of the motor and the mechanical loss.

Next, an example in which the present invention is applied to motor control of a traverser will be described. The traverser is a cargo transport vehicle that loads cargo and moves on rails by driving a motor. It is efficient to control the traveling speed of the traverser according to the weight of the loaded cargo, and in this embodiment, the load of the motor and the mechanical loss are inferred based on the current value of the motor, the rotation frequency, and the power consumption value. Then, the motor feedback control is performed. This eliminates the need to provide, for example, a cargo weighing mechanism.

FIG. 4 shows changes in the traveling speed of the traverser. FIG. 4A is a basic traveling pattern, in which acceleration starts from a starting point a (frequency 0 Hz) and reaches 60 Hz at a reaching point b.
(Speed of 40m / min) is reached, and the vehicle continues to run in this state. Then, the deceleration starts from the deceleration start point c and stops at the end point d (frequency 0 Hz). In the present embodiment, as shown in FIG. 4B, a starting point a to an estimated point e is set as an initial time T, and within this initial time T, the motor current value, the rotation frequency,
Fuzzy inference of motor load and mechanical loss based on the power consumption value.

The motor is controlled according to the motor load and the mechanical loss inferred here, and the traveling pattern after the estimated point e is corrected. Since the load of the motor mainly changes depending on the weight of the loaded cargo, the traveling speed (target rotation speed) of the traverser is changed based on this. Also, mechanical loss affects the acceleration and deceleration of the traverser,
The acceleration and deceleration start position (speed change time with respect to the target rotation speed) are changed based on the mechanical loss. In this way, the traverser can be efficiently run. Note that FIG. 5A is a traveling pattern in which only the traveling speed is changed based on the load of the motor, and FIG. 5B is a traveling pattern in which only the acceleration and deceleration start position are changed based on the mechanical loss.

The specific structure and procedure for obtaining the traveling pattern of FIG. 4B will be described below. FIG. 2 shows a hardware configuration diagram of the traverser in the present embodiment. The CPU 12, the ROM 14, and the RAM 16 are connected to the bus line 30. The CPU 12 controls each unit based on the program stored in the ROM 14. The CPU 12 controls the driving of the motor 2 via the motor driver 18.

Further, each interface 20,
A current detector 26, a rotation frequency detector 28, and a voltage detector 32 are connected via 22 and 24. The CPU 12 grasps the current value, the rotation frequency, and the voltage value of the motor 2 by these detectors. The CPU 12 obtains the power consumption based on the current value and the voltage value.

FIG. 3 shows a flowchart of the control process of the motor 2. First, in response to an operation command input from the operator (step S2), the CPU 12 outputs a current supply command, the motor 2 starts driving, and the traverser starts acceleration (step S4) (FIG. 4B, starting point a). Then, the current value, the rotation frequency, and the power consumption value of the motor 2 at the initial time T shown in FIG. 4B are measured (step S6). The measured current value, rotation frequency, and power consumption value data are shown in FIGS. 6, 7, and 8, respectively. Since these data are measured at the initial time T (FIG. 4B),
In the waveforms shown in FIGS. 7 and 8, only the initial portion corresponding to the initial time T is measured.

FIG. 6A shows a reference current value stored in advance, and the measured current value is compared with this reference current value.
6B shows the case where the motor load is large, and FIG. 6C shows the case where the motor load is small. Further, FIG. 6D is a waveform of a current value due to mechanical loss.

Similarly, FIG. 7A shows a reference rotation frequency stored in advance, and the measured rotation frequency is compared with this reference rotation frequency. 7B shows the case where the motor load is large, and FIG. 7C shows the case where the motor load is small. Also,
FIG. 7D is a waveform of the rotation frequency due to mechanical loss.

Further, FIG. 8A shows the reference power consumption value stored in advance, and the measured power consumption value is compared with this reference power consumption value. 8B shows a case where the motor load is large, and FIG. 8C shows a case where the motor load is small. Also,
FIG. 8D is a waveform of the power consumption value due to mechanical loss.

Thus, the current value of the motor 2, the rotation frequency,
After measuring the power consumption value, a feature amount is extracted from each waveform to obtain an input value for fuzzy inference (FIG. 3, step S).
8). The feature amounts in this embodiment are (a) to (f) shown below.

(B) Slope of rising of waveform of current value (FIG. 6) For example, two predetermined points are extracted from the waveform of current value, and the slope of the waveform between them is obtained.

(B) Variation in rising of current value waveform (FIG. 6) For example, 10 points are sampled from the current value waveform,
Find each difference from the previous one. Then, the average of the absolute values of the negative differences is calculated. The waveform of this current value may be differentiated to obtain a pulse to obtain the variation.

(C) Arrival time to the initial set point in the waveform of the current value (FIG. 6) For example, 4 Hz is set as the initial set point, and the time required for the current value to reach this 4 Hz is obtained.

(D) The rising slope of the waveform of the rotation frequency (FIG. 7) (difference between the reference waveform and the actually measured waveform) For example, one point in the waveform of the rotation frequency is extracted and the difference from the reference rotation frequency (FIG. 7A). Ask for.

(E) Slope of rising edge of waveform of power consumption value (FIG. 8) For example, two predetermined points are extracted from the waveform of power consumption value and the slope of the waveform between them is obtained.

(F) Variation in rising of the waveform of the power consumption value (FIG. 8) For example, 10 points are sampled from the waveform of the power consumption value and each difference from the previous one is obtained. Then, the average of the absolute values of the negative differences is calculated. Alternatively, the waveform of this power consumption value may be differentiated to obtain a pulse to obtain the variation.

The above feature quantities (a) to (f) are extracted, and fuzzy inference of the motor load and mechanical loss is performed based on these. The rule for inferring the load of the motor is shown in FIG. 9, and each feature amount (a),
Membership functions corresponding to (C), (D), and (E) are shown in FIG. FIG. 11 shows the membership function of the consequent part of the rule. Further, FIG. 12 shows rules for inferring mechanical loss, and FIG. 13 shows membership functions corresponding to the respective feature quantities (b), (d) and (f). FIG. 14 shows the membership function of the consequent part of the rule.

After inferring the load and mechanical loss of the motor in this way, a running pattern after the estimated point e shown in FIG. 4B is created, and an electric power supply command corresponding to the created running pattern is issued to control the drive of the motor ( FIG. 3, step S12,
S14).

A pattern L1 in FIG. 4B is a traveling pattern when it is inferred that the load on the motor 2 is large and the mechanical loss is also large. Since the load of the motor is large, it is considered that the weight of the loaded cargo is heavy, so the traveling speed is reduced to 46 m / min. Further, the large mechanical loss is considered that the power of the motor 2 is not sufficiently transmitted to the wheels of the traverser, for example. Therefore, the acceleration is moderated and the deceleration is started at a relatively early time.

The pattern L2 in FIG. 4B is a traveling pattern when it is inferred that the load on the motor 2 is relatively small and the mechanical loss is also relatively small. Since the load of the motor is small and the weight of the loaded cargo is considered to be light, the traveling speed is accelerated to 52 m / min. Further, the small mechanical loss means that the power of the motor 2 is efficiently transmitted to the wheels of the traverser, for example.
Therefore, the acceleration is increased, and deceleration is started at a relatively late point.

The pattern L3 in FIG. 4B is a traveling pattern when it is inferred that the load on the motor 2 is smaller and the mechanical loss is also smaller. In this case, the traveling speed is 6 / min.
It accelerates to 0 m, the acceleration further increases, and deceleration starts at a later time.

In the above embodiment, the current value, rotation frequency, power consumption value, etc. of the motor 2 are listed as the operation amount.
If the operation of the motor 2 is quantitatively shown, other operation may be used as the operation amount. Further, for example, the load and mechanical loss of the motor can be inferred based only on the current value of the motor 2. Further, the load of the motor and the mechanical loss may be inferred by a method other than the fuzzy inference.

Further, in the above embodiment, the operation amount at the initial time T was obtained, but it is also possible to perform the motor control based on the operation amount at the time of constant speed or deceleration.

[0059]

According to the motor control device of claim 1,
The operation amount detection means detects an operation amount indicating the operation state of the motor, and the motor load inference means infers the motor load based on the operation amount detected by the operation amount detection means. The control means controls the operation of the motor based on the load of the motor inferred by the motor load inference means.

That is, the load of the motor can be easily inferred by detecting the operation amount of the motor, and the operation of the motor can be controlled based on this. Therefore,
With a simple configuration, highly accurate motor control can be performed.

Further, the operation amount detecting means detects the operation amount within the initial time of the motor operation, and the control means controls the operation of the motor after the initial time of the motor operation based on the inferred load of the motor. .

That is, it is possible to individually detect the operation amount within the initial time during the motor operation, and infer the load of the motor based on this operation amount. Therefore, it is not necessary to measure the motor load in advance. Therefore, the labor for inferring the load of the motor is reduced, and the motor can be easily controlled.

According to another aspect of the motor control device of the present invention, the operation amount detecting means detects the operation amount indicating the operation state of the motor, and the mechanical loss inference means detects the operation amount based on the operation amount detected by the operation amount detecting means. Infer mechanical loss. And the control means
The operation of the motor is controlled based on the mechanical loss inferred by the mechanical loss inference means.

That is, the mechanical loss can be easily inferred by detecting the operation amount of the motor, and the operation of the motor can be controlled based on the mechanical loss. Therefore, it is possible to perform highly accurate motor control with a simple configuration.

Further, the operation amount detecting means detects the operation amount within the initial time of the motor operation, and the control means controls the operation of the motor after the initial time of the motor operation based on the inferred mechanical loss.

That is, the mechanical loss can be inferred based on the operation amount detected within the initial time of the motor operation, and it is not necessary to measure the mechanical loss in advance. Therefore, the labor for inferring the mechanical loss is reduced, and the motor control can be easily performed.

In the motor control device of the third aspect, the operation amount detecting means detects the operation amount indicating the operating state of the motor. Then, the motor load inference means infers the load of the motor based on the operation amount, and the mechanical loss inference means infers the mechanical loss based on the operation amount detected by the operation amount detecting means. The control means controls the operation of the motor based on the load and mechanical loss of the motor.

That is, the load and mechanical loss of the motor are easily inferred by detecting the operation amount of the motor,
The operation of the motor can be controlled based on this.
Therefore, it is possible to perform highly accurate motor control with a simple configuration.

In the motor control device according to the fourth aspect, the motor load inference means infers the motor load by fuzzy inference, and the control means controls the target rotation speed of the motor based on the inferred motor load.

That is, the load of the motor can be more accurately and easily inferred, and the operation of the motor can be controlled based on this. Therefore, it is possible to perform more accurate motor control with a simple configuration.

In the motor control device of the fifth aspect, the mechanical loss inference means infers the mechanical loss by fuzzy inference, and the control means infers the mechanical loss of the motor by
The speed change time with respect to the target rotation speed of the motor is controlled.

That is, the mechanical loss can be more accurately and easily inferred, and the operation of the motor can be controlled based on this. Therefore, it is possible to perform more accurate motor control with a simple configuration.

In the motor controller of the sixth aspect, the motor load inference means infers the motor load by fuzzy inference based on the operation amount detected by the operation amount detection means, and the mechanical loss inference means detects the operation amount. The mechanical loss is inferred by fuzzy inference based on the motion amount detected by the means.

That is, the load and mechanical loss of the motor can be more accurately and easily inferred. Therefore,
With a simple structure, more accurate motor control can be performed.

The control means controls the target rotation speed of the motor based on the inferred load of the motor, and controls the speed change time with respect to the target rotation speed of the motor based on the inferred mechanical loss of the motor.

Therefore, the drive of the motor can be controlled more accurately, and the motor can be controlled with higher accuracy.

In the motor control method according to the seventh aspect, the operation amount indicating the operation state of the motor is detected, and the load and mechanical loss of the motor are inferred based on this operation amount. Then, the operation of the motor is controlled based on the load and mechanical loss of these motors.

That is, the load and mechanical loss of the motor can be easily inferred by detecting the operation amount of the motor,
The operation of the motor can be controlled based on this.
Therefore, highly accurate motor control can be performed by a simple method.

[Brief description of drawings]

FIG. 1 is a functional block diagram of a motor control device according to the present invention.

FIG. 2 is a hardware configuration diagram of a traverser showing an embodiment of a motor control device according to the present invention.

FIG. 3 is a flowchart of a motor control process of the traverser shown in FIG.

FIG. 4 is a diagram showing each traveling pattern of the traverser.

FIG. 5 is a diagram showing each traveling pattern of the traverser.

FIG. 6 is a graph showing each data of motor current values measured at an initial time.

FIG. 7 is a graph showing each data of the rotation frequency of the motor measured at the initial time.

FIG. 8 is a graph showing each data of the power consumption value of the motor measured at the initial time.

FIG. 9 is a diagram showing a rule for inferring a load of a motor.

FIG. 10 is a diagram showing the feature quantities (a), (c), and
It is a figure which shows the membership function corresponding to (d) and (e).

11 is a diagram showing a membership function of the consequent part shown in FIG. 9;

FIG. 12 is a diagram showing rules for inferring mechanical loss.

13 is a diagram showing the feature quantities (b), (d), and
It is a figure which shows the membership function corresponding to (f).

FIG. 14 is a diagram showing a membership function of the consequent part shown in FIG. 12;

[Explanation of symbols]

 2 ... Motor 4 ... Motion amount detection means 6 ... Motor load inference means 8 ... Mechanical loss inference means 10 ... Control means

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Claims (7)

[Claims] 1. A motor load for inferring a load of a motor based on an operation amount detected by an operation amount detecting means for detecting an operation amount indicating an operation state of a motor within an initial time of the motor operation. A motor control device comprising: an inference unit; and a control unit that controls the operation of the motor after the lapse of the initial time of the motor operation based on the load of the motor inferred by the motor load inference unit. 2. A mechanical loss inference for inferring a mechanical loss based on the amount of motion detected by the amount of motion detected by the amount of motion detecting means for detecting the amount of motion indicating the operating state of the motor within the initial time of the motor operation. A motor control device comprising: a means for controlling the operation of the motor after the lapse of the initial time of the motor operation based on the mechanical loss inferred by the mechanical loss inference means. 3. An operation amount detection means for detecting an operation amount indicating an operation state of the motor, a motor load inference means for inferring a motor load based on the operation amount detected by the operation amount detection means, and an operation amount detection means. A mechanical loss inference means for inferring a mechanical loss based on the detected motion amount, a motor load inferred by the motor load inference means, and a control means for controlling the operation of the motor based on the mechanical loss inferred by the mechanical loss inference means, A motor control device comprising: 4. The motor control device according to claim 1, wherein the motor load inference means infers the motor load by fuzzy inference, and the control means controls the target rotation speed of the motor based on the inferred motor load. A motor control device characterized by the above. 5. The motor control device according to claim 2, wherein the mechanical loss inference means infers the mechanical loss by fuzzy inference, and the control means is based on the inferred mechanical loss of the motor. A motor control device characterized by controlling the change time. 6. The motor control device according to claim 3, wherein the motor load inference means infers the motor load by fuzzy inference based on the operation amount detected by the operation amount detection means, and the mechanical loss inference means comprises the operation amount. Based on the motion amount detected by the detection means, the mechanical loss is inferred by fuzzy inference, and the control means controls the target rotation speed of the motor based on the inferred load of the motor and also based on the inferred mechanical loss of the motor. A motor control device characterized by controlling a speed change time with respect to a target rotation speed of a motor. 7. A step of detecting an operation amount indicating an operation state of the motor, a step of inferring a load of the motor on the basis of the operation amount detected by the operation amount detecting means, and a step of detecting an operation amount detected by the operation amount detecting means. A motor control method comprising: a step of inferring a mechanical loss; a step of controlling the motor operation based on the load of the motor inferred by the motor load inference means and the mechanical loss inferred by the mechanical loss inference means. .