TW202338796A - Motor control device, motor control method, and motor control program capable of controlling the speed and torque of a motor at high speed - Google Patents

Abstract

The present invention provides a motor control device that can control the speed and torque of a motor at high speed. A motor control device (10) includes: a control unit (12) including a reference speed command generation unit (121) that generates a reference speed command for a motor (4) that generates rotational power; and a drive unit (11) having a speed correction amount generation unit (111) that generates a speed correction amount for the reference speed command, a speed subtractor (114) that calculates a speed deviation by subtracting the reference speed command corrected by the speed correction amount and the measured speed of the motor (4), a speed deviation conversion unit (115) that converts the speed deviation into a reference torque command of the motor (4), a torque correction amount generation unit (116) that generates a torque correction amount for the reference torque command, a torque subtractor (118) that subtracts the reference torque command corrected by the torque correction amount and the measured torque of the motor (4) to calculate the torque deviation, and a torque deviation converter (119) that converts a torque deviation into an electric power applied to the motor (4), wherein a processing cycle is shorter than the processing cycle in the control unit (12).

Description

Motor control device, motor control method, motor control program

The present invention relates to a motor control device and the like.

Patent Document 1 discloses a motor control device that compensates the speed and torque of a motor that generates rotational power. [Prior technical literature] [Patent Document]

[Patent Document 1] Japanese Patent Application Publication No. 9-161357

[Problem to be solved by the invention]

When the movement of the motor must be controlled with high accuracy in a short time, such as during sudden acceleration and deceleration, there is a risk that the speed and torque cannot be compensated for in a timely manner in a motor control device with a long processing cycle.

The present invention was developed in view of such a situation, and its purpose is to provide a motor control device capable of controlling the speed and torque of a motor at high speed. [Technical means to solve problems]

In order to solve the above-mentioned problems, a motor control device according to a certain aspect of the present invention includes: a control unit including a reference speed instruction generating unit that generates a reference speed instruction for a motor that generates rotational power; and a drive unit including a driving unit that generates a reference speed instruction for a motor that generates rotational power. The speed correction amount generation part of the speed correction amount, the speed subtractor that calculates the speed deviation by subtracting the reference speed command corrected by the speed correction amount and the measured speed of the motor, and converts the speed deviation into the speed of the motor. A speed deviation conversion unit for the reference torque command, a torque correction amount generation unit for generating a torque correction amount for the base torque command, and a base torque command corrected by the torque correction amount and the measured motor's A torque subtractor that calculates a torque deviation by subtracting torque and a torque deviation converting unit that converts the torque deviation into electric power to be applied to the motor have a processing cycle shorter than that in the control unit.

In this aspect, the speed correction amount and the torque correction amount are generated in the drive unit whose processing cycle is shorter than that of the control unit, so the speed and torque of the motor can be controlled at high speed.

Another aspect of the invention is a motor control method. The method includes: a reference speed command generation step executed in a control unit to generate a reference speed command for a motor that generates rotational power; and the following steps executed in a drive unit whose processing cycle is shorter than that in the control unit, and That is, a speed correction amount generating step for generating a speed correction amount for a reference speed command, a speed subtraction step for calculating a speed deviation by subtracting the reference speed command corrected with the speed correction amount and the measured speed of the motor, The speed deviation conversion step of converting the speed deviation into a reference torque command of the motor, the torque correction amount generation step of generating a torque correction amount for the reference torque command, and the reference torque corrected by the torque correction amount. A torque subtraction step for calculating a torque deviation by subtracting the command and the measured torque of the motor, and a torque deviation conversion step for converting the torque deviation into electric power applied to the motor.

In addition, any combination of the above constituent elements or any expression thereof converted into a method, device, system, recording medium, computer program, etc. are also included in the present invention. [Effects of the invention]

According to the present invention, the speed and torque of the motor can be controlled at high speed.

Hereinafter, modes for implementing the present invention (hereinafter also referred to as embodiments) will be described in detail with reference to the drawings. In the description and/or drawings, the same or equivalent components, members, processes, etc. are denoted by the same symbols, and repeated descriptions are omitted. The scale and shape of each part in the illustrations are set for convenience to simplify the description, and should not be interpreted restrictively unless specifically mentioned. The embodiments are only examples and do not limit the scope of the present invention in any way. All features described in the embodiments or combinations thereof are not necessarily essential to the invention.

FIG. 1 schematically shows the structure of a conveyance control device 1 that controls the conveyance operation of the conveyance device 2 that conveys the object 3 . Examples of the conveyed object 3 include linear ones such as strings and steel wires, and planar objects such as paper, cloth, film, foil, and rubber. In this embodiment, a roll-to-roll conveyance device 2 that conveys a planar base material in the conveyance direction (the left-right direction in FIG. 1 ) as the conveyed object 3 will be described. The conveying device 2 may be a device that performs any processing on the conveyed object, such as a coater or coating device that applies coating to the conveyed object, a printer that prints on the conveyed object, or a coating device that applies coating to the conveyed object. A part of a stretching device that performs stretching by applying tension, and a box-making machine that assembles cardboard boxes as conveyed objects into a box shape while conveying them.

The conveying device 2 includes a conveying roller group 20 and a dancer 24 . The conveying roller group 20 is provided with a plurality of conveying rollers as a plurality of conveying parts for conveying the conveyed object 3 . The conveyance roller group 20 in the example of FIG. 1 includes three conveyance roller pairs arranged in series along the conveyance direction of the conveyed object 3 . The plurality of conveyance rollers are adjacent to each other in the conveyance direction. Each conveying roller pair includes driving rollers 211 to 213 that are rotationally driven by driving portions 11A to 11C to be described later. The conveyed object 3 is sandwiched between the driving rollers 211 to 213 and is connected to the driving rollers 211 to 213 . The driven rollers 221 to 223 rotate in conjunction with each other. The three conveying roller pairs 211/221 to 213/223 and the three driving parts 11A to 11C provided in the conveying control device 1 corresponding to the three conveying roller pairs 211/221 to 213/223 can be configured identically to each other. . Therefore, the first conveying roller pair 211/221 and the first driving part 11A will be described below, and the repeated description of the other conveying roller pairs 212/222 and 213/223 and the other driving parts 11B and 11C will be omitted. In addition, the number of pairs of conveying rollers provided in the conveying roller group 20 may be arbitrary (any integer greater than or equal to 1).

The driving roller 211 and the driven roller 221 are conveying rollers that serve as a conveying portion for conveying the conveyed object 3 and are capable of rotating in a direction orthogonal to the conveying direction (the left-right direction in FIG. 1 ). (vertical to the paper). A motor (not shown in FIG. 1 ) disposed in parallel with the drive roller 211 is rotated by a reference rotation speed command generated by a control unit 12 described below that constitutes the motor control device 10 of this embodiment together with the drive units 11A to 11C. The drive unit 11A is rotationally driven. When the conveying direction of the conveyed object 3 in FIG. 1 is rightward, the driving roller 211 is rotationally driven in the clockwise direction by the driving part 11A, and the driven roller 221 rotates in the counterclockwise direction in conjunction with the driving roller 211 . By individually rotationally driving the drive rollers 211 to 213 constituting the conveyor roller group 20 using the drive units 11A to 11C of the conveyance control device 1, the speed or tension of each part of the conveyed object 3 can be controlled extremely finely. The conveying operation of the conveyed object 3 by the conveying device 2 or the processing by various devices in which the conveying device 2 is installed can be optimized.

Rollers are provided upstream (left side in FIG. 1 ) and downstream (right side in FIG. 1 ) of the transportation roller group 20 in the transportation direction so as to sandwich the transportation roller group 20 from both sides in the transportation direction. twenty four. The two rollers 24 shown in the figure can be configured similarly to each other, so the left roller 24 will be described.

The rollers 24 apply tension in the conveyance direction to the conveyed object 3 . The roller 24 is provided with a pair of rollers 241 and 242 provided on the conveyance path of the object 3 (the path in the left-right direction in which the object 3 extends in FIG. 1 ) and is provided between the pair of rollers 241 and 242 The tension adjustment roller 243 is located at a position offset from the conveyance path of the conveyed object 3 . In addition, the tension adjustment roller is also called a tension adjustment roller (dancer roll).

The tension adjustment roller 243 is provided movably between the upper end 243A and the lower end 243B in the direction perpendicular to the conveyance path of the conveyed object 3 (the up-and-down direction in FIG. 1 ). The air cylinder 244 as a thrust applying unit generates a thrust force that urges or pressurizes the tension adjustment roller 243 in a direction away from the conveyance path of the conveyed object 3 (downward in FIG. 1 ). This thrust is based on the air pressure of the cylinder 244 connected to the tension adjustment roller 243 through a piston rod or connecting rod. The air pressure of the cylinder 244 is generated by the thrust control unit 17, which is composed of an electropneumatic regulator or the like that electrically controls the air pressure. Generally, a substantially constant voltage is applied to the electropneumatic regulator (thrust control unit 17), and the air pressure of the air cylinder 244, that is, the thrust of the tension adjustment roller 243 is controlled to be substantially constant. In addition, a thrust applying part that applies thrust to the tension adjustment roller 243 based on other principles may also be provided instead of the cylinder 244 (for example, a linear motor that applies thrust to the tension adjustment roller 243 based on electricity, etc.).

The tension adjustment roller 243 , which is biased or pressurized downward by the thrust force from the air cylinder 244 , applies tension to the conveyed object 3 by stretching the conveyed object 3 in a direction away from the conveying path. At this time, the tension adjustment roller 243 is stationary at a position where the downward thrust received from the air cylinder 244 and the upward tension received from the object 3 are balanced. As described above, the downward thrust force that the tension adjustment roller 243 receives from the air cylinder 244 is generally maintained or controlled to be substantially constant. Therefore, the vertical position of the tension adjustment roller 243 indicates the tension of the conveyed object 3 .

The position of the tension adjustment roller 243 in the thrust direction (the up-down direction in FIG. 1 ) is detected as an electrical signal by the position detection unit 245 or the position sensor, and is supplied to the subtractor 14 of the conveyance control device 1 . In addition, the position command of the tension adjustment roller 243 in the direction of the thrust force generated by the position command generation unit 13 of the transportation control device 1 is input to the subtractor 14 . As described above, the position of the tension adjustment roller 243 substantially corresponds to the tension of the conveyed object 3 . Therefore, the position command of the tension adjustment roller 243 generated by the position command generating unit 13 substantially corresponds to the tension command of the conveyed object 3 . The speed control unit 15 of the conveyance control device 1 generates a speed command for reducing deviations in the position of the tension adjustment roller 243 supplied from the subtractor 14 or in the tension of the conveyed object 3 . This speed command is a command for the conveyance speed of the conveyed object 3, specifically, it is a command for the rotation speed of the driving roller 251 demonstrated below.

The drive unit 16 of the conveyance control device 1 rotates and drives the drive roller 251 arranged in parallel immediately behind the roller 24 based on the speed command supplied from the speed control unit 15 . The drive roller 251 is a conveyance roller rotatable around a rotation axis orthogonal to the conveyance direction of the conveyed object 3 . When the drive roller 251 is driven to rotate in the clockwise direction in FIG. 1 , the driven roller 252 rotates in the counterclockwise direction in conjunction with the drive roller 251 . In addition, a driving roller 231 identical to the driving roller 251 and a driven roller 232 identical to the driven roller 252 are also provided slightly in front of the roller 24 . The drive roller 231 is rotationally driven by a drive unit (not shown) at a constant rotational speed, for example. In contrast, the rotational speed of the drive roller 251 is appropriately controlled based on the deviation in position and/or tension. In this way, while conveying the object 3 sandwiched between the driving roller 251 and the driven roller 252, the position command of the tension adjustment roller 243 generated by the position command generating unit 13, that is, the tension command of the object 3 is adjusted. Corresponding desired tension is applied to the conveyed object 3 . In the example of FIG. 1 , two rollers 24 are provided slightly before and immediately behind the conveyance roller group 20 in the conveyance direction. Therefore, the entrance portion (the left end in FIG. 1 ) of the conveyance roller group 20 can be connected to The tension of the conveyed object 3 at the exit portion (right end in FIG. 1 ) is controlled to a desired value.

As mentioned above, the conveying device 2 can be installed in various devices such as a coater, a printing press, a stretching device, a box-making machine, etc. However, in order to optimize various processes, the conveyed object 3 may need to be rapidly accelerated or decelerated. In this way, when the operation of the motor must be controlled with high accuracy in a short time, there is a risk that the speed and torque cannot be compensated for in a timely manner in a conventional motor control device with a long processing cycle. According to the motor control device 10 of this embodiment described below, the speed and torque of the motor can be controlled at high speed. As shown in FIG. 1 , the motor control device 10 constituting a part of the conveyance control device 1 is composed of drive parts 11A to 11C (hereinafter also collectively referred to as the drive part 11 ) and a control part 12 .

FIG. 2 is a functional block diagram of the motor control device 10 . The control unit 12 of the motor control device 10 includes a reference speed command generating unit 121. The drive unit 11 of the motor control device 10 includes a speed correction amount generation unit 111, a speed correction amount adder 112, a rotational position differentiator 113, a speed subtractor 114, a speed deviation conversion unit 115, a torque correction amount generation unit 116, a torque Correction amount adder 117, torque subtractor 118, and torque deviation conversion unit 119. These functional blocks are realized through the cooperation of hardware resources such as the computer's central processing unit, memory, input devices, output devices, peripheral machines connected to the computer, and the software that uses these executions. Regardless of the type of computer or the installation location, each of the above functional blocks can be implemented by the hardware resources of a single computer, or can be implemented by a combination of hardware resources dispersed in multiple computers.

The reference speed command generation unit 121 generates a reference speed command for the motor 4 that generates rotational power for rotationally driving each of the drive rollers 211 to 213. As will be described in detail below, the drive unit 11 provided at a position further back than the control unit 12 or on the motor 4 side performs speed correction or speed compensation based on the speed correction amount with respect to the reference speed command supplied from the reference speed command generation unit 121 . After torque correction or torque compensation based on the torque correction amount, three-phase AC power applied to the motor 4 is generated.

Since the processing cycle in the drive unit 11 is shorter than that in the control unit 12 , the speed correction and torque correction in the drive unit 11 can be executed at a higher speed than the control unit 12 . Specifically, the processing cycle in the drive unit 11 is, for example, about several hundred microseconds, and the processing cycle in the control unit 12 is, for example, about several milliseconds. The former is about 1/10 or less of the latter. In this way, by generating the speed correction amount and the torque correction amount at high speed in the drive unit 11, it is also possible to reliably execute the rapid acceleration and deceleration of the conveyed object 3 required for the optimization of various processes by the conveying device 2.

The speed correction amount generation unit 111 of the drive unit 11 generates a speed correction amount for the reference speed command generated by the reference speed command generation unit 121 of the control unit 12 . Specific examples of the speed correction amount will be described later. The speed correction amount adder 112 adds the speed correction amount generated by the speed correction amount generation unit 111 to the reference speed command generated by the reference speed command generation unit 121 of the control unit 12 . The rotational position differentiator 113 differentiates the rotational position of the motor 4 measured by the rotational position measuring device 41 called a PG (Position Generator) to calculate the rotational speed of the motor 4 . The speed subtractor 114 subtracts the reference speed command corrected by the speed correction amount in the speed correction amount adder 112 and the measured speed of the motor 4 from the rotation position differentiator 113 to calculate the speed deviation. The speed deviation conversion unit 115 converts the speed deviation calculated by the speed subtractor 114 into the reference torque command of the motor 4 .

The torque correction amount generation unit 116 generates a torque correction amount for the reference torque command generated by the speed deviation conversion unit 115 . Specific examples of the torque correction amount will be described later. The torque correction amount adder 117 adds the torque correction amount generated by the torque correction amount generating unit 116 to the reference torque command generated by the speed deviation conversion unit 115 . The torque subtractor 118 subtracts the reference torque command corrected by the torque correction amount in the torque correction amount adder 117 and the measured torque of the motor 4 to calculate a torque deviation. The torque deviation conversion unit 119 converts the torque deviation calculated by the torque subtractor 118 into electric power applied to the motor 4 .

3 and 4 show specific examples of the speed correction amount generated by the speed correction amount generating unit 111 of the drive unit 11 with respect to the reference speed command. In these figures, the horizontal axis represents the rotational position of the motor 4 measured by the rotational position measuring device 41, and the vertical axis represents the addition of the reference speed command generated by the reference speed command generation unit 121 in the speed correction amount adder 112. The speed correction amount generated by the speed correction amount generating unit 111. For the base speed command corresponding to the center or origin of the vertical axis, the upper speed correction amount represents the acceleration amount relative to the base speed command, and the lower speed correction amount represents the deceleration amount relative to the base speed command. Therefore, in the examples of FIGS. 3 and 4 , the motor 4 that is controlled to the speed according to the reference speed command up to the rotation position of "start acceleration and deceleration" undergoes deceleration, acceleration, and deceleration, and then rotates at the "end of acceleration and deceleration". The position returns to the speed as the reference speed command.

The reference speed command generated by the reference speed command generation unit 121 can be updated in the processing cycle of the control unit 12 (for example, on the order of several milliseconds). However, when the motor 4 rotates at high speed or when the motor 4 is accelerated and decelerated finely in a time shorter than the processing cycle of the control unit 12 , the long processing cycle of the control unit 12 cannot cope. Therefore, in the present embodiment, in the speed correction amount generating unit 111 of the driving unit 11 with a short processing cycle (for example, about several hundred microseconds), the speed correction amount generating unit 111 of the driving unit 11 as shown in FIGS. 3 and 4 is generated at high speed for the reference speed command. The mode of speed correction amount.

Here, it is preferable to set the acceleration and deceleration pattern in which the speed correction amount is set in advance so that the drive unit 11 can cope with the control resource being smaller than the control resource of the control unit 12 . Specifically, as shown in FIGS. 3 and 4 , it is preferable that the speed correction amount generating unit 111 generates the speed correction amount in accordance with a predetermined pattern corresponding to the rotational position of the motor 4 . As shown in Figure 3, the pattern of the speed correction amount can be determined by the rotation position of each change point of the speed correction amount and the coordinates of the acceleration and deceleration amounts (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4), (X5, Y5) are defined as shown in Figure 4. It can also be defined by the parameters of each rotation position interval such as deceleration interval (DEC1, DEC2), constant speed interval (CST1, CST2), acceleration interval (ACC1, ACC2), etc. (For example, the width of the rotation position section, the inclination of the speed correction amount, etc.) may be defined by a gain multiplied by the reference speed command based on the rotation position of the motor 4 .

FIG. 5 shows a specific example of the torque correction amount generated by the torque correction amount generating unit 116 of the drive unit 11 with respect to the reference torque command. In this figure, the horizontal axis represents the speed of the motor 4 obtained by the rotation position differentiator 113, and the vertical axis represents the rotation speed added to the reference torque command generated by the speed deviation conversion unit 115 in the torque correction amount adder 117. The torque correction amount generated by the moment correction amount generating unit 116. For the base torque command corresponding to the center or origin of the vertical axis, the upper torque correction amount represents the torque increase relative to the base torque command, and the lower torque correction amount represents the torque decrease relative to the base torque command. quantity. The torque correction amount generation unit 116 of the drive unit 11, which has a shorter processing cycle (for example, about several hundred microseconds) than the control unit 12, generates a pattern of torque correction amounts with respect to the reference torque command as shown in FIG. 5 at high speed.

Here, like the speed correction amount in FIGS. 3 and 4 , it is preferable to set the increase and decrease pattern of the torque correction amount in advance so that the driving unit 11 with fewer control resources than the control resource of the control unit 12 can Able to cope. Specifically, as shown in FIG. 5 , it is preferable that the torque correction amount generating unit 116 generates the torque correction amount in accordance with a predetermined pattern corresponding to the speed of the motor 4 . As shown in Figure 5, the pattern of the torque correction amount can be determined by the speed of each change point of the torque correction amount and the coordinates (0, Y0), (X1, Y1), (X2, Y2), ( The definition of The speed of motor 4 is defined by the gain multiplied by the reference torque command.

The present invention has been described above based on the embodiments. It is obvious to those skilled in the art that various modifications can be implemented as combinations of each component or each process in the illustrated embodiments, and that such modifications are included in the scope of the present invention.

For example, as shown in FIG. 6 , the torque correction amount generating unit 116 may also generate a torque correction amount for the reference torque command based on the speed deviation calculated by the speed subtractor 114 . Specifically, the torque correction amount generating unit 116 includes a speed deviation differentiator 116A that differentiates the speed deviation calculated by the speed subtractor 114 to calculate an acceleration deviation, and multiplies the acceleration deviation by an acceleration compensation gain to calculate the torque correction amount. The acceleration compensation gain multiplier 116B. Here, it is preferable that the acceleration compensation gain of the acceleration compensation gain multiplier 116B is determined according to a predetermined pattern corresponding to the speed of the motor 4 as shown in FIG. 5 .

In addition, the configuration, action, and function of each device or each method described in the embodiments can be realized by hardware resources or software resources, or cooperation of hardware resources and software resources. As hardware resources, for example, a processor, ROM, RAM, and various integrated circuits can be utilized. As software resources, programs such as operating systems and applications can be used, for example. This application claims priority based on Japanese Patent Application No. 2022-047934 filed on March 24, 2022. The entire contents of this Japanese application are incorporated by reference into this specification.

1:Transportation control device 2:Conveying device 3: Objects to be transported 4: Motor 10: Motor control device 11:Drive Department 12:Control Department 20: Transport roller group 41: Rotary position measuring device 111: Speed correction amount generation part 112: Speed correction adder 113: Rotary position differentiator 114:Speed subtractor 115: Speed deviation conversion department 116: Torque correction amount generation part 116A: Speed deviation differentiator 116B: Acceleration compensation gain multiplier 117: Torque correction adder 118:Torque subtractor 119: Torque deviation conversion part 121: Reference speed command generation part 211:Driving roller

[Fig. 1] Schematically shows the structure of the transport control device. [Figure 2] is a functional block diagram of the motor control device. [Fig. 3] shows a specific example of the speed correction amount for the reference speed command. [Fig. 4] shows a specific example of the speed correction amount for the reference speed command. [Fig. 5] shows a specific example of the torque correction amount for the reference torque command. [Fig. 6] shows a modification of the torque correction amount generating unit.

4: Motor

10: Motor control device

11:Drive Department

12:Control Department

41: Rotary position measuring device

111: Speed correction amount generation part

112: Speed correction adder

113: Rotary position differentiator

114:Speed subtractor

115: Speed deviation conversion department

116: Torque correction amount generation part

117: Torque correction adder

118:Torque subtractor

119: Torque deviation conversion part

121: Reference speed command generation part

Claims (7)

A motor control device having: The control unit includes a reference speed command generating unit that generates a reference speed command for a motor that generates rotational power; and The drive unit includes a speed correction amount generating unit that generates a speed correction amount for the reference speed command, and calculates a speed deviation by subtracting the reference speed command corrected by the speed correction amount and the measured speed of the motor. a speed subtractor, a speed deviation conversion unit that converts the speed deviation into a reference torque command of the motor, a torque correction amount generation unit that generates a torque correction amount for the reference torque command, and a torque correction unit that uses the torque correction a torque subtractor that corrects the aforementioned reference torque command and the measured torque of the aforementioned motor by subtracting to calculate a torque deviation; and a torque deviation converting portion that converts the torque deviation into electric power applied to the aforementioned motor. , and the processing cycle is shorter than the processing cycle in the aforementioned control unit. The motor control device of claim 1, wherein, The speed correction amount generating unit generates the speed correction amount according to a predetermined pattern corresponding to the rotational position of the motor. The motor control device of claim 1 or 2, wherein, The torque correction amount generating unit generates the torque correction amount according to a predetermined pattern corresponding to the speed of the motor. The motor control device of claim 1 or 2, wherein, The torque correction amount generating unit includes: a speed deviation differentiator that differentiates the speed deviation to calculate the acceleration deviation; and an acceleration compensation gain multiplier that multiplies the acceleration deviation by an acceleration compensation gain to calculate the torque correction. quantity. A motor control method, which has: The reference speed command generating step executed in the control unit generates a reference speed command for the motor that generates rotational power; and The following steps are executed in the drive unit whose processing cycle is shorter than that of the control unit, namely, a speed correction amount generating step for generating a speed correction amount for the aforementioned reference speed command, and a step of correcting the speed correction amount with the speed correction amount. a speed subtraction step for calculating a speed deviation by subtracting the reference speed command and the measured speed of the motor; a speed deviation conversion step for converting the speed deviation into a reference torque command for the motor; and generating a speed deviation for the reference speed. A step of generating a torque correction amount of the torque command, subtracting the aforementioned reference torque command corrected with the torque correction amount and the measured torque of the aforementioned motor to calculate a torque of the torque deviation. A subtraction operation step and a torque deviation conversion step for converting the torque deviation into the applied electric power of the motor. A motor control program that causes a computer to: The reference speed command generating step executed in the control unit generates a reference speed command for the motor that generates rotational power; and The following steps are executed in the drive unit whose processing cycle is shorter than that of the control unit, namely, a speed correction amount generating step for generating a speed correction amount for the aforementioned reference speed command, and a step of correcting the speed correction amount with the speed correction amount. a speed subtraction step for calculating a speed deviation by subtracting the reference speed command and the measured speed of the motor; a speed deviation conversion step for converting the speed deviation into a reference torque command for the motor; and generating a speed deviation for the reference speed. A step of generating a torque correction amount of the torque command, subtracting the aforementioned reference torque command corrected with the torque correction amount and the measured torque of the aforementioned motor to calculate a torque of the torque deviation. A subtraction operation step and a torque deviation conversion step for converting the torque deviation into the applied electric power of the motor. A motor control device having: The control unit includes a reference speed command generating unit that generates a reference speed command for a motor that generates rotational power; and The drive unit has a processing cycle shorter than that of the control unit and can control the speed and torque of the motor.

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