A motor control device comprises a position feedback control part 11 for outputting a first tentative command speed; a speed feedback control part 21 for outputting a first tentative command current; a position feedforward control part comprising a position side input part for outputting the command physical quantity as the position side, a first position side weight obtaining part for changing the position side first weight according to the position deviation and a position side output part for outputting the value obtained by adding the first position side product values as the second tentative command speed; and a speed feedforward control part comprising a speed side input part for outputting the command physical quantity as the speed side first output, a first speed side weight obtaining part for changing the speed side first weight according to the speed deviation and a speed side output part for outputting a value obtained by adding the first speed side product values as a second tentative command current.
Motor Control Device