A motor control device includes a control and computation unit, a compensation signal generation unit, an adder, and a drive unit. The control and computation unit is configured to perform computation processing based on a detected rotational position of a motor and a positional instruction, and to generate a first torque instruction signal to be used to drive the motor. The compensation signal generation unit is configured to generate a torque compensation signal to be used to compensate the first torque instruction signal. The adder is configured to add the torque compensation signal to the first torque instruction signal, and to output an acquired signal as a second torque instruction signal. The drive unit is configured to generate a drive signal to be used to power-drive winding wires of the motor based on the second torque instruction signal. The compensation signal generation unit is further configured to generate a torque compensation signal that switches to a torque compensation value having a predetermined value at a switching timing based on a timing when a rotation direction of the motor inverts.

A motor control device includes a control and computation unit, a compensation signal generation unit, an adder, and a drive unit. The control and computation unit is configured to perform computation processing based on a detected rotational position of a motor and a positional instruction, and to generate a first torque instruction signal to be used to drive the motor. The compensation signal generation unit is configured to generate a torque compensation signal to be used to compensate the first torque instruction signal. The adder is configured to add the torque compensation signal to the first torque instruction signal, and to output an acquired signal as a second torque instruction signal. The drive unit is configured to generate a drive signal to be used to power-drive winding wires of the motor based on the second torque instruction signal. The compensation signal generation unit is further configured to generate a torque compensation signal that switches to a torque compensation value having a predetermined value at a switching timing based on a timing when a rotation direction of the motor inverts.