Motor Control Device and Automatic Adjustment Method For Same

An estimated value of a frequency of a vibration component for automatically adjusting a control unit that suppresses resonance characteristics of a machine is estimated stably and highly reliably without depending on the magnitude of an amplitude of the vibration component and without any risk of arithmetic overflow. A motor control device including an automatic adjustment device that adaptively adjusts a controller included in a motor control system based on a frequency of a vibration component superimposed on a response of the motor control system, the automatic adjustment device including a vibration extraction unit that receives the response of the motor control system and extracts the vibration component from the response of the motor control system; a notch filter unit that receives the vibration component extracted by the vibration extraction unit; an encoding unit; a limiter unit that receives an output of the notch filter unit calculated by the notch filter unit; an adaptive updating unit that receives an output of the encoding unit and an output of the limiter unit; and a unit conversion unit that receives an output of the adaptive updating unit.