MOTOR CONTROL DEVICE, OPENING/CLOSING BODY CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM

摘要

PROBLEM TO BE SOLVED: To increase accuracy of pinching detection by reducing the amount of computation required for the pinching detection.

SOLUTION: A motor control device includes: an angular acceleration computing section that computes angular acceleration of a rotating shaft by using a signal output from a rotation detecting section depending on a rotational angle of the rotating shaft possessed by a motor for opening/closing an opening/closing body; an angular acceleration integration section that integrates the angular acceleration when the opening/closing body is decelerated in the case where the opening/closing body is closed by using the motor; and an integrated value comparison section that determines whether or not an integrated value of the angular acceleration is greater than a predetermined integration threshold and that determines that pinching occurs, when the integrated value of the angular acceleration is greater than the integration threshold.

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