To provide a motor control device that compensates displacement in decoupling control amount, caused by the time required for calculation to take place after current detection, so as to excellently control a motor current.

The motor control device includes PI calculation parts 51a, 52a for calculating PI calculation values Vdo, Vqo, decoupling-control-amount calculation parts 51b, 52b for calculating a decoupling control amount for decoupling control of a motor, voltage estimation parts 51c, 52c for calculating estimated voltages VEd, VEq of the motor from a motor current, correction-value calculation parts 51d, 52d for calculating correction values Cd, Cq from the estimated voltages VEd, VEq and the PI calculation values Vdo, Vqo, and correction parts 51e, 52e that add decoupling control amounts Dd, Dq and the correction values Cd, Cq to the PI calculation values Vdo, Vqo so as to output voltage command values Vd*, Vq*.