The embodiment of the invention provides a motor control method and device, and relates to the technical field of automation control. The method comprises the steps: obtaining a current signal outputted by a motor; adjusting and outputting a PID parameter according with a preset rule according to the current signal; processing the current signal according to the PID parameter to obtain a pre-processed current signal; performing the phase-frequency characteristic processing of the pre-processed current signal to obtain a nicholsplot, and obtaining a Bode diagram by the amplitude-frequency characteristic; performing the filtering of the nicholsplot and the Bode diagram to obtain a target current signal. The motor control method and device can make the motor work better in the nonlinear, time-varying, coupling and complex processes with uncertain parameters and structures.