A drive controller (10’) comprising control means (28, 29, 32-38) for controlling the drive of a driven member through a driver (M) and collision sensing means (20’) for sensing collision of the driven member, wherein the collision sensing means senses collision of the driven member on the basis of the estimated speed deviation which is an estimated deviation from the actual speed of the driven member or the estimated acceleration deviation which is an estimated deviation from the actual acceleration of the driven member.