| 摘要 |
PURPOSE:To estimate a real value of moment of innertia precisely, even when the value of the moment of innertia on a mechanical load side varies in real time during operation, by detecting the torque current, the speed, and the torsional torque of the shaft of the drive system of a motor, and performing calculation. CONSTITUTION:An estimated value of the torsional torque tause of the shaft of a motor 1 with a mechanical load 3, an estimated value of the speed omega2e of a mechanical load, and an estimated value of load torque taude acting on the side of the mechanical load are calculated from a torque current component It and the motor speed omega1 by a vibration state estimating device 11, and are inputted to a J2 estimating device 12. In an adder 21 of the J2 estimating device, an integrated value of the difference between the torsional torque of the shaft of a drive system having the motor 1 as a constituent and a load torque acting on the mechanical load 3 is calculated by an adder 21 of the J2 estimating device, and a work volume used to accelerate or decelerate a set value J2e of the moment of innertia of the mechanical load is found by the operation of a coefficient multiplier 23. And in a divider 24, the ratio of an actual value J2 to the set value J2e is calculated by dividing the output of the adder 21 with the output of the coefficient multiplier 23. |
