MOTOR CONTROLLER

摘要

A motor control apparatus for adjusting a gain by identifying an inertia includes a speed control section for determining a torque command and controlling a speed of a motor such that an actual speed of the motor coincides with an inputted speed command; an estimation section for simulating the speed control section so that the motor speed coincides with the speed of the model; and an identifying section for identifying an inertia on a basis of a ratio between a value which is obtained by time-integrating a speed deviation of the speed control section during a specified period and a value which is obtained by time-integrating a speed deviation of the estimation section during the same period as the specified period, wherein identification of the inertia is performed only in a case where the motor speed within the speed control section and the speed of the model within the estimation section are not zero and coincide to each other, and the inertia is identified on a basis of a ratio between a value which is obtained by time-integrating an absolute value of the speed deviation of the speed control section during the specified period and a value which is obtained by time-integrating an absolute value of the speed deviation of the estimation section during the same period as the specified period. <IMAGE>