METHOD OF COMPENSATING FRICTION, FRICTION COMPENSATOR, AND MOTOR CONTROL DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a method of compensating friction to accurately estimate a frictional force or a frictional torque, and to provide a friction compensator, and a motor control device using the friction compensator.

SOLUTION: An actual position estimating part 21 estimates the actual position of a mobile body corresponding to a position command signal and generates an actual position signal. When a differentiator 22 obtains a speed signal by differentiating the actual position signal, an integrator 24 generates a displacement signal for displacement from the position where the mobile body reverses the moving direction by integrating the speed signal, and an absolute value calculation part 25 obtains its absolute value. A friction characteristic estimating part 26 obtains the change rate of the displacement of the frictional force or the frictional torque. When a multiplier 27 obtains the change rate of time by multiplying the speed signal by the change rate of the displacement, the integrator 28 estimates the frictional force or the frictional torque by integrating the change rate of the time.

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