| 摘要 |
PROBLEM TO BE SOLVED: To improve precision of system identification of a mathematical model including a nonlinear parameter.SOLUTION: A motor-side error calculation part 120 calculates a plurality of motor-side internal signals q1-q5 and a motor-side residual eusing, as input information, a motor current i, a motor position θand a load position θfor a motor-side residual calculation expression. A motor-side parameter identification part 121 identifies a model parameter included in the motor-side residual calculation expression using information input from the motor-side error calculation part 120 for a parameter estimation expression. Here, the parameter estimation expression is an expression in which a plurality of linear parameters and a plurality of nonlinear parameters included in the motor-side residual calculation expression are error components respectively, and expressed by a linear combination of the plurality of linear terms and a plurality of nonlinear terms. Further, one of the plurality of nonlinear parameters included in the motor-side residual calculation expression is at a center position of a dead zone function.SELECTED DRAWING: Figure 3 |
