| 摘要 |
PROBLEM TO BE SOLVED: To identify inertia accurately by eliminating the influence of deterioration of identification accuracy, that is caused when a torque command is saturated or the like. SOLUTION: The adjusting device for control constant is provided with a speed control part 10 for determining a toque command Tref, so that a speed command Vref agrees with a motor speed Vfb and controlling a motor speed, an estimation part 11 for simulating the speed control part, so that the motor speed Vfb agrees with the speed Vfb' of a model, an identification part 12 for identifying load inertia JL from a value obtained by performing specific filtering to the ratio of a integrated value|SFVe|of the absolute value|FVe|of a value Fve obtained by performing prescribed filtering to a speed deviation Ve of the speed control part to a time integration value|SVe'|of the absolute value|Ve'|of a speed deviation Ve' of the estimation part, a judgment part for judging that no time integration of the identification part is made, when the torque command Tref of the speed control part has been saturated and when either average value of the value Fve of the identification part and the speed deviation Ve' of the estimation part is equal to or less than a prescribed value, and a judgment part 15 for adjusting a control gain, based on load inertia JL that is identified in the identification part.
|
