| 摘要 |
<P>PROBLEM TO BE SOLVED: To automatically set the servo control gain with which no instability or vibration occurs when driven as it is after calculating an inertia value before a motor is operated. <P>SOLUTION: A servo control unit for driving a servo motor comprises a vibration detecting means which detects the vibration of a control system based on the difference between the estimated speed from the motor and the model of a rod and actual speed, and a vibrating means which applies the vibration of a prescribed level to the control system by adding a pseudo stepwise disturbing torque to a torque command. The magnitude of the pseudo disturbing torque is adjusted by the vibrating means to vibrate the control system and a vibration is detected by the vibration detecting means as a load inertia value is raised, which process is repeated. The load inertia value when the detection result of the vibration detecting means comes to be minimum is acquired. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
