| 摘要 |
PROBLEM TO BE SOLVED: To provide an online measuring device for accurately acquiring frequency characteristics of a feed shaft in real time according to a vibration test using a motor attached to the feed shaft.SOLUTION: The servo controller comprises: a velocity command generating section; a torque command generating section; a velocity detecting section for detecting a velocity of a servomotor; a velocity controlling loop constituted of the velocity command generating section, the torque command generating section, and the velocity detecting section; a sinewave sweep inputting section for performing sinewave sweeping into the velocity controlling loop; and a frequency characteristic calculating section for estimating a gain and a phase of a velocity controlling loop input/output signal, from an output when a sinusoidal disturbance is inputted to the velocity controlling loop. The frequency characteristic calculating section expresses an output of the velocity controlling loop according to a Fourier series composed of arbitrary term numbers using a disturbance input frequency as a fundamental frequency, and calculates frequency characteristics online by calculating an amplitude and a phase of a fundamental wave component of the Fourier series.SELECTED DRAWING: Figure 1 |
