| 摘要 |
PROBLEM TO BE SOLVED: To improve precision of system identification of a mathematical model including a plurality of nonlinear parameters.SOLUTION: A system identification device 12 comprises: a linear parameter identification part 122 which estimates a linear parameter using a linear parameter estimation expression having a nonlinear model canceled by adding both sides of an equation of motor-side motion and an equation of load-side motion to each other, a motor current or motor torque, a rotational position of a motor, and a rotational position of a load; and a nonlinear parameter identification part 123 which estimates a nonlinear parameter using one of the linear parameter estimated by the linear parameter identification part 122, and the equation of motor-side motion or the equation of load-side equation.SELECTED DRAWING: Figure 3 |
