MOTOR CONTROLLER AND MOTOR CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To gain desired control by compensating a disturbance torque by estimating the disturbance torque applied to the load side of two inertia resonance systems, using two disturbance observers.

SOLUTION: The motor controller includes a first disturbance observer 43 for outputting an estimated value ^τreacof a torsion torque, that is the disturbance torque of a motor 1 and a gear ratio conversion means 44, a second disturbance observer 45 for outputting the estimated value ^τdisof the disturbance torque of a load 11 separated from the torsion torque by inputting the estimated value ^τreacfrom the gear ratio conversion means 44, and a compensation current calculating means 46 for calculating a compensation current Icmpfor suppression of the disturbance by inputting the estimated value ^τdisof the disturbance torque to output a current command value Icmdreflecting the compensation current Icmpto the motor 1 and a calculator 47.

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