| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motor controller capable of carrying out coulomb friction identification not according to a control rule, accurately carrying out coulomb friction identification by minimal operation even when a torque command or motor velocity contains many noise signals and maximum static friction or the like exists, and carrying out accurate operational control based on the result of the identification. <P>SOLUTION: The motor controller includes: a torque command normalized velocity rectangular wave multiplication value computing unit 111 that is inputted with a torque command frequency component and a normalized velocity rectangular wave and outputs a torque command normalized velocity rectangular wave multiplication value; a torque command velocity rectangular wave multiplication value average value computing unit 114 that is inputted with the torque command normalized velocity rectangular wave multiplication value and motor velocity amplitude and outputs a torque command velocity rectangular wave multiplication value average value; and a coulomb friction computing unit 115 that is inputted with the torque command velocity rectangular wave multiplication value average value and the motor velocity amplitude and outputs a coulomb friction identified value. <P>COPYRIGHT: (C)2010,JPO&INPIT |
