| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a system identification apparatus capable of identifying Coulomb friction of a motor having a load limited in movable range, and to provide a system identification method thereof. <P>SOLUTION: The apparatus is provided with an integration section calculator (101) for generating an integration section from a position; absolute value calculator (102) for receiving the input velocity and generating velocity absolute value; first definite integrator (103) for generating velocity absolute value integrated value from the velocity absolute value and the integration section; a multiplier (104) for generating a torque command velocity multiplication value from the velocity and a torque command; a second definite integrator (105) for generating a torque command velocity integration value from the torque command velocity multiplication value and the integration section; and a calculator (106) for generating the Coulomb friction identification value, from the velocity absolute integration value and the torque command velocity integration value. <P>COPYRIGHT: (C)2007,JPO&INPIT |
