| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device that constantly changes a control parameter to a stably operative control parameter even when control properties of machines vary with a secular change.SOLUTION: A control parameter such as an acceleration/deceleration time constant Tf, a position loop gain Kpf, velocity loop proportional gain Pvf, velocity loop integral gain Ivf and the like set for each of a plurality of different inertia Jto Jstored in a storage device 2 is configured to be changed based on an inertia value Jcalculated by an inertia identification device 17 and a post-adjustment control parameter calculated by a control parameter automatic adjuster 220. |
