| 摘要 |
<P>PROBLEM TO BE SOLVED: To enable drive control of a motor having high robustness without adjusting various parameters even when any of moment of inertia or inertia mass in a drive mechanism and multi-inertia model is unknown or variable. <P>SOLUTION: In a current control system loop, the disturbance torque of a motor 200 that an inertia variation suppression part 3 has estimated using a first disturbance observer 31 is added to a first torque command and a second torque command is output. The first disturbance observer 31 that estimates disturbance torque in the inertia variation suppression part 3 includes a resonance suppression model 43 that outputs the accelerating/decelerating torque signal of an ideal motor that suppresses influence of mechanical resonance of a drive mechanism 500 in response to the motor speed of the motor 200. Because the first disturbance observer 31 estimates the disturbance torque using the accelerating/decelerating torque signal of the ideal motor, the inertia variation suppression part 3 suppresses variations in the moment of inertia of the drive mechanism without generating vibrations caused by mechanical resonance of the drive mechanism 500. <P>COPYRIGHT: (C)2013,JPO&INPIT |
