| 摘要 |
<P>PROBLEM TO BE SOLVED: To precisely perform control for correcting the position of a moving body and each command movement position in a feeding device. <P>SOLUTION: In the control of a feeding device, the moving body is reciprocated in an axial direction with a torque value inputted to a drive motor defined as T, and an angular speed ω of the drive motor at each fixed time or at each predetermined position of the moving body is measured. After calculating a parameter Td corresponding to each angular speed ω and the input torque T according to the following expression on the basis of each measured angular angle ω and the input torque T at that time, at least one value between the parameters J and D is adjusted so as to make the dependence of the calculated parameter Td on the position small to recalculate the parameter Td, and the values of the obtained adjusted parameters J, D and Td are estimated to be proper values of the parameters J, D and Td. (Numerical expression 1) Td=T-J(dω/dt)-Dω. <P>COPYRIGHT: (C)2013,JPO&INPIT |
