LOAD CHARACTERISTIC ESTIMATION DEVICE OF DRIVE MACHINE

摘要

The load characteristic estimation device of a drive machine according to the embodiment comprises: an action command generation part (5) for generating action commands pertaining to the position and speed of a drive machine (3); a drive force command generation part (1) for generating a drive force command so that the action of the drive machine conforms to the action command; a drive part (2) for generating drive force corresponding to the drive force command and driving the drive machine; a code determination part (101) for determining, on the basis of the drive speed of the drive machine, whether the drive machine is in a forward-rotating action, a reverse-rotating action, or a stopped state; a load drive force estimation part (102) for calculating, on the basis of the drive force command, a load drive force signal which is an estimated value of the load drive force applied to the drive machine; a forward-rotation load computation part (103) for calculating sequential average values of the load drive force signal when the determination result is the forward-rotating action; and a reverse-rotation load computation part (104) for calculating sequential average values of the load drive force signal when the determination result is the reverse-rotating action.