| 摘要 |
<p>The purpose of the present invention is to provide a method for estimating load inertia and a method for adjusting control parameters. To achieve this aim, a load position control test is performed in a load position control system, based on a feedback control system (21) and a first position deviation (??) generated at a prescribed load position (?L)is estimated. Then, in a load inertia estimation model (60) which is a model of a load position control system, a load position control simulation of a feed system model is performed based on a feedback control system model, a load inertia (JL) included in the feed system model is adjusted, and the load position control simulation repeated until a second position deviation (??) that generated at this time at the prescribed load position equals the first position deviation. As a result, the load inertia for the feed system model at that time is estimated to be the load inertia for a feed system in an actual machine if the second position deviation equals the first position deviation. In addition, coefficients (a3-a5) for an inverse characteristic model (50) are set using this estimated load inertia.</p> |
