| 摘要 |
A friction compensation method, a friction compensator, and a motor controller are provided to shorten a time required for adjusting parameters by estimating friction and frictional torque with high precision. A friction compensation method comprises the steps of generating a present position signal by estimating a present position of a movable member using a present position estimation unit(21), obtaining a speed signal by differentiating the present position signal using a differentiator(22), generating a displacement signal by integrating the speed signal using an integrator(24), and obtaining an absolute value of the displacement signal using an absolute value calculator(25). A friction characteristic estimation unit(26) calculates variation for the displacement of the friction or frictional torque. A multiplier(27) calculates variation relative to time by multiplying the variation by the speed signal. |
