| 摘要 |
A controller and a control system capable of estimating inertia of an article to be driven in a short period of time, with a small operation range of an electric motor. The controller for the motor has an inertia estimating part which includes a sine-wave command generating part which adds a sine-wave command to a torque command for the motor; a current feedback sampling part which obtains a current value of the motor; a speed feedback sampling part which obtains a speed feedback of the motor; an acceleration calculating part which calculates an acceleration value based on the speed feedback; and an estimated inertia calculating part which estimates the inertia of the article, based on a representative current value, a representative acceleration value and a torque constant of the motor, which are calculated from current and acceleration values in a plurality of cycles of the sine-wave command and stored in a sampling data storing part.
|
