INERTIAL MOMENT ESTIMATING UNIT

摘要

PROBLEM TO BE SOLVED: To improve estimation precision of load inertial moment without depending on a vibration frequency when vibration occurs in a machine system due to cogging torque and deflection.

SOLUTION: A feedback acceleration estimating unit 27 estimates the feedback acceleration ameof a motor 1, based on the speed command value ωr. An estimation block determining unit 28 sets a determination flag feto be 1, when a feedback acceleration afeis not smaller than the prescribed level and sets the determination flag feto be 0, when it is under the prescribed level so as to output it to a multiplier 29. The multiplier 29 multiplies the output of a time-constant multiplier 26 by the determination flag fe. An adder 30 adds an estimated value Jeof the load inertial moment delayed by 1 sample period, by a delay unit 21 to output of the multiplier 29. Thus, the estimated value Jeof load inertial moment is outputted.

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