| 摘要 |
PROBLEM TO BE SOLVED: To identify inertia even if the gain is not known at all from a current command to an actual torque and to identify inertia accurately within a limited movable range by setting a sufficiently long delay time TD for an inertial system as well as a rigid system regardless of resonance frequency. SOLUTION: In an inertia identifying method for a speed control system provided with a delay element, stability of the speed control system is checked by varying the proportional gain Kv for a constant delay time TD (step 200), an oscillation limit gain KvM of the speed control system when a load is applied to motor and an oscillation limit gain Kv0 of the speed control system for the motor itself are calculated and stored (step 300), an oscillation limit gain ratio RKM is calculated until the difference eRK between an oscillation limit gain ratio for increased delay time TD and the oscillation limit gain ratio RKM becomes smaller than a predetermined value (step 400-700), an a total inertia of the motor and the load is determined by multiplying the ratio RKM at the end of calculation by the inertia of the motor. |
