| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method for identifying load inertia in a short period of time and with minute operation without driving a motor when a power supply to a controller is turned on before actual operation. <P>SOLUTION: A load inertia identification method is used for a device provided with: a position command generating part 4, which gives a position command of a sine wave at a prescribed frequency to a position and/or speed control part 1, a torque command response calculation part 6 for calculating a response frequency of a torque command, and a load inertia identification part 5 for identifying load inertia. A position command frequency is compared with a torque command response frequency. When the position command frequency is higher than the torque command response frequency, load inertia is calculated by correcting temporary inertia given as an initial value. When the position command frequency is lower than the torque command response frequency, a value calculated by subtracting motor inertia from the temporary inertia or a value less than that as a load inertia value. <P>COPYRIGHT: (C)2009,JPO&INPIT |
