| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a system identification device which can identify the moment of inertia, viscous friction, and Coulomb friction of a motor coupled with a load having a limited movable range in a very small range with high precision, and to provide a motor controller equipped with the system identification device. <P>SOLUTION: A system identification device comprising a system constant operating unit 103 for calculating a system constant identification value based on a position Fourier coefficient and a torque command Fourier coefficient and outputting the system constant identification value is further provided with a position Fourier converter 101 for calculating the position Fourier coefficient based on the motor position and outputting the position Fourier coefficient, and a torque command Fourier converter 102 for calculating the torque command Fourier coefficient based on the torque command and outputting the torque command Fourier coefficient. <P>COPYRIGHT: (C)2008,JPO&INPIT |
