| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motor controller equipped with a machine constant identifier for identifying the viscous friction and rigidity of a motor 104 coupled with a load only through minute operation even when the inertial moment of load is unknown without attaching a detector to the load while suppressing the impact of nonlinear friction or noise, and capable of performing high precision control by using machine constant identification values, i.e. the viscous friction and rigidity. <P>SOLUTION: The motor controller comprises a machine constant identifier 107 for calculating the machine constant identification values, i.e. the viscous friction and rigidity of a motor coupled with a load based on a motor position and a torque command wherein the machine constant identifier 107 comprises a torque command Fourier converter 108 outputting torque command Fourier coefficients by receiving a torque command, a position Fourier converter 109 outputting position Fourier coefficients by receiving a motor position, and a machine constant operation unit 110 for calculating machine constant identification values by receiving the torque command Fourier coefficients and the position Fourier coefficients. <P>COPYRIGHT: (C)2007,JPO&INPIT |
