| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a motor controller for identifying a viscous friction, compensating the friction using the identification, and accurately identifying an inertia. <P>SOLUTION: A communication method and an apparatus comprise a model speed controlling means (5) for controlling and processing a model speed variation between a speed instruction Vref and a model speed Vfb' and creating a model torque instruction; a compensation torque creator (18) for multiplying a motor speed Vfb by a coefficient D and creating a compensation torque instruction; a torque compensating means (17) for adding the compensation torque instruction to a first torque instruction and creating a second torque instruction; and an inertia calculating means (19) for calculating the inertia. The inertia calculating means (19) temporally integrates the first motor torque instruction, and calculates the inertia J from a ratio of a motor torque instruction integration value ITref and a model torque instruction integration value ITref' as a temporal integration of the model torque instruction created by the model speed controlling means. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
