| 摘要 |
<P>PROBLEM TO BE SOLVED: To identify the viscosity friction coefficient, the coulomb friction coefficient and fixed external disturbance torque in real time by separating into a viscosity friction, depending on the speed, and the coulomb friction that depends on the direction of the speed. <P>SOLUTION: This identifying device for a machine constant identification includes a command-generating part 11 for generating a speed command V<SB>ref</SB>, a speed control part 12 for controlling a motor speed, an all-friction calculating part 13 for calculating the frictions from the viscosity friction coefficient D', as the viscosity friction which is proportional to the speed, a coulomb friction identifying part 14, a viscosity friction identifying part 15, and a friction display part 16 for displaying the identified coulomb friction, the viscosity friction and the fixed external disturbance. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
