| 摘要 |
<P>PROBLEM TO BE SOLVED: To estimate inertia with high accuracy by one positioning operation. <P>SOLUTION: A disturbance estimator 4 calculates a disturbance estimation value d1(t) when a nominal value of inertia is set to be Jn1 by using a torque command tref(t) generated by a control operation instrument 1 and a motor position detection value xfb(t). A disturbance estimator 5 similarly calculates a disturbance estimation value d2(t) when a nominal value of inertia is set to be Jn2 by using the torque command tref(t) and the motor position detection value xfb(t). The nominal values Jn1, Jn2 of inertia used at the disturbance estimators 4, 5, disturbance estimation values d1(ta), d2(ta) of the disturbance estimators 4, 5 at a time ta, and disturbance nominal values d1(tb), d2(tb) of the disturbance estimators 4, 5 at a time tb are stored in a memory 6. An inertia estimator 7 estimates an inertia estimation value Jhat from the disturbance estimation values d1(ta), d2(ta), d1(tb), d2(tb) and the nominal values Jn1, Jn2 of inertia that are stored in the memory 6. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
