| 摘要 |
<P>PROBLEM TO BE SOLVED: To excite a machine by a control method for making it easily oscillate with simulated disturbance torque by a motor, and to suppress oscillation by a control method for suppressing a resonance frequency or the resonance frequency of a filter or the like, and to excite the machine with the simulated disturbance torque by the motor, and to automatically acquire and set the characteristics of the machine from the response. <P>SOLUTION: A machine is excited with a simple step-shaped simulated disturbance torque by a motor by a gain control method for making a control gain easily oscillate, that is, PI control or the like, and the frequency whose oscillation and amplitude is large of a speed obtained by subtracting the speed from the estimated speed is extracted, and suppressed by a filter or an observer or the like, and the machine is excited with the simple step-shaped simulated disturbance torque by the motor so that the lower oscillation frequency can be extracted. Thus, it is possible to obtain the characteristics of the machine. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
