| 摘要 |
<P>PROBLEM TO BE SOLVED: To identify inertia and carry out highly precise tuning of servo constant in real time even in a position control system where no velocity control system exists. <P>SOLUTION: An automatic tuning device of servo constant is provided with a position control part 12 which determines an acceleration command Aref so as to make a position command Pref from a command generating part 11 matches with the actual position Pfb of a motor, and also determines the torque command Tref by multiplying the acceleration command by an estimated inertia value to control the position of the motor; and a model position control part 18 which generates a model acceleration command Aref' by adding the acceleration command Aref to a model acceleration command which is determined so that the position Pfb of the motor may accord with the position Pfb' of a model motor, and also determines a model torque command Tref' by multiplying the model acceleration command Aref' by a model inertia value preliminarily fixed to control the position of the model motor. Inertia J<SB>c</SB>is identified from the torque command Tref and the time integration of the model torque command Tref', and is used as the inertia value in the position control part 12. <P>COPYRIGHT: (C)2004,JPO |
