| 摘要 |
PROBLEM TO BE SOLVED: To provide a motor controller having functions of retrieving and deciding an optimum control gain by automatically judging a response when the control gain is changed. SOLUTION: The motor controller having the control gain retrieving function has a function of automatically deciding the control gain in a position control unit, a torque filter and a current control unit based on one parameter Kg. The motor controller comprises a first step 11 of deciding the control gain based on a value of the parameter Kg evaluated by an evaluation function E in a state in which a notch filter is not used, a second step 12 of deciding the control gain by obtaining a notch filter fc evaluated by the evaluation function in a state in which the notch filter is used by using the control gain, and a third step 13 of deciding the control gain by retrieving a variable Q and the parameter Kg so that the evaluation function is minimum and the parameter Kg is maximum in this state. |
