| 摘要 |
PROBLEM TO BE SOLVED: To make an accurate control available at all times by estimating a load speed based on an estimated value of load disturbance which is estimated based on a detected value of a motor speed and an estimated value of load torque and the estimated value of the motor speed. SOLUTION: An equipment has a load torque calculating section 1 which estimates load torque of a servo motor based on a detected value of motor current 1A and a detected value of a motor speed cod, a load torque disturbance calculating section 2 which estimates load disturbance based on ωM and an estimated value of load torque TLX, and a load speed calculating section 3 which estimates a load speed ωLX based on ωM and an estimated value of torque disturbance TDX. An estimated value of a motor speed ωMX is found by calculation at the load torque calculating section 1 and then such an estimated value of load torque TLX1 that may comply with the motor speed ωM is found. Nextly, the load torque disturbance TDX is found by calculation at the load torque disturbance calculating section 2 and finally, the estimated value of the load speed ωLX is found by calculation at the load speed calculating section 3. As a result, an accurate control can be kept at all times. |
