| 摘要 |
PROBLEM TO BE SOLVED: To obtain a high responding speed and stability even by largely changing an inertia of a load or abruptly changing a speed command in a servo motor controller using a speed observer. SOLUTION: The servo motor controller decides a coincidence or discordance of codes between a real motor acceleration and an inferred acceleration. If both are coincided, the controller decides an excess large or excess small of an identified value of an inertial secondary moment based on large and small relation of absolute values of the real motor acceleration and the inferred acceleration. If both are not coincided, the controller decides the excess large or excess small of the inertial secondary moment based on the direction and the acceleration of the second torque signal. Particularly, the controller regulates a feedback gain of a load inertial identifying loop by a deviation of the inferred speed from the real speed value and the identified value of the load inertia, and can linearize the load inertia identifying feedback loop. |
