| 摘要 |
PROBLEM TO BE SOLVED: To reduce an estimation error due to disturbance torque such as clone friction and to estimate machine constants highly accurately by assigning a relatively small weight immediately after starting a driving machine based on a weighting signal, and then calculating the estimation value of the machine constants. SOLUTION: A weighting signal generation part 7 inputs a machine speed Vm, and generates a weighting signal wt of a smaller level until specific time passes after a driving machine 3 starts from a still state. A machine constant estimation part 8 integrates a weighting signal wt to a transition torque signalτf and a transition acceleration signal af, obtains a weighted torque signalτw and a weighted acceleration signal aw, and performs updating so that an inertia estimation value Je that is a machine constant of the driving machine 3 approaches a ratio to a weighting acceleration signal aw of a weighted torque signalτw at the least square operation part. In this case, since the weighting signal wt is made relatively small immediately after starting, the inertia estimation value Je is gently updated immediately after the start of the driving machine 3.
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