| 摘要 |
<p>PROBLEM TO BE SOLVED: To decrease the occurrence of noise vibrations of a servo motor by calculating the estimated value of disturbance of the load torque by means of a 2nd compensator consisting of the integral and proportional elements to estimate a load velocity, thereby suppressing the noise components which are caused when the disturbance of the load torque is estimated. SOLUTION: A motor shaft torque estimating part 3 calculates the estimated value TL1* of a motor shaft by means of an I-P compensator 303 so as to secure the coincidence between the estimated speed of a motor 1 that is decided by integrating the difference between the motor shaft torque TA and the value TL1* and the detected motor speed. A load state estimating part 5 calculates the estimated value TD* of the load torque disturbance by means of an I-P compensator 503 so as to secure the coincidence between the auxiliary estimated value of load speed that is decided according to the differential value of the value TL1* and the detected motor speed and the estimated speed of load that is decided by integrating the difference between the value TD* and the value TL1*.</p> |
