| 摘要 |
PROBLEM TO BE SOLVED: To provide a controller for motor servo system, which has such an auto-tuning function that ca easily and surely set the convergence of control gains. SOLUTION: A controller for motor servo system is provided with a disturbance estimating observer 8, which outputs an estimated disturbance torque value and acceleration information by using a current command and speed information obtained from a motor servo system, an inertia estimator 9 which outputs an estimated inertia value by the use of the estimated disturbance torque value and acceleration information, and a gain adjuster 28 which adjusts the gain of the speed control section 6 of the motor servo system to an appropriate value by using the estimated inertia value. The controller finds the estimated inertia value by multiplying the estimated disturbance torque vale by acceleration in the inertia estimator 9 and making the estimator 9 make integrating operations during one period or performing filtering processing, after the estimated disturbance torque value is multiplied by the acceleration in the estimator 9. |
