| 摘要 |
PROBLEM TO BE SOLVED: To perform the identification of the load inertia of an object to be controlled automatically, easily and swiftly, without the necessity of technical knowledge and experience. SOLUTION: This control device is composed of a speed command signal generating part 21 which generates a speed pattern for accelerating/decelerating an object 30 to be controlled by a specified pattern, a position controlling part 25 which accelerates/decelerates the object 30 to be controlled on the basis of the speed pattern generated by this speed command signal generating part 21 and controls the position of the object 30 to be controlled, a speed controlling part 26 which controls the speed of the object 30 to be controlled, and an observing apparatus 40 composed of an encoder for observing the current position of the object 30 to be controlled. And the identification of the load inertia of the object 30 to be controlled is performed, on the basis of the positional deviation between a command position for the object 30 to be controlled and its current position observed by the observing apparatus 40 at the point of time when the command speed generated by the speed command signal generating part 21 becomes a specified speed. |
