APPARATUS FOR DETERMINATION OF CONTROL CONSTANT

摘要

An apparatus for determination of control constants includes a command generation portion for generating a speed command Vref, a speed control portion for determining a torque command Tref by the speed command Vref and an actual motor speed Vfb and controlling the motor speed, an estimation portion for simulating the speed control portion by a model and outputting an estimated torque command Tref', and a determination portion for determining an inertia J from the ratio of a value STref obtained by integrating the torque command Tref output from the speed control portion with respect to a predetermined interval [a, b] to a value STref' obtained by integrating the torque command Tref' output from the estimation portion with respect to the predetermined interval [a, b]. To accurately determine the inertia J using fewer arithmetic operations, the predetermined interval [a, b] and the speed command Vref are set so that the actual motor speed Vfb and the motor speed Vfb' calculated by the estimation portion may have the same nonzero value.