| 摘要 |
PURPOSE:To measure the load constant independent of the influence of backlash, static friction, dynamic friction, etc., of a mechanical system or the control system of a motor by seeking inertial load, dynamic frictional torque, and viscosity frictional coefficient from the angular acceleration, angular speed, and output torque of the motor at optional three points on the time series during normal operation. CONSTITUTION:A host controller 4 takes in output torque and position feedback periodically from a servo controller 5 during the operation of a motor 1. And, it seeks angular speed and angular acceleration form the position feedback, and stores them in a temporary storage buffer 41 together with output torque. Next, the host controller 4 inputs the data for three samples in the temporary storage buffer 41 into a load constant computing element 42, and computes load constants J, D, and R, using a formula (among the formula, T0-T2: output torque, W0-W2: angular speeds, and a0-a2: angular acceleration). The accuracy in measurement of constants can be improved by repeating the load constant calculation from the data at the three points on the time series, changing the time. |
