| 摘要 |
PURPOSE:To obtain a load inertial measuring device for accurately measuring a load inertial which is connected to the shaft of a servo electric motor in a machine system with the servo electric motor as a drive source. CONSTITUTION:The title device is provided with a servo electric motor 1, sensors 4 and 2 for measuring the rotary position and rotary speed of the servo electric motor, a position comparator 5 for detecting passage of a second rotary position, an acceleration data selection means 6, an acceleration sign inversion means 8, an acceleration integrator 10, a speed difference operator 14, a speed amplifier 15, and a current control amplifier 16 for controlling current command so that the rotary acceleration is equal to a positive or a negative constant value, and a zero speed detection means 13 for detecting the time when the rotary speed reaches 0. Further, it is provided with an electric motor current detection means 3 and an amplifier 12 for calculating the electric motor output torque by observing the current of the servo electric motor, a torque data selection means 7, a torque sign inversion means 9, a torque integrator 11 for measuring the result which is obtained by subtracting the electric motor output torque during rotation with a negative first acceleration from the integration value of the electric motor output torque during rotation with a positive first acceleration. |
