| 摘要 |
PURPOSE:To identify a load inertia without influence of a backlash, a stationary friction, dynamic friction, etc., of a machine system in a motor control system. CONSTITUTION:A motor controller inputs a steplike speed command in a state that only a speed loop gain performs a function, and observes accelerations alpha1, alpha2 at two time points t1, t2 when falling a response waveform for its input command. A value obtained by multiplying a known speed loop gain by a time difference of two time points is divided by natural logarithm ratio of accelerations at two time points, and a resultant quotient is estimated as a load inertia of a motor. |
