| 摘要 |
A method of estimating load inertia for a motor is provided that can estimate the load inertia even when a cogging torque of the motor is large or resonance occurs in the mechanical system of the load. Vibration is detected in an acceleration feedback signal. An estimated inertia gain K<SUB>n </SUB>is multiplied by a coefficient alpha of zero (0) or more but less than one (1) when the detected vibration is equal to or more than a predetermined level, or the estimated inertia gain K<SUB>n </SUB>is multiplied by a coefficient alpha of one (1) when the detected vibration is less than the predetermined level.
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