METHOD OF REGULATING GAIN OF MOTOR CONTROL

摘要

A method of regulating the feedback gain in the motor control of a control system in which a load inertia changes largely. First, a first feedback gain (K1) is set. This value is calculated from the motor itself and the like, and is determined so that a control loop may scarcely oscillate (S1). A first feedforward gain (K) is obtained by learning using the first feedback gain (K1, S2). Next, a second feedback gain (K1) is obtained again by calculation from the first feedforward gain (K, S3). Then, a second feedforward gain (K) is determined again by relearning according to the second feedback gain (S4). A control system having the second feedforward gain (K) and the second feedback gain (K1) is configured. Thereby, the control system having an optimum feedward gain and an optimum feedback gain can be attained.