| 摘要 |
PURPOSE:To make a motor adaptable to wide fluctuation of load inertia by estimating the load inertia to be applied onto the motor based on the difference between an actually detected rotational speed of motor and a rotational speed detected through a simulated motor mechanism section then regulating the gain of a servo system. CONSTITUTION:The motor controller comprises a simulated motor mechanism section, a subtracting means 73 for producing the difference between an actually detected rotary speed of motor and a rotary speed detected through the simulat ed motor mechanism section when identical speed commands are fed to an actual motor mechanism section 11 and the simulated motor mechanism section, a load estimating means 74 for estimating the load inertial being applied onto a motor 1 based on the difference of the rotary speed and determining the gain at the simulated motor section in the next sampling period, and a gain setting means for determining the value KA based on the estimated value such that KA/J1 will be constant. KA represents the gain of a speed feedback control circuit and J1 represents an estimated load inertia. By such arrangement, the motor controller can be adaptable easily even on an application having high fluctuation of load inertia. |
