| 摘要 |
PURPOSE:To improve response even if the moment of inertia varies by estimating a difference of the moment of inertia from a speed variation in a motor, the first and the second model and varying a torque coefficient so as to make the difference at zero. CONSTITUTION:Speed W is obtained from the first model 13(a) having a characteristic equivalent to that of a motor. A sine wave signal (sinomegant) from a signal generator 17 is supplied to the second model 13(b). There is a difference in output between speed Wr of the motor and the sum of speed W of the first model 13(a) and output of the second model 13(b). A subtracter 14 outputs the difference to an estimator 16 of the moment of inertia. The estimator 16 of the moment of inertia estimates a difference in the moment of inertia of the motor 2 based on the speed difference and a cosine wave signal (cosomegant). The coefficient of a torque coefficient variation device 19 is varied so that the difference of the moment of inertia can be eliminated. |
