Patent ID: 7733046
Filing Date: 2010-06-08
Classification: G05B,H02P

Abstract:
1. A motor controller including a position control section that generates a speed command based on a position command and a motor position, a speed control section that generates a torque command based on the speed command and a motor speed, and a motor driving section that generates a motor current based on the torque command, the motor controller comprising: a speed feed forward command generating section that generates a speed feed forward command by differentiating the position command; a model control section that generates a model torque command based on the speed feed forward command and a model speed; and an inertia identifying section that identifies inertia based on the ratio of an integrated value of a motor torque command obtained by time-integrating the motor torque command in a prescribed section to an integrated value of the model torque command obtained by time-integrating the model torque command in a prescribed section, from a prescribed position command.