Patent ID: 7030588
Filing Date: 2006-04-18
Classification: G05B,H02P

Abstract:
1. A control constant adjusting apparatus comprising: a command generation member for outputting a speed command Vref, a speed control member for determining a torque command (Tref) so that an actual motor speed (Vfb) matches with the speed command (Vref) and controlling the motor speed by the torque command, an estimation member for simulating the speed control member so that a speed (Vfb′) of a model matches with the motor speed (Vfb), an identification member for making identification of inertia (J) obtained from a ratio between a value (|SFTr|) in which an absolute value (|FTr|) of a value (FTr) obtained by passing the torque command (Tref) of the speed control member through a predetermined high-pass filter is integrated with respect to time at a predetermined interval ([a, b]) and a value (|SFTr′|) in which an absolute value (|FTr′|) of a value (FTr′) obtained by passing a model torque command (Tref′) of the estimation member through a predetermined high-pass filter is integrated with respect to time at the same interval only when the speed Vfb′ of the model in the estimation member matches with the motor speed (Vfb) in the speed control member at a value other than zero, and an adjustment member for adjusting a control gain based on a ratio (J/J′) between the inertia (J) identified in the identification member and inertia (J′) in the estimation member.