Patent ID: 7626351
Filing Date: 2009-12-01
Classification: G05B,H02P

Abstract:
1. A system identifying method for a motion controller comprising: time-differentiating a speed detection value Vfb to calculate an acceleration detection value afb; filtering the acceleration detection value afb to calculate a signal Fafb; filtering the speed detection value Vfb to calculate a signal Fvfb; filtering a torque command value Tref to calculate a signal Ftref and performing time-differentiation and four arithmetic operations based on Ftref, Fvfb and Fafb to calculate an inertia identification value J_hat, a viscous friction coefficient identification value D_hat and a constant disturbance identification value C_hat of the control object, wherein the motion controller comprises a command generator, a controller which outputs a current value for driving an electric motor based on a command outputted from the command generator and a detection value obtained from a detector attached to the electric motor, and an identifier which identifies inertia identification value J_hat, viscous friction coefficient identification value D_hat and constant disturbance identification value C_hat of a control object.