Patent ID: 6992454

Claim:
A motor controller comprising: a detector for detecting the position of a motor; a differentiator for calculating the speed of the motor from the position of the motor detected by the detector; a command generation section which outputs a position command and produces an output by fixing the position command to a current position when a characteristic of a mechanism is measured; a position control section which receives a position command output from the command generation section and performs position control operation by generating a speed command such that the position command matches the position of the motor; a speed control section for performing speed control operation by generating such a torque command that the speed command coincides with the speed of the motor; a torque filter section for subjecting the torque command to filtering; a random signal generation section for generating and outputting torque random; an adder which adds torque random generated by the random signal generation section to a torque command output from the torque filter section, thereby outputting the obtained signal as a new torque command; a current control section which receives a torque command output from the adder, converts the torque command into a current command, and performs current control such that an electric current supplied to the motor coincides with the current command, thereby driving the motor; and a frequency response measurement section which receives a torque command output from the adder and a motor speed calculated by the differentiator and measures a frequency response.