Motion controller and system identifying method

Details Motion controller and system identifying method Motion controller and system identifying method

2007-05-09

2009-12-01

Ro, Bentsu (Department: 2837)

Electricity: motive power systems

Positional servo systems

With stabilizing features

C318S623000, C318S461000, C318S565000

Reexamination Certificate

active

07626351

ABSTRACT:
A motion controller accurately identifies system constants, such as inertia, viscous friction coefficient, and constant disturbance, without requiring operation, even in cases where viscous friction and/or constant disturbance are present. An identifier includes a time-differentiator for calculating an acceleration detection value afb by time-differentiating a speed detection value Vfb, a first filter for calculating Fafb by filtering the acceleration detection value afb, a second filter for calculating Fvfb by filtering the speed detection value Vfb, a third filter for calculating Ftref by filtering a torque command value Tref, and a JDC estimator for calculating an inertia identification value J_hat, a viscous friction coefficient identification value D_hat, and a constant disturbance identification value C_hat of a control object by performing time-differentiation and four arithmetic operations based on Ftref, Fvfb and Fafb.

REFERENCES:
patent: 5521481 (1996-05-01), Yamada
patent: 5598077 (1997-01-01), Matsubara et al.
patent: 5691615 (1997-11-01), Kato et al.
patent: 6066074 (2000-05-01), Marcinkiewicz
patent: 6316893 (2001-11-01), Rasimus

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