CN101558554B - Rotational inertia identification device and identification method, and motor controller with that identification device - Google Patents

Abstract

Moment of inertia identification device and identification method for identifying the moment of inertia of a motor coupled with a load precisely only with minute movement when friction or constant torque disturbance exists. A motor controller equipped with that identification device is also provided. An moment of inertia identification unit (108) comprises a switch (109) for inputting the motor position and outputting a first motor position and a second motor position, a first motor position storage unit (110) for inputting the first motor position and outputting a first motor position storagevalue, a first motor position phase operating unit (111) for inputting a position command and the first motor position storage value and outputting a first motor position phase, a second motor positi on storage unit (112) for inputting the second motor position and outputting a second motor position storage value, a second motor position phase operating unit (113) for inputting a position command and the second motor position storage value and outputting a second motor position phase, and a moment of inertia operating unit (114) identification unit for inputting the first motor position phase and the second motor position phase and outputting a moment of inertia identification value.

Description

Moment of inertia identification device and its discrimination method and the controller for motor that possesses this device for identifying

Technical field

The controller for motor that the present invention relates to a kind of moment of inertia identification device and its discrimination method and possess this device for identifying, general industries such as its identification semiconductor-fabricating device, lathe, the industrial robot moment of inertia of the loaded motor of connection in the machinery.

Background technology

The moment of inertia identification device of prior art is the speed command that utilizes positive and negative symmetry, comes the device (for example, with reference to patent documentation 1) of the moment of inertia of identification motor as the 1st speed command of the trapezoidal wave of positive and negative symmetry with the 2nd speed command that only amplifies the amplitude of described the 1st speed command.

Fig. 4 is the moment of inertia identification device of prior art.In the drawings, the 401st, speed command generating unit, the 402nd, speed controlling portion, the 403rd, model velocity control part, the 404th, Identification Division, the 405th, adjusting portion.

Below, utilize Fig. 4 that the formation and the action of the revolution inertia identification device of prior art are described.The instruction of speed command generating unit 401 output speeds.Speed controlling portion 402 described speed command of input and speed control variablees, the output torque instruction.Model velocity control part 403 described speed command of input and conditioning signals, output torque instruction estimated value.Identification Division 404 described torque instruction of input and described torque instruction estimated values, the inertia of identification recently according to 1 time integral value of 1 time integral value of described torque instruction and described torque instruction estimated value is exported, the difference of the described torque instruction by with respect to just the changeing of the described speed command of positive and negative symmetry the time during with counter-rotating is calculated the constant torque disturbance, utilization corresponds respectively to as the 1st speed command of the trapezoidal wave of positive and negative symmetry and the 1st torque instruction as the torque instruction of the 2nd speed command of the speed command that only amplifies described the 1st speed command amplitude, the 2nd torque instruction, described constant torque disturbance and calculate Coulomb damping utilizes described the 1st torque instruction, described the 2nd torque instruction, described the 1st speed command, described the 2nd speed command and calculate viscous friction.The described inertia of adjusting portion 405 inputs is exported described speed control variable and described conditioning signal.

Patent documentation 1: the spy of Japan opens flat 11-46489 communique (3-5 page or leaf, the 1st figure)

Summary of the invention

But, the moment of inertia identification device of prior art, in the identification of rotational inertia of the loaded motor of connection that movable range is limited to, there is under the situation of friction or constant torque disturbance the problem that exists identification precision to descend because fail to obtain sufficient acceleration.

The present invention is based on the problems referred to above and carries out, it is a kind of under the situation that friction or constant torque disturbance exist that its purpose is to provide, but only with the just precision identification well controller for motor that connects the moment of inertia identification device of moment of inertia of loaded motor and its discrimination method and possess this device for identifying of small action.

In order to address the above problem the present invention such as following formation.

Technical scheme 1 described invention is a kind of moment of inertia identification device, and it possesses: the position command generator of occurrence positions instruction; Detect the position detector of motor position; According to described position command and described motor position and the positioner of arithmetic speed instruction; According to described speed command and the speed control of computing torque instruction; Reach identification and connect the rotary inertia identifier that loaded motor is the moment of inertia of controlling object, it is characterized by, described rotary inertia identifier has: the input motor position is also exported the 1st motor position and the transducer of the 2nd motor position; Import described the 1st motor position and export the 1st motor position memory of the 1st motor position storing value; Input position instruction and described the 1st motor position storing value are also exported the 1st motor position phase place arithmetic unit of the 1st motor position phase place; Import described the 2nd motor position and export the 2nd motor position memory of the 2nd motor position storing value; Import described position command and described the 2nd motor position storing value and export the 2nd motor position phase place arithmetic unit of the 2nd motor position phase place; Reach the moment of inertia arithmetic unit of importing described the 1st motor position phase place and described the 2nd motor position phase place and exporting the identification of rotational inertia value; Described rotary inertia identifier is according to the phase difference of described position command and described motor position and the described moment of inertia of identification.

Technical scheme 2 described inventions are, technical scheme 1 described described speed control has the 1st speed proportional ride gain and the 2nd speed proportional ride gain as the 1st and the 2nd speed proportional ride gain, when driving described controlling object changing described the 1st speed proportional ride gain and the 2nd speed proportional ride gain, described rotary inertia identifier is calculated as the 1st motor position phase place of the phase difference of described motor position in described the 1st speed proportional ride gain and described position command and the 2nd motor position phase place as the phase difference of described motor position in described the 2nd speed proportional ride gain and described position command, according to described the 1st motor position phase place and the described moment of inertia of described the 2nd motor position phase place identification, so that do not comprise the viscous friction or the constant torque disturbance of described controlling object.

Technical scheme 3 described inventions are, technical scheme 1 described described speed control has the 1st speed proportional ride gain and the 2nd speed proportional ride gain as the 1st and the 2nd speed proportional ride gain, described transducer is exported the 1st motor position when driving described controlling object by described the 1st speed proportional ride gain, export the 2nd motor position when driving described controlling object by described the 2nd speed proportional ride gain.

Technical scheme 4 described inventions are that technical scheme 3 described described rotary inertia identifiers are the product of the position command frequency of the frequency of the difference of described the 2nd speed proportional ride gain and described the 1st speed proportional ride gain and described position command; Product with the tangent of described the 2nd speed proportional ride gain and described the 2nd motor position phase place, and the sum of products of the difference of the product of the tangent of described the 1st speed proportional ride gain and described the 1st motor position phase place and position proportional ride gain divided by, the difference of the tangent of the tangent of described the 2nd motor position phase place and described the 1st motor position phase place multiply by described position command frequency square and the described identification of rotational inertia value of computing.

Technical scheme 5 described inventions are a kind of controller for motor, and it is the controller for motor of control to described motor power supply, and it possesses any described moment of inertia identification device in the claim 1 to 4.

Technical scheme 6 described inventions are a kind of method for identification of rotational inertia, and it is for to possess: the position command generator of occurrence positions instruction; Detect the position detector of motor position; According to described position command and described motor position and the positioner of arithmetic speed instruction; According to described speed command and the speed control of computing torque instruction; And identification connects the method for identification of rotational inertia of moment of inertia identification device of rotary inertia identifier that loaded motor is the moment of inertia of controlling object, it adopts, change the 1st speed proportional ride gain of conduct the 1st in the described speed control and the 2nd speed proportional ride gain and the 2nd speed proportional ride gain and drive described controlling object, calculate as the 1st motor position phase place of the phase difference of described motor position in described the 1st speed proportional ride gain and described position command and the 2nd motor position phase place as the phase difference of described motor position in described the 2nd speed proportional ride gain and described position command, according to described the 1st motor position phase place, described the 2nd motor position phase bit arithmetic identification of rotational inertia value is not so that comprise the step of the viscous friction or the constant torque disturbance of described controlling object.

Technical scheme 7 described inventions are that technical scheme 6 described described identification of rotational inertia values are the product of the difference of described the 2nd speed proportional ride gain and described the 1st speed proportional ride gain and position command frequency; Product with the tangent of described the 2nd speed proportional ride gain and described the 2nd motor position phase place, and the sum of products of the difference of the product of the tangent of described the 1st speed proportional ride gain and described the 1st motor position phase place and position proportional ride gain multiply by divided by, the difference of the tangent of the tangent of described the 2nd motor position phase place and described the 1st motor position phase place described position command frequency the position command frequency square and calculate.

According to technical scheme 1 to 7 described invention, even under the situation of friction or constant torque disturbance existence, also can only come precision identification well to connect the moment of inertia of loaded motor with small action (for example 1/1000 rotation degree).

In addition, according to technical scheme 5 described inventions, even under the situation of friction or constant torque disturbance existence, but, therefore can carry out the high motor control of response accurately according to its identification of rotational inertia value because only possess with the just identification moment of inertia identification device that connects the moment of inertia of loaded motor of small action.

Description of drawings

Fig. 1 is a moment of inertia identification device of the present invention.

Fig. 2 is the analog result when viscous friction changes in moment of inertia identification device of the present invention.

Fig. 3 is the analog result when the constant torque disturbance changes in moment of inertia identification device of the present invention.

Fig. 4 is the moment of inertia identification device of prior art.

Symbol description

101-position command generator; The 102-positioner; The 103-speed control; The 104-torque controller; The 105-controlling object; The 106-position detector; The 107-differentiator; The 108-rotary inertia identifier; The 109-transducer; 110-the 1st motor position memory; 111-the 1st motor position phase place arithmetic unit; 112-the 2nd motor position memory; 113-the 2nd motor position phase place arithmetic unit; 114-moment of inertia arithmetic unit; 401-speed command generating unit; The 402-speed controlling portion; 403-model velocity control part; The 404-Identification Division; The 405-adjusting portion.

Embodiment

Followingly embodiments of the present invention are described with reference to accompanying drawing.

Embodiment 1

Fig. 1 is a moment of inertia identification device of the present invention.In the drawings, the 101st, position command generator, the 102nd, positioner, the 103rd, speed control, the 104th, torque controller, the 105th, controlling object, the 106th, position detector, the 107th, differentiator, the 108th, rotary inertia identifier, the 109th, transducer, 110 is the 1st motor position memories, and 111 is the 1st motor position phase place arithmetic units, and 112 is the 2nd motor position memories, 113 is the 2nd motor position phase place arithmetic units, the 114th, and the moment of inertia arithmetic unit.The difference of the present invention and prior art is, possesses to have: transducer 109; The 1st motor position memory 110; The 1st motor position phase place arithmetic unit 111; The 2nd motor position memory 112; The 2nd motor position phase place arithmetic unit 113; And the rotary inertia identifier 108 of moment of inertia arithmetic unit 114.

In the drawings, position command generator 101 outgoing positions instruction.Positioner 102 described position command of input and motor positions, the output speed instruction.Speed control 103 described speed command of input and motor speeds, the output torque instruction.The described torque instruction of torque controller 104 inputs, the output motor drive signal.Controlling object 105 is driven by described motor drive signal for connecting loaded motor, and described motor position is detected, exported by position detector 106.The described motor position of differentiator 107 inputs is exported described motor speed.

The identification of rotational inertia value as the moment of inertia of controlling object 105 is calculated, exported to rotary inertia identifier 108 described position command of input and described motor positions.In rotary inertia identifier 108, the described motor position of transducer 109 inputs, described motor position when the gain of speed control 103 is the gain of the 1st speed control is exported as the 1st motor position, and the described motor position the when gain of speed control 103 2nd speed control different with described the 1st speed control gain gained is exported as the 2nd motor position.Described the 1st motor position of the 1st motor position memory 110 input is stored this input signal and is used for the cycle portions (for example 5 cycles) of identification of rotational inertia and exports as the 1st motor position storing value.The 1st motor position phase place arithmetic unit 111 described position command of input and described the 1st motor position storing values are exported this phase of input signals difference as the 1st motor position phase place.Described the 2nd motor position of the 2nd motor position memory 112 input is stored this input signal and is used for the cycle portions of identification of rotational inertia and exports as the 2nd motor position storing value.The 2nd motor position phase place arithmetic unit 113 described position command of input and described the 2nd motor position storing values are exported this phase of input signals difference as the 2nd motor position phase place.Described identification of rotational inertia value is calculated, exported to moment of inertia arithmetic unit 114 input the 1st motor position phase place and the 2nd motor position phase places.

At this, described the 1st speed control gain and the gain of described the 2nd speed control, get the speed control gain as the identification of rotational inertia special use of the value of fully separating in the scope of the closed-loop system stability of failure pattern 1 not, be different from the routine control that specification ground sets that meets the demands of the response of described closed-loop system and disturbance characteristic and gain with speed control.Be no more than described the 1st speed control gain of movable range ground conversion and described the 2nd speed control gain of controlling object 105 at the amplitude of motor position described in the identification of rotational inertia.Transducer 109 is converted to the 1st motor position memory 110 1 sides during described speed control gain is for described the 1st speed control gain, described speed control gains to during described the 2nd speed control gain, is converted to the 2nd motor position memory 112 1 sides.

Below, be elaborated for the method for in rotary inertia identifier 108, calculating the moment of inertia of controlling object 105.

When positioner 102 is K for the position proportional ride gain _pProportional control, speed control 103 is K for the speed proportional ride gain _VjProportional control, the closed-loop system equation of motion that then comprises positioner 102, speed control 103, torque controller 104, controlling object 105, position detector 106, differentiator 107 is formula (1).

$J\stackrel{\·\·}{\mathrm{\θ}}+(K_{\mathrm{vj}}+D)\stackrel{\·}{\mathrm{\θ}}+K_p{K}_{\mathrm{vj}}\mathrm{\θ}=K_p{K}_{\mathrm{vj}}r+w---\left(1\right)$

But J is the moment of inertia of controlling object 105, and D is viscous friction, and θ is a motor position, and r is a position command, and w is the constant torque disturbance.Is r making position command r for the position command amplitude ₀, when the position command frequency was ω sinusoidal wave, motor position θ was amplitude and phase place and a sine wave that frequency identical different with described position command, by formula (2) and formula (3) described position command of expression and described motor position.

r＝r ₀e ^jωt (2)

$\mathrm{\θ}={\mathrm{Ae}}^{j(\mathrm{\ωt}+\mathrm{\φ})}+\frac{w}{K_p+K_{\mathrm{vj}}}---\left(3\right)$

But A is the motor position amplitude, and Ф is the motor position phase place.Wushu (2) and formula (3) substitution formula (1), to motor phase Ф find the solution formula (4).

$\mathrm{\φ}=-{\tan }^{-1}\frac{\mathrm{\ω}(K_{\mathrm{vj}}+D)}{K_p{K}_{\mathrm{vj}}-{\mathrm{\ω}}^{2}J}---\left(4\right)$

Formula (4) can be written as formula (5) in addition.

(ω ²J-K _pK _vj)tanφ＝ω(K _vj+D) (5)

Below, respectively described speed proportional ride gain is being set at K _Vj=K _Vj1, K _Vj2Two whens value, formula (5) becomes formula (6) and formula (7).

(ω ²J-K _pK _vj1)tanφ ₁＝ω(K _vj1+D) (6)

(ω ²J-K _pK _vj2)tanφ ₂＝ω(K _vj2+D) (7)

But, Ф ₁Be K _Vj=K _Vj1The time the 1st motor position phase place of described motor position phase place, Ф ₂Be K _Vj=K _Vj2The time the 2nd motor position phase place of described motor position phase place.Removing viscous friction D from formula (6) and formula (7), to moment of inertia J find the solution formula (8).

$J=\frac{\mathrm{\ω}(K_{\mathrm{vj}2}-K_{\mathrm{vj}1})+K_p(K_{\mathrm{vj}2}\tan {\mathrm{\φ}}_2-K_{\mathrm{vj}1}{\tan \mathrm{\φ}}_1)}{{\mathrm{\ω}}^2({\tan \mathrm{\φ}}_2-\tan {\mathrm{\φ}}_1)}---\left(8\right)$

Secondly, the tan Ф in the formula (8) is shown ₁With tan Ф ₂Algorithm.At first, position command amplitude r ₀Be 1 o'clock the standardization position command with only extract the composition of frequencies omega by Fourier transform out from described motor position, the motor position amplitude A is the poor of 1 standardization motor position, from a formula (2) and formula (a 3) expression accepted way of doing sth (9).

$\frac{r}{r_0}-\frac{\mathrm{\θ}}{A}=\cos \mathrm{\ωt}-\cos (\mathrm{\ωt}+\mathrm{\φ})---\left(9\right)$

$=(1-\cos \mathrm{\φ})\cos \mathrm{\ωt}+\sin \mathrm{\φ}\sin \mathrm{\ωt}$

The amplitude A of formula (9) ₀Can be in the hope of being formula (10).

$A_0=\sqrt{{(1-\cos \mathrm{\φ})}^2+{\sin }^2\mathrm{\φ}}---\left(10\right)$

$=\sqrt{2-2\cos \mathrm{\φ}}$

Formula (10) square become formula (11).

$A_0^2=2-2\cos \mathrm{\φ}---\left(11\right)$

Change formula (11) is with formula (12) expression tan Ф.

$\tan \mathrm{\φ}=\sqrt{-1+\frac{1}{{\cos }^2\mathrm{\φ}}}---\left(12\right)$

$=\frac{A_0}{2-A_0^2}\sqrt{4-A_0^2}$

In moment of inertia arithmetic unit 114, speed proportional ride gain K _VjBe respectively K _Vj1With K _Vj2The time calculate formula (12), substitution formula (8) is calculated moment of inertia J, exports as the identification of rotational inertia value.

Because formula (8) and formula (12) do not comprise viscous friction D and constant torque disturbance W, therefore can not be subjected to the influence of viscous friction D and constant torque disturbance and the moment of inertia J of identification controlling object 105.In addition, because adopt the amplitude A of the difference of described standardization position command and described standardization motor position ₀Even, therefore at position command amplitude r ₀And under the simultaneously little situation of motor position amplitude A, also can calculate moment of inertia J accurately, can be applicable to the controlling object 105 that movable range is limited to.

Below, be illustrated in the analog result when using moment of inertia identification device among the described embodiment.The numerical value that adopts in the simulation of present embodiment is as follows.

J _m＝0.116×10^-4[kg·m^2]、J ₁＝0.816×10^-4[kg·m^2]、J ^*＝J _m+J ₁、D ₀＝0.001[N·m·s/rad]、w ₀＝0[N·m]、K _p＝40[s^-1]、K _v1＝40(2π)[s^-1]、K _vj1＝K _v1*J _m、K _v2＝125(2π)[s^-1]、K _vj2＝K _v2*J _m、T＝125×10^-6[s]、T _rat＝0.637[N·m]、r ₀＝0.01[rad]、ω＝10(2π)[rad/s]、b＝17[bit]

But, J _mBe revolution inertia, J ₁Be load rotating inertia, J ^*Be moment of inertia true value, D ₀Be nominal viscous friction, w ₀Be the disturbance of nominal constant torque, K _pBe position proportional ride gain, K _V1Be the 1st standardization speed proportional ride gain, K _Vj1Be the 1st speed proportional ride gain, K _V2Be the 2nd standardization speed proportional ride gain, K _Vj2Be the 2nd speed proportional ride gain, T is a control cycle, T _RatBe nominal torque, r ₀Be the position command amplitude, ω is the position command frequency, and b is the resolution of position detector 106.

At this, nominal viscous friction D ₀Be the value of the viscous friction D in the simulation of conversion constant torque disturbance w shown in following, nominal constant torque disturbance w ₀Value for the constant torque disturbance w in the simulation of conversion viscous friction D.

Fig. 2 is the analog result of the viscous friction D in the moment of inertia identification device of the present invention when changing.In the drawings, constant torque disturbance w is nominal constant torque disturbance w ₀Identification of rotational inertia error (%) shown in Fig. 2 is used moment of inertia true value J ^*Calculate by formula (13) with identification of rotational inertia value J.

$e_J=\frac{J-J^{*}}{J^{*}}\×100---\left(13\right)$

In the drawings, viscous friction D from 0[Nms/rad] change to 0.01[Nms/rad] time, identification of rotational inertia error e J is 2[%] following and roughly certain.This 2[%] following error for by formula (1) institute not the resolution etc. of the position detector 106 of consideration cause.According to formula (8) and formula (12), expression viscous friction D does not influence identification of rotational inertia error e J.At this moment, the motor position amplitude A is 0.006[rad] (resolution of position detector 106 is 17[bit] time 120[pulse] about) below, the torque instruction amplitude is nominal torque T _Rat0.3[%] about.

Therefore, but the just moment of inertia of precision identification controlling object well 105 of small action is only used in this expression according to the present invention, and also can be suitable for the big controlling object of load rotating inertia.

Fig. 3 is the analog result when constant torque disturbance w changes in moment of inertia identification device of the present invention.Viscous friction D is nominal viscous friction D among Fig. 3 ₀In Fig. 3, constant torque disturbance w from nominal torque T _Rat0[%] transform to 50[%] time, the identification of rotational inertia error e J that through type (13) is calculated is 2[%] following and roughly certain.This 2[%] following error for by formula (1) institute not the resolution etc. of the position detector 106 of consideration cause.According to formula (8) and formula (12), expression constant torque disturbance w does not influence identification of rotational inertia error e J.At this moment, the motor position amplitude A is 0.006[rad] (resolution of position detector 106 is 17[bit] time 120[pulse] about) below, the torque instruction amplitude is nominal torque T _Rat0.3[%] about.

Therefore, but the just moment of inertia of precision identification controlling object well 105 of small action is only used in this expression according to the present invention, and also can be suitable for the big controlling object of load rotating inertia.

Like this, because rotary inertia identifier 108 is for to possess: the input motor position is also exported the 1st motor position and the transducer 109 of the 2nd motor position; Import described the 1st motor position and export the 1st motor position memory 110 of the 1st motor position storing value; Input position instruction and described the 1st motor position storing value are also exported the 1st motor position phase place arithmetic unit 111 of the 1st motor position phase place; Import described the 2nd motor position and export the 2nd motor position memory 112 of the 2nd motor position storing value; Import described position command and described the 2nd motor position storing value and export the 2nd motor position phase place arithmetic unit 113 of the 2nd motor position phase place; Reach the formation of importing described the 1st motor position phase place and described the 2nd motor position phase place and exporting the moment of inertia arithmetic unit 114 of identification of rotational inertia value, therefore can suppress to rub or the influence of constant torque disturbance, but only with the just moment of inertia of precision identification controlling object well 105 of small action.

But because only with small action just identification connect the moment of inertia of loaded motor, therefore can be widely used in general industries such as semiconductor-fabricating device, lathe, industrial robot with in the machineries.

Claims (7)

1. moment of inertia identification device, it possesses: the position command generator of occurrence positions instruction; Detect the position detector of motor position; According to described position command and described motor position and the positioner of arithmetic speed instruction; According to described speed command and the speed control of computing torque instruction; Reach identification and connect the rotary inertia identifier that loaded motor is the moment of inertia of controlling object, it is characterized by,

Described rotary inertia identifier has: the input motor position is also exported the 1st motor position and the transducer of the 2nd motor position; Import described the 1st motor position and export the 1st motor position memory of the 1st motor position storing value; Input position instruction and described the 1st motor position storing value are also exported the 1st motor position phase place arithmetic unit of the 1st motor position phase place; Import described the 2nd motor position and export the 2nd motor position memory of the 2nd motor position storing value; Import described position command and described the 2nd motor position storing value and export the 2nd motor position phase place arithmetic unit of the 2nd motor position phase place; Reach the moment of inertia arithmetic unit of importing described the 1st motor position phase place and described the 2nd motor position phase place and exporting the identification of rotational inertia value,

Described rotary inertia identifier is according to the phase difference of described position command and described motor position and the described moment of inertia of identification.

2. moment of inertia identification device according to claim 1, it is characterized by, described speed control has as the 1st speed proportional ride gain of the 1st and the 2nd speed proportional ride gain and the 2nd speed proportional ride gain, when driving described controlling object changing described the 1st speed proportional ride gain and the 2nd speed proportional ride gain

Described rotary inertia identifier is calculated as the 1st motor position phase place of the phase difference of described motor position in described the 1st speed proportional ride gain and described position command and the 2nd motor position phase place as the phase difference of described motor position in described the 2nd speed proportional ride gain and described position command, according to described the 1st motor position phase place and the described moment of inertia of described the 2nd motor position phase place identification, so that do not comprise the viscous friction or the constant torque disturbance of described controlling object.

3. moment of inertia identification device according to claim 1 is characterized by,

Described speed control has as the 1st speed proportional ride gain of the 1st and the 2nd speed proportional ride gain and the 2nd speed proportional ride gain,

Described transducer is exported the 1st motor position when driving described controlling object by described the 1st speed proportional ride gain, export the 2nd motor position when driving described controlling object by described the 2nd speed proportional ride gain.

4. moment of inertia identification device according to claim 3 is characterized by,

Described rotary inertia identifier is the product of the position command frequency of the frequency of the difference of described the 2nd speed proportional ride gain and described the 1st speed proportional ride gain and described position command;

With the product of the tangent of described the 2nd speed proportional ride gain and described the 2nd motor position phase place,

And the sum of products of the difference of the product of the tangent of described the 1st speed proportional ride gain and described the 1st motor position phase place and position proportional ride gain divided by,

The difference of the tangent of the tangent of described the 2nd motor position phase place and described the 1st motor position phase place multiply by described position command frequency square and the described identification of rotational inertia value of computing.

5. controller for motor, it is characterized by for the controller for motor of control to described motor power supply, possesses any described moment of inertia identification device in the claim 1 to 4.

6. method for identification of rotational inertia, it is for to possess: the position command generator of occurrence positions instruction;

Detect the position detector of motor position; According to described position command and described motor position and the positioner of arithmetic speed instruction; According to described speed command and the speed control of computing torque instruction; And identification connects the method for identification of rotational inertia of moment of inertia identification device of rotary inertia identifier that loaded motor is the moment of inertia of controlling object, it is characterized by,

Change the 1st speed proportional ride gain of conduct the 1st in the described speed control and the 2nd speed proportional ride gain and the 2nd speed proportional ride gain and drive described controlling object,

Calculate as the 1st motor position phase place of the phase difference of described motor position in described the 1st speed proportional ride gain and described position command and the 2nd motor position phase place as the phase difference of described motor position in described the 2nd speed proportional ride gain and described position command

According to described the 1st motor position phase place, described the 2nd motor position phase bit arithmetic identification of rotational inertia value, so that do not comprise the viscous friction or the constant torque disturbance of described controlling object.

7. method for identification of rotational inertia according to claim 6 is characterized by,

Described identification of rotational inertia value is the product of the difference of described the 2nd speed proportional ride gain and described the 1st speed proportional ride gain and position command frequency;

With the product of the tangent of described the 2nd speed proportional ride gain and described the 2nd motor position phase place,

And the sum of products of the difference of the product of the tangent of described the 1st speed proportional ride gain and described the 1st motor position phase place and position proportional ride gain divided by,

The difference of the tangent of the tangent of described the 2nd motor position phase place and described the 1st motor position phase place multiply by described position command frequency the position command frequency square and calculate.

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