JP4547619B2 - Machine constant identification device and identification method - Google Patents

Description

  The present invention relates to a control device for controlling a robot, a machine tool, and the like, and particularly has a function of identifying a friction coefficient and a constant of a machine online, and even if the inertia moment of a load fluctuates during the operation of the machine, the inertia moment is online. The present invention relates to a machine constant identification device that can be identified by

  One conventional control constant identification device will be described. The control constant identification device determines the torque command so that the input speed command and the actual motor speed match, and controls the motor speed, and the speed so that the model speed matches the motor speed. An estimation unit that simulates the control unit, a value obtained by integrating the torque command through a predetermined high-pass filter and time-integrated in a predetermined section after taking an absolute value, and a model torque command of the estimation unit through a predetermined high-pass filter By providing an identification unit that identifies the moment of inertia from the ratio of the value integrated over time in the same interval after taking the absolute value, the motor speed in the speed control unit and the model speed in the estimation unit match with a non-zero value Only in this case, the moment of inertia is identified in the identification unit (see, for example, Patent Document 1).

This control constant identification device will be described with reference to the drawings as follows. FIG. 12 is a block diagram of a control constant adjusting device disclosed in Patent Document 1. This device is composed of a command generating unit 11, a speed control unit 12, an estimating unit 17, an identifying unit 18, and an adjusting unit 19. It is shown. Although not shown in the drawing, a load J _L is attached to the motor driven by the speed control unit 12, and the actual motor speed V _fb is detected by the detector.
When the command generation unit 11 outputs the target speed command V _ref to the speed control unit 12, the speed control unit 12 performs speed control so that the motor speed V _fb matches the speed command V _ref , and the torque command T _ref The motor speed V _fb is output to the identification unit 18, and the motor speed V _fb and the feedforward signal FF _a are output to the estimation unit 17.
When the motor speed V _fb and the feedforward signal FF _a are input, the estimation unit 17 estimates the model speed V _fb ′ using a motor model, and performs speed control so that the model speed V _fb ′ matches the motor speed V _fb. The model torque command T _ref ′ and the model speed V _fb ′ are output to the identification unit 18.
The identification unit 18 _obtains a ratio J / J ′ of the motor inertia moment to the motor model inertia moment using the input torque command T _ref , motor speed V _fb , model torque command T _ref ′, and model speed V _fb ′. The ratio J / J ′ is output to the adjustment unit 19.
The adjusting unit 19 determines the proportional gain K _v and the integral gain K _i of the speed control unit 12 based on the value after passing the ratio J / J ′ through a predetermined filter. By adjusting the value of, it is possible to operate normally even if the moment of inertia varies.

FIG. 13 is a block diagram illustrating in detail the internal configuration of the speed control unit 12, the estimation unit 17, and the identification unit 18. As described above, when the speed control unit 12 inputs the speed command V _ref , the speed control is performed so that the actual motor speed V _fb matches the speed command V _ref . The form of speed control may be either PI (proportional integral) control or IP (integral proportional) control. If α in the speed control unit 12 and the estimation unit 17 is set to 1, PI control is set, and 0 is set. IP control.
The speed control unit 12 outputs the motor speed V _fb and the feedforward signal FF _a to the estimation unit 17, and outputs the torque command T _ref and the motor speed V _fb to the identification unit 18.
Estimation unit 17 inputs the motor speed V _fb and the feedforward signal FF _a, a motor speed V _fb model velocity V _fb 'is a speed control to match the motor speed V _fb as a command, a model torque command T _ref 'To drive the motor model (1 / J's). Here, it is assumed that the moment of inertia value J ′ of the motor model is a known value, and the model speed V _fb ′ is output from the motor model.

The estimation unit 17 outputs the model torque command T _ref ′ and the model speed V _fb ′ to the identification unit 18. The proportional gain K _v ′ and integration time constant T _i ′ in the estimation unit 17 are preferably the same values as the proportional gain K _v and integration time constant T _i in the speed controller 12.
When the torque command T _ref , the speed V _fb , the model torque command T _ref ′, and the model speed V _fb ′ are input, the identification unit 18 takes an absolute value through a high-pass filter having a time constant T _k .
This high-pass filter is realized by subtracting a value obtained by passing a low-pass filter with a time constant T _k from the torque command from the torque command T _ref and forms an estimation unit. Then, taking the absolute values | FTr | and | FTr ′ | of the outputs of the high-pass filter, the moment of inertia J is calculated by taking the time integration of the predetermined interval [a, b].
If the speed proportional integral term of the speed control unit 12 is input to the estimation unit 17 as a feedforward signal, the influence of disturbance components that could not be removed by the high-pass filter can be suppressed.
As described above, the conventional control constant adjusting device can identify the model torque command T _ref ′ in real time even with an arbitrary speed command. Therefore, even if the moment of inertia of the load changes every moment. The moment of inertia of the load can be accurately identified.
Next, since simulation was performed using a conventional control constant identification apparatus, the result is shown in FIG. In this example, a rigid load that is five times the motor rotor inertia moment is applied to the motor. As can be seen from the result of the simulation, the moment of inertia is about four times the true value (24.4 × 10e-5 kgm ² ).
Japanese Patent Application Laid-Open No. 2004-129481 (see FIGS. 1 and 8)

However, the mechanical constant identification device disclosed in Patent Document 1 cannot correctly identify the moment of inertia when the friction is large or the constant disturbance torque is large. I had a problem of oscillation.
Therefore, the present invention has been made in view of such problems, and it is possible to separate the friction into viscous friction that depends on speed and Coulomb friction that depends on the direction of speed, and to identify the coefficient and constant. An object of the present invention is to provide a machine constant identification apparatus and method that can identify moment of inertia reliably in real time.

In order to solve the above problem, the present invention is configured as follows.
The invention of claim 1 includes a command generator for outputting a speed command V _ref, by the torque command to determine a torque command T _ref so that the actual motor speed V _fb and the speed command V _ref matches A mechanical constant identification device including a speed control unit that controls a motor speed, and using the motor speed V _fb and the torque command T _ref , the friction coefficient D ′ is set so that the friction is a viscous friction proportional to the speed. Calculating and using the motor speed V _fb and the torque command T _ref , a total friction calculating section for identifying a constant disturbance torque Td, a Coulomb friction identifying section for identifying a Coulomb friction constant C depending on the speed direction, A viscous friction identification unit for identifying the viscous friction coefficient D using the Coulomb friction constant C, which is the identification result of the Coulomb friction identification unit, is provided.
In the invention according to claim 2, the first total friction calculation unit determines that the motor speed V _fb has stopped, and outputs the determination signal, and the torque command is determined based on the signal state of the determination signal. by integrating the T _ref time, a time integrated value time integrating unit for outputting, by dividing the time integration value at the addition time, a divider for outputting a constant disturbance identification value, the torque command and the motor speed V _fb And a total friction identification unit for calculating a viscous friction coefficient D ′ using T _ref as a viscous friction proportional to the speed.
In the invention according to claim 3, the Coulomb friction identification unit multiplies the viscous friction coefficient D ′ and the motor speed V _fb to calculate the viscous friction torque of the viscous friction coefficient D ′, and the multiplier (20). When the viscous friction torque is input, the time integration unit (21) that integrates the time in a predetermined section [a, b] and outputs the time integral value A, and when the motor speed V _fb is input, the acceleration time and the deceleration time are measured. When the acceleration / deceleration time measuring unit (22) for calculating the sum and the value obtained by subtracting the constant disturbance torque Td from the torque command _Tref are input, the time integration is performed in a predetermined interval [a, b]. And a Coulomb friction calculation unit (24) for calculating the Coulomb friction C by the equation (3) when the time integrated values A and B and the sum of the acceleration / deceleration times are input. It is characterized by that.
C = 2 × (time integrated value A−time integrated value B) / (sum of acceleration / deceleration time) (3)
According to a fourth aspect of the present invention, the viscous friction identifying unit receives a torque command T _ref , a Coulomb friction C, and a constant disturbance torque Td and subtracts them, and the subtraction result and motor speed V _fb ( 4) A viscous friction calculation unit that calculates a viscous friction coefficient D according to the equation (4).
D = ∫ (V _fb × (subtractor output)) dt / ∫ (V _fb ² ) dt (4)
The invention described in claim 5, command generator for outputting a speed command V _ref and (11), to determine the torque command T _ref so that the actual motor speed V _fb and the speed command V _ref matches A mechanical constant identification device including a speed control unit that controls a motor speed according to the torque command, using the motor speed V _fb and the torque command T _ref as a viscous friction proportional to the speed. coefficient D 'is calculated, said reference motor speed V _fb and the torque command T _ref, and the total friction calculation unit for identifying the constant disturbance torque Td, by using the torque command T _ref and the motor speed V _fb, speed Coulomb friction identifying unit for identifying the Coulomb friction constant C depends on the direction of the motor speed V _fb and the torque command T _ref, using the Coulomb friction constant C, the viscous friction same identifying viscous friction coefficient D A Department, an estimation unit that models the speed V _fb from the motor model 'estimates were speed control to match the motor speed V _fb, model torque command T _ref' to output a model speed V _fb 'and the torque command T _{When ref} , Coulomb friction C, viscous friction coefficient D, motor speed V _fb , model torque command T _ref ′, model speed V _fb ′ are input, inertia moment ratio J / J ′ between the motor and motor model is obtained and output. It is characterized by comprising a moment identifying unit and an adjusting unit that determines the control gain of the speed control unit through a predetermined filter when the moment of inertia ratio J / J ′ is received.

According to the first and sixth aspects of the present invention, the coefficient and constant can be identified by separating the viscous friction depending on the speed and the Coulomb friction depending on the speed direction.
Further, according to the second and seventh aspects of the invention, a constant disturbance torque can be identified and monitored.
Further, according to the third and eighth aspects of the invention, it is possible to identify and monitor the Coulomb friction depending on the speed direction and the viscous friction depending on the speed.
Moreover, according to the invention of Claim 4 and 9, the Coulomb friction depending on the direction of speed can be identified independently.
Further, according to the invention described in claim 5, it is possible to identify the coefficient / constant by separating the viscous friction depending on the speed and the Coulomb friction depending on the speed direction, and the moment of inertia can be identified in real time. It can be done reliably.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of a machine constant identification apparatus according to the present invention. In the figure, when the command generation unit 11 outputs the speed command V _ref to the speed control unit 12, the speed control unit 12 outputs the motor speed V _fb to the total friction calculation unit 13, the Coulomb friction identification unit 14, and the viscous friction identification unit 15. The torque command T _ref is output to the total friction calculation unit 13, the Coulomb friction identification unit 14, and the viscous friction identification unit 15. The total friction calculation unit 13 obtains a viscous friction coefficient D ′ when the friction is converted into viscous friction proportional to the motor speed V _fb , and outputs it to the Coulomb friction identification unit 14 and the friction display unit 16 to obtain a constant disturbance identification value Td. Obtained and output to the Coulomb friction identification unit 14, the viscous friction identification unit 15, and the friction display unit 16. The Coulomb friction identification unit 14 calculates the Coulomb friction C and outputs it to the viscous friction identification unit 15 and the friction display unit 16 when the viscous friction coefficient D ′, the constant disturbance identification value Td, the motor speed V _fb , and the torque command T _ref are input. . When the coulomb friction C, the constant disturbance identification value Td, the motor speed V _fb , and the torque command T _ref are input, the viscous friction identification unit 15 calculates the viscous friction coefficient D and outputs it to the friction display unit 16. The friction display unit 16 monitors the coulomb friction C and the viscous friction coefficient D or viscous friction coefficient D of the machine, the viscous friction torque of the motor speed V _fb , and the constant disturbance torque Td.

Next, operation | movement of the total friction calculation part 13 is demonstrated using FIG. When the speed determination unit 30 receives the motor speed V _fb and determines that the motor has stopped, the speed determination unit 30 outputs a determination signal. The time integration unit 31 integrates the torque command T _ref over time according to the state of the determination signal from the speed determination unit 30, and outputs a time integration value. The divider 32 divides the time integration value by the addition time and outputs a constant disturbance identification value Td. The total friction identification unit 33 _obtains and outputs a viscous friction coefficient D ′ from the motor speed V _fb and the torque command T _ref .
Next, operation | movement of the Coulomb friction identification part 14 is demonstrated using FIG. The subtractor 27 subtracts the constant disturbance identification value Td from the torque command T _ref output by the speed control unit 12 and outputs the calculated subtraction value. The time integration unit 23 receives the subtraction value, integrates the time in a predetermined section [a, b], and outputs a time integration value A. The multiplier 20 inputs and multiplies the viscous friction coefficient D ′ output from the total friction calculation section 13 and the motor speed V _fb output from the speed control section 12 to calculate the viscous friction torque of the viscous friction coefficient D ′. When the viscous friction torque is input, the time integration unit 21 integrates the time in a predetermined section [a, b] and outputs a time integration value B. When the motor speed V _fb is input, the acceleration / deceleration time measurement unit 22 measures the acceleration time and the deceleration time and calculates the sum thereof. The Coulomb friction calculation unit 24 calculates the Coulomb friction C by the equation (5) when the sum of the time integration values A and B of the time integration units 23 and 21 and the acceleration / deceleration time is input.
C = 2 × (time integrated value A−time integrated value B) / (sum of acceleration / deceleration time) (5)

Here, the reason why the Coulomb friction C can be identified by the expression (5) will be described with reference to FIGS. FIG. 4 is a time chart when the motor is accelerated / decelerated in the section [a, b]. As shown in this figure, when the torque command T _ref when rotating at a certain motor speed V _fb is integrated in the interval [a, b], the torque command generated at the command acceleration of the speed command V _ref can be canceled. Since the time integrated value A is the area of the section [a, b], the friction torque can be obtained. The viscous friction coefficient D ′, which is the output of the total friction calculation unit 13, is a viscous friction coefficient proportional to the motor speed as shown in FIG. 5, and therefore, the viscous friction torque when rotating at the motor speed V _fb The time integrated value B (area) of the section [a, b] is as shown in FIG. Here, when the time integration value A is subtracted from the time integration value B, the hatched portion in FIG. 7 is shown, and the error between the viscous friction coefficient D ′, the actual Coulomb friction C, and the viscous friction coefficient D can be calculated. . This error is a time integrated value of the sum of acceleration time and deceleration time, and a value obtained by subtracting time integrated value A from time integrated value B is divided by the sum of acceleration time and deceleration time to calculate an average value. Since this average value is half of the Coulomb friction C, when it is doubled, it becomes Coulomb friction C.
Next, the operation of the viscous friction identification unit 15 will be described with reference to the block diagram of FIG. The subtracter 25 subtracts the constant disturbance identification value Td and the Coulomb friction C from the torque command T _ref and outputs the subtraction result. When the viscous friction calculation unit 26 inputs the subtraction result and the motor speed V _fb , the viscous friction coefficient D is calculated according to equation (6).
D = ∫ (V _fb × (subtractor output)) dt / ∫ (V _fb ² ) dt (6)

Here, the reason why the viscous friction coefficient D can be identified by the equation (6) will be described with reference to FIG. The Coulomb friction C obtained in the section [a, b] is an intercept in FIG. By subtracting the value corresponding to this intercept from the actual torque command, the viscous friction coefficient D, which is a general friction model, can be obtained by the same method as the total friction calculation unit 13.
However, since the Coulomb friction C and the viscous friction coefficient D cannot be derived unless the total viscous friction coefficient D ′ is calculated, the Coulomb friction C and the viscous friction coefficient D are updated unless they are operated once according to the speed command. Never happen. Therefore, in the first speed command, the viscous friction coefficient D is made the same as the total viscous friction coefficient D ′.

FIG. 9 is a block diagram showing the configuration of the second embodiment of the machine constant identification apparatus of the present invention.
In the figure, the command generation unit 11 outputs a speed command V _ref to the speed control unit 12. The speed control unit 12 performs speed control so that the motor speed V _fb matches the input speed command V _ref, and uses the torque command T _ref as the total friction calculation unit 13, the Coulomb friction identification unit 14, and the viscous friction identification unit. 15, and outputs the motor speed V _fb to the total friction calculation unit 13, Coulomb friction identification unit 14, viscous friction identification unit 15, estimation unit 17, and inertia moment identification unit 18. Similar to the first embodiment, the total friction calculation unit 13 _obtains the viscous friction coefficient D ′ when the friction is converted into viscous friction proportional to the motor speed V _fb , and outputs it to the Coulomb friction identification unit 14 for constant disturbance identification. The value Td is obtained and output to the Coulomb friction identification unit 14, the viscous friction identification unit 15, and the inertia moment identification unit 18. The Coulomb friction identification unit 14 calculates the Coulomb friction C from the viscous friction coefficient D ′, the constant disturbance identification value Td, the motor speed V _fb , and the torque command T _ref and outputs it to the viscous friction identification unit 15 and the inertia moment identification unit 18. . The viscous friction identification unit 15 calculates the viscous friction coefficient D from the Coulomb friction C, the constant disturbance identification value Td, the motor speed V _fb , and the torque command T _ref and outputs it to the inertia moment identification unit 18. When the estimation unit 17 receives the motor speed V _fb , the estimation unit 17 estimates the model speed V _fb ′ from the motor model, performs speed control so as to match the motor speed V _fb, and performs model torque command T _ref ′ and model speed V _fb ′. Is output to the moment of inertia identification unit 18. When the moment of inertia identification unit 18 inputs the torque command T _ref , Coulomb friction C, viscous friction coefficient D, constant disturbance identification value Td, motor speed V _fb , model torque command T _ref ′, model speed V _fb ′, the motor and motor The inertia moment ratio J / J ′ of the model is obtained, and the inertia moment ratio J / J ′ is output to the adjusting unit 19. The adjusting unit 19 receives this moment of inertia ratio J / J ′ and determines a control gain in the speed control unit 12 based on a value passed through a predetermined filter.
Next, the operation of the inertia moment identification unit 18 will be described with reference to FIG. When the viscous friction coefficient D output from the viscous friction identification unit 15 and the motor speed V _fb output from the speed control unit 12 are input, a viscous friction torque is obtained by multiplying them and a torque command T output from the speed control unit 12 is obtained. The viscous friction torque is subtracted from _ref, the constant disturbance identification value Td output from the total friction calculation unit 13 is also subtracted, and the Coulomb friction C output from the Coulomb friction identification unit 14 is also subtracted. Using the torque command obtained by subtracting the friction torque, the motor speed V _fb , the model torque command T _ref ′, and the model speed V _fb ′, the inertia moment ratio J / J ′ between the motor and the motor model is obtained.

Next, since simulation was performed using the machine constant adjusting apparatus of Example 1 and Example 2, the result is shown in FIG. In this example, a description will be given of a verification experiment result when a rigid load of 5 times the motor rotor inertia moment is applied to the motor. FIG. 11A shows the identified constant disturbance Td [Nm], and the broken line 1 is the true value of the constant disturbance (calculated value = 0.02 [Nm]). (C) represents the identified viscous friction coefficient D [× 10e ⁻³ Nms / rad], and the broken line 3 is the true value of the viscous friction coefficient (calculated value = 5 × 10e ⁻² Nms / rad). (B) represents the identified Coulomb friction C [Nm], and the broken line 2 is the true value of the Coulomb friction (calculated value = 0.01 [Nm]). (E) represents the identified inertia moment value J (× 10e ⁻⁵ kgm ² ), and the broken line 4 is the true value of the inertia moment (calculated value = 5.8 × 10e ⁻⁵ kgm ² ). From these figures, it can be seen that the constant disturbance Td, the viscous friction coefficient D, the Coulomb friction C, and the moment of inertia all show substantially true values. Thus, as can be seen from the embodiments of the present invention, according to the present invention, it is possible to identify the coefficient and constant by separating the viscous friction depending on the speed and the Coulomb friction depending on the direction of the speed. The moment of inertia can be reliably identified in real time. Further, by identifying the Coulomb friction C, the viscous friction coefficient D, and the constant disturbance Td, a machine model can be automatically constructed through a personal computer or the like. Further, by monitoring the identified constant disturbance Td, Coulomb friction C, viscous friction coefficient D, viscous friction coefficient D × viscosity friction torque of motor speed V _fb , if an abnormal value is identified, it is determined as a failure. It can also be applied to failure diagnosis.

  By identifying constant disturbance, viscous friction and Coulomb friction, it is possible to accurately identify mechanical constants including moment of inertia even when friction changes due to secular change, and by identifying constant disturbance, viscous friction and Coulomb friction Since the failure diagnosis can be performed by monitoring, the present invention can be applied to applications such as robots and wafer transfer apparatuses in which the moment of inertia changes as the apparatus operates. Further, the present invention can also be applied to applications such as a conveying apparatus or a semiconductor exposure apparatus driven by a belt / ball screw that changes the moment of inertia of the conveyed object.

Block diagram of machine constant identification apparatus of first embodiment Block diagram showing the configuration of the total friction identification unit Block diagram showing the configuration of the Coulomb friction identification unit Operation explanatory diagram of Coulomb friction identification unit Explanatory drawing of identification result of all viscous friction Operation explanatory diagram of Coulomb friction identification unit Operation explanatory diagram of Coulomb friction identification unit Block diagram explaining operation of viscous friction identification unit Block diagram of machine constant identification apparatus of second embodiment Detailed block diagram of machine constant identification apparatus of second embodiment Simulation diagram of the first and second embodiments Block diagram of a conventional machine constant identification device Detailed block diagram of a conventional machine constant identification device Simulation diagram of a conventional machine constant identification device

Explanation of symbols

11 command generation unit, 12 speed control unit, 13 total friction calculation unit,
14 Coulomb friction identification section, 15 Viscous friction identification section, 16 Friction display section,
17 estimation part, 18 inertia moment identification part, 19 adjustment part,
20 multiplier, 21, 23 time accumulator,
22 acceleration / deceleration time measurement unit, 24 coulomb friction calculation unit, 25 subtractor,
26 Viscosity Friction Calculation Unit 27 Subtractor 30 Speed Judgment Unit 31 Time Integration Unit 32 Divider 33 Total Friction Identification Unit

Claims (9)

Speed controlling command generator for outputting a speed command V _ref and (11), the motor speed by the torque command to determine a torque command T _ref so that the actual motor speed V _fb and the speed command V _ref matches A machine constant identification device comprising a control unit (12),
Using the motor speed V _fb and the torque command T _ref , the viscous friction coefficient D ′ is calculated as a viscous friction in which the friction is all proportional to the speed, and constant using the motor speed V _fb and the torque command T _ref. A total friction calculation unit (13) for identifying the disturbance torque Td, a Coulomb friction identification unit (14) for identifying the Coulomb friction constant C depending on the speed direction,
A viscous friction identification unit (15) for identifying a viscous friction coefficient D using a Coulomb friction constant C which is an identification result of the Coulomb friction identification unit;
A machine constant identification device comprising: The total friction calculation unit (13) determines that the motor speed V _fb has stopped, and outputs the determination signal to the speed determination unit (30), and the torque command T _ref is determined according to the signal state of the determination signal. A time integration unit (31) that integrates and outputs a time integration value, a divider (32) that divides the time integration value by an addition time and outputs a constant disturbance identification value, the motor speed V _fb and the A total friction identification unit (33) that calculates a viscous friction coefficient D ′ using the torque command T _ref as a viscous friction proportional to the speed,
The machine constant identification device according to claim 1, comprising: The Coulomb friction identification unit (14) multiplies the viscous friction coefficient D ′ and the motor speed V _fb to calculate a viscous friction torque of the viscous friction coefficient D ′;
A time integrating unit (21) that, when the viscous friction torque is input, integrates time in a predetermined section [a, b] and outputs a time integrated value A;
An acceleration / deceleration time measuring unit (22) for measuring the acceleration time and the deceleration time when the motor speed V _fb is input and calculating the sum thereof;
A time integration unit (23) that, when a value obtained by subtracting the constant disturbance torque Td from the torque command T _ref is input, integrates time in a predetermined section [a, b] and outputs a time integration value B;
The Coulomb friction calculation unit (24) that calculates the Coulomb friction C according to the equation (1) when the sum of the time integrated values A and B and the acceleration / deceleration time is input. Machine constant identification device.
C = 2 × (time integrated value A−time integrated value B) / (sum of acceleration / deceleration time) (1) The viscous friction identification unit (15)
A subtractor (25) for inputting and subtracting the torque command T _ref , the Coulomb friction C, and the constant disturbance torque Td;
The machine constant identification device according to claim 1, further comprising: a viscous friction calculation unit (26) that calculates a viscous friction coefficient D from the subtraction result and the motor speed V _fb according to the equation (2).
D = ∫ (V _fb × (subtractor output)) dt / ∫ (V _fb ² ) dt (2) Speed controlling command generator for outputting a speed command V _ref and (11), the motor speed by the torque command to determine a torque command T _ref so that the actual motor speed V _fb and the speed command V _ref matches A machine constant identification device comprising a control unit (12),
Using the motor speed V _fb and the torque command T _ref , the viscous friction coefficient D ′ is calculated as a viscous friction in which the friction is all proportional to the speed, and constant using the motor speed V _fb and the torque command T _ref. A total friction calculation unit (13) for identifying a disturbance torque Td, a Coulomb friction identification unit (14) for identifying a Coulomb friction constant C depending on the speed direction, using the motor speed V _fb and the torque command T _ref ,
A viscous friction identification unit (15) for identifying a viscous friction coefficient D using the motor speed V _fb , the torque command T _ref , and the Coulomb friction constant C;
An estimation unit (17) that estimates a model speed V _fb ′ from the motor model, controls the speed so as to match the motor speed V _fb, and outputs a model torque command T _ref ′ and a model speed V _fb ′;
When the torque command T _ref , Coulomb friction C, viscous friction coefficient D, motor speed V _fb , model torque command T _ref 'and model speed V _fb ' are input, the moment of inertia ratio J / J 'of the motor and motor model is obtained. An inertia moment identification unit (18) to output;
A machine constant identification device comprising: an adjustment unit (19) that determines a control gain of a speed control unit through a predetermined filter when the inertia moment ratio J / J 'is received. Speed controlling command generator for outputting a speed command V _ref and (11), the motor speed by the torque command to determine a torque command T _ref so that the actual motor speed V _fb and the speed command V _ref matches In the motor control device including the control unit (12),
Constant friction calculates the viscous friction coefficient D 'by using the torque command T _ref and the motor speed V _fb as all are viscous friction is proportional to the speed, using the torque command T _ref and the motor speed V _fb A mechanical constant identification method characterized by identifying a disturbance torque Td, identifying a Coulomb friction constant C depending on a speed direction, and identifying a viscous friction coefficient D using the Coulomb friction constant C. The constant disturbance torque Td is obtained by determining that the motor speed V _fb has stopped, integrating the torque command T _ref over time according to the determination state, and dividing the integrated time value by the addition time. The machine constant identification method according to claim 6. The Coulomb friction C is multiplied by the viscous friction coefficient D ′ and the motor speed V _fb and then integrated over time in a predetermined interval [a, b] to obtain a time integral value B. The acceleration time and deceleration of the motor speed V _fb are obtained. The time is measured and the sum is obtained. After the constant disturbance torque Td is subtracted from the torque command T _ref , the time integration value A is obtained by integrating the time over a predetermined interval [a, b]. The mechanical constant identification method according to claim 6, wherein the mechanical constant is calculated by the equation (3) using the sum of acceleration and deceleration time.
C = 2 × (time integrated value A−time integrated value B) / (sum of acceleration / deceleration time) (3) The viscous friction coefficient D is calculated by subtracting the Coulomb friction C and the constant disturbance torque Td from the torque command T _ref and calculating the viscous friction coefficient D from the subtraction result and the motor speed V _fb according to the equation (4). The described mechanical constant identification method.
D = ∫ (V _fb × (subtractor output)) dt / ∫ (V _fb ² ) dt (4)

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