CONTROL CONSTANT ADJUSTING APPARATUS

WIPO Patent Application WO/2003/079533

A1

A control constant adjusting apparatus for use in a control device of a robot, a machining apparatus, and the like. The control constant adjusting apparatus includes a speed control unit (12), an estimation unit (13), an identification unit (14), and an adjustment unit (15). The torque instruction Tref of the speed control unit (12) is subjected to a predetermined high-pass filter to obtain a value FTr, whose absolute value &Verbar FTr&Verbar is temporally integrated for a predetermined interval [a, b] to obtain a value &Verbar SFTr&Verbar . The model torque instruction Tref’ of the estimation unit (13) is subjected to a predetermined high-pass filter to obtain a value FTr’, whose absolute value &Verbar FTr’&Verbar is temporally integrated for the same interval to obtain a value &Verbar SFTr’&Verbar . Only when the motor speed Vfb in the speed control unit (12) is equal to the speed Vfb’ of the model in the estimation unit (13) except for zero, the identification unit (14) identifies an inertia J calculated from the ratio of &Verbar SFTr&Verbar and &Verbar SFTr’&Verbar .

TSURUTA KAZUHIRO (JP)
UMEDA NOBUHIRO (JP)
INOKI KEISEI (JP)

PCT/JP2002/012915

September 25, 2003

December 10, 2002

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YASKAWA DENKI SEISAKUSHO KK (JP)
TSURUTA KAZUHIRO (JP)
UMEDA NOBUHIRO (JP)
INOKI KEISEI (JP)

H02P5/00; H02P23/00; (IPC1-7): H02P5/00

WO1998028837A1

1998-07-02

JP2001218488A	2001-08-10
JP2001238477A	2001-08-31
JPH1189267A	1999-03-30

Kaneda, Nobuyuki (16th Kowa Bldg. 9-20 Akasaka 1-chome Minato-ku, Tokyo, JP)

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