To provide a controller of an electric motor, having a function of estimating inertia and friction simultaneously, and improving the accuracy in estimation of the inertia.
A speed feedback value ω(n) FB outputted from a speed feedback sampling portion 32, is inputted to an inverse function model 33 and an inverse function estimation portion 34. The inverse function model 33 is a function expression, which considers an estimated inertia Jm estimated in the inverse function estimation portion 34, and an estimated friction Cf simultaneously. In the inverse function model 33, the estimated friction Cf calculates separately an estimated viscous friction and an estimated Coulomb friction. An estimated current value x (n) which estimates a current value, is outputted from the inverse function model 33. And, an estimated error e (n) which is a difference between the estimated current value x (n) and a current feedback value i (n) FB is calculated. The inverse function estimation portion 34 estimates a coefficient of the inverse function model 33 through calculation, such that the estimated error e (n) becomes small.
TOYOSAWA YUKIO
SONODA NAOTO
| JP2008228360A | 2008-09-25 | |||
| JPH01218389A | 1989-08-31 | |||
| JP2004279139A | 2004-10-07 | |||
| JPH0628006A | 1994-02-04 | |||
| JP2000172341A | 2000-06-23 |
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