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Motor controller

  • US 6,157,156 A
  • Filed: 06/18/1999
  • Issued: 12/05/2000
  • Est. Priority Date: 12/20/1996
  • Status: Expired due to Term
First Claim
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1. A motor control apparatus comprising:

  • a speed control section for determining a torque command and controlling a speed of a motor such that an actual speed of said motor coincides with an inputted speed command;

    an estimation section for simulating and creating a model of said speed control section so that the motor speed coincides with the speed of said model; and

    an identifying section for identifying an inertia on a basis of a ratio between a first value which is obtained by time-integrating a first speed deviation of said speed control section during a specified period and a second value which is obtained by time-integrating a second speed deviation of said estimation section during the same period as said specified period, whereinidentification of the inertia is performed only in a case where the motor speed within said speed control section and the speed of said model within said estimation section are not zero and coincide to each other, andthe inertia is identified on a basis of a ratio between the first value which is obtained by time-integrating an absolute value of the first speed deviation of said speed control section during said specified period and the second value which is obtained by time-integrating an absolute value of the second speed deviation of said estimation section during the same period as said specified period.

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