JP2006197778A - Motor control unit and control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor control unit of quick response and high precision, capable of easily and accurately adjusting a control parameter. <P>SOLUTION: A calculation executing flag generating part 18 compares a motor speed detection signal V<SB>fb</SB>with a threshold value to output a calculation executing flag signal of ON or OFF. A torque command conversion part 22 holds a torque command T<SB>ref_old</SB>when the calculation executing flag signal becomes ON from OFF and outputs a torque command T<SB>ref_new</SB>obtained by subtracting T<SB>ref_old</SB>from the torque command T<SB>ref</SB>. A control constant identifying part 19 calculates a viscous friction coefficient D and an inertia total value J obtained by totalizing a motor rotor inertia value and the inertia value of load machine driven by the motor, which are converted into the rotating axis of the motor, from the motor speed detection signal V<SB>fb</SB>and the torque command T<SB>ref_new</SB>. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an inertia identification technique and a viscous friction coefficient identification technique in a case where there is an inertia change during operation in a motor control device that drives a robot, a machine tool, or the like.

  Some conventional motor control devices have a function of identifying inertia (see, for example, Patent Document 1).

FIG. 4 is a block diagram of a motor control device having an inertia identification function in Patent Document 1. In FIG. In FIG. 4, 51 is a speed command generation part, and outputs speed command _Vref . 52 is a speed control unit, determines a torque command so that the actual motor speed V _fb and the speed command V _ref coincide, to control the motor speed V _fb. An estimation unit 53 simulates the speed control unit 52 so that the motor speed V _fb matches the model speed V _fb . Reference numeral 54 denotes an identification unit, which is a value obtained by integrating the absolute value of the value obtained by passing a predetermined filter into the speed deviation V _e of the speed control unit 52 over a predetermined period, and the absolute value of the speed deviation V _e of the estimation unit 53. Inertia is identified from the ratio to the value obtained by integrating the time in the same interval. Only when the speed deviation V _e ˜ of the estimation unit 53 is zero and the speed V _fb of the model in the estimation unit 53 is not zero, the identification unit 54 performs an operation for identifying the inertia. is there.

In this motor control device, inertia can be identified in real time for an arbitrary speed command, so that inertia can be identified even when the inertia changes from moment to moment.
Japanese Patent No. 3185857 (FIG. 1)

  However, in the conventional motor control device, if the viscous friction is large, or if there is a constant disturbance such as gravity or Coulomb friction, the inertia identification value is greatly calculated due to the influence, so control is performed using the identified inertia value. When the parameters are adjusted, there is a problem that the vibration is caused.

The present invention has been made in view of such problems. Even when viscous friction is large, or when there is constant disturbance such as gravity or Coulomb friction, the inertia is accurately identified, and the viscous friction coefficient is also identified. An object of the present invention is to provide a motor control device and a control method that can easily and accurately adjust control parameters and realize a high-speed, high-accuracy, low-vibration response.
The present invention also provides a motor control device and control capable of accurately identifying inertia and viscous friction coefficient in a short time even if there is an error due to difference approximation in the input torque command T _{ref_new} and the motor speed detection signal V _fb. It aims to provide a method.
The present invention also provides a motor control device and control capable of accurately identifying inertia and viscous friction coefficient in a short time even if there is an error due to a time delay in the input torque command T _{ref_new} or motor speed detection signal V _fb. It aims to provide a method.
Another object of the present invention is to provide a motor control device and a control method that can use the identified inertia and viscous friction coefficient for parameter adjustment, generation of a feedforward signal, or adjustment of a vibration suppression compensator. To do.
It is another object of the present invention to provide a motor control apparatus and a control method that can use the identified inertia and viscous friction coefficient for generating a feedforward signal.

  In order to solve the above problem, the present invention is configured as follows.

The invention described in KoMotomeko 1 includes a speed command generator for generating a speed command V _ref, the speed control for generating a torque command T _ref as the motor speed detection signal V _fb and the speed command V _ref matches Motor control apparatus comprising: a motor control unit that generates a motor drive current from the torque command T _ref; and a detector that detects the position or speed of the motor and generates the motor speed detection signal V _fb. , When the motor speed detection signal V _fb is equal to or higher than a preset threshold value, ON when the motor speed detection signal V _fb is less than the threshold value, and when the calculation execution flag changes from OFF to ON. the torque command _{T ref} the held as _{T Ref_old} subtracted from the torque command _{T ref} new torque command _{T Ref_ne} of A torque command conversion unit that generates the torque command T _{Ref_new} and the speed detection signal from the V _fb of the rotor inertia of the motor value and inertia total value obtained by summing the values of the inertia of the load machine driven by said motor And a control constant identification unit for calculating the viscous friction coefficient D.

According to a second aspect of the present invention, a position control unit that determines and generates a speed command V _ref so that the position command P _ref and the motor position detection signal P _fb coincide with each other, and the speed command V _ref and the motor speed detection signal. A speed control unit that generates a torque command T _ref so as to match V _fb ; a torque control unit that generates a motor drive current from the torque command T _ref; and a position or speed of the motor to detect the motor speed. In a motor control device including a detector that generates a detection signal V _fb , calculation execution that generates an operation execution flag that is ON when the motor speed detection signal V _fb is equal to or greater than a preset threshold value and OFF when the motor speed detection signal V _fb is less than the threshold value. The flag generation unit and the motor speed detection signal V _fb switch the calculation execution flag ON and OFF according to the threshold value to generate the calculation execution flag And a torque execution flag generating unit that holds the torque command T _ref when the calculation execution flag changes from OFF to ON as T _{ref_old} and subtracts it from the torque command T _ref to generate a new torque command T _{ref_new} The inertia total value J and the viscous friction obtained by summing the rotor inertia value of the motor and the inertia value of the load machine driven by the motor from the command conversion unit, the torque command T _{ref_new} and the speed detection signal V _fb And a control constant identifying unit for calculating the coefficient D.

  Invention of Claim 3 is a motor control apparatus of Claim 1 or 2, Comprising: The said control constant identification part is the said inertia total value J and the said viscous friction coefficient D,

_{However, T ref_new} 'is the time derivative of _{T ref_new, V fb'} is characterized in that the time derivative, a and b of the _{V fb} calculated by b> a, represents any time the execution operation flag is output It is what.

A fourth aspect of the present invention is the motor control device according to the first or second aspect, wherein the control constant identifying unit determines a section [a, b] for calculating the inertia total value J as a time a. The absolute value of the motor speed | V _fb (a) | and the absolute value of the motor speed | V _fb (b) | at time b coincide with each other, and the execution calculation flag is ON. J and the viscous friction coefficient D,

However, T _{ref_new} ′ is _calculated by time differentiation of T _{ref_new} , and V _fb ′ is calculated by time differentiation of V _fb .

A fifth aspect of the present invention is the motor control device according to the first or second aspect, wherein the control constant identification unit determines an interval [a, b] for calculating the inertia total value J as a time a. The absolute value | V _fb ′ (a) | of the motor speed differential value at the time and the absolute value | V _fb ′ (b) | of the motor speed differential value at the time b coincide with each other, and the execution calculation flag is ON. And the inertia total value J and the viscous friction coefficient D,

However, T _{ref_new} ′ is _calculated by time differentiation of T _{ref_new} , and V _fb ′ is calculated by time differentiation of V _fb .

Invention of claim 6, the a motor control device according to claim 1 or 2, wherein said control constant identification _unit, the time differential value _V fb of _{V fb ',} the time differential value _{T Ref_new} of _{T ref_new'} ,
V _fb ′ = dV _fb / dt × LPF (7)
T _{ref_new} ′ = dT _{ref_new} / dt × LPF (8)
However, the LPF is calculated by a transfer function of a low-pass filter.

Invention of claim 7, the A motor control device according to claim 1 or 2, wherein said control constant identification _unit, the time differential value _V fb of _{V fb ',} the time differential value _{T Ref_new} of _{T ref_new'} ,
V _fb ′ = V _fb × (1−LPF) × α (9)
_{Tref_new} '= _{Tref_newf} * (1-LPF) * beta (10)
However, the LPF is calculated by a transfer function of a low-pass filter and constants of α> 0 and β> 0.

The present invention of claim 8 wherein is the motor control device according to claim 1 or 2, wherein said control constant identification _unit, the time differential value _V fb of _{V fb} the _'time differentiated value _{T Ref_new} of _{T Ref_new'} The calculation is performed using an observer.

  A ninth aspect of the present invention is the motor control apparatus according to the first or second aspect, wherein the identified inertia total value J and the identified viscous friction coefficient D are adjusted by adjusting control parameters, feedforward. It is used for signal generation or adjustment of a vibration suppression compensator.

  According to a tenth aspect of the present invention, there is provided the motor control device according to the ninth aspect, wherein the feedforward signal is multiplied by a value obtained by multiplying the differential value of the position command by the identified viscous friction coefficient D and 2 of the position command. A value obtained by adding a value obtained by multiplying the identified inertia total value J to the identified differential value.

The present invention of claim 11 wherein includes a speed command generator for generating a speed command V _ref, the speed control unit for generating a torque command T _ref as the motor speed detection signal V _fb and the speed command V _ref matches A torque control unit that generates a motor drive current from the torque command T _ref , and a detector that detects the position or speed of the motor and generates the motor speed detection signal V _fb . Generating a calculation execution flag that is ON when the motor speed detection signal V _fb is equal to or greater than a preset threshold value, and OFF when the motor speed detection signal V _fb is less than the threshold value; and the torque command T when the calculation execution flag is changed from OFF to ON. holds _ref as _{T Ref_old} subtracted from the torque command _{T ref} to generate a new torque command _{T Ref_new} Step a, the torque command T _{Ref_new} and the speed detection signal V _fb inertia total value obtained by summing the values of the inertia of the load machine driven by the value and the motor rotor inertia of the motor from the J and the viscous friction coefficient D And a step of calculating.

According to the first to fifth aspects of the present invention, even when the viscous friction coefficient is large, or when there is a constant disturbance such as gravity or Coulomb friction, the identification of the inertia and the viscous friction coefficient is accurately identified in a short time during operation. be able to.
According to the sixth to seventh aspects of the invention, even when the viscous friction coefficient is large, or when there is a constant disturbance such as gravity or Coulomb friction, the identification of the inertia and the viscous friction coefficient is accurately identified in a short time during operation. The inertia and viscous friction coefficient can be accurately identified in a short time even if there is an error due to the difference approximation in the input torque command T _{ref_new} and the motor speed detection signal V _fb .
According to the eighth aspect of the present invention, it is possible to accurately identify the inertia and the viscous friction coefficient in a short time during operation even when the viscous friction coefficient is large, or when there is a constant disturbance such as gravity or Coulomb friction. In addition, the inertia and the viscous friction coefficient can be accurately identified in a short time even if there is an error due to a time delay in the input torque command T _{ref_new} or the motor speed detection signal V _fb .
According to the ninth aspect of the present invention, adjustment of the parameters of the identified inertia and viscous friction coefficient even when the viscous friction coefficient is large, or when there is constant disturbance such as gravity or Coulomb friction, creation of a feedforward signal, or It can be used to adjust the vibration suppression compensator.
According to the tenth aspect of the present invention, the identified inertia and viscous friction coefficient can be used to create a feedforward signal even when the viscous friction coefficient is large, or when there is a constant disturbance such as gravity or Coulomb friction. .
According to the eleventh aspect of the present invention, it is possible to accurately identify the inertia and the viscous friction coefficient in a short time during operation even when the viscous friction coefficient is large, or when there is a constant disturbance such as gravity or Coulomb friction. it can.

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

  Although various functions and means are built in the actual motor control device, only the functions and means related to the present invention are described and described in the figure. Hereinafter, the same reference numerals are assigned to the same names as much as possible, and duplicate explanations are omitted.

  FIG. 1 is a block diagram in a case where the present invention is applied to a drive device in which a load is applied to a motor 14. In FIG. 1, 10 is a speed command generator, 12 is a speed controller, 13 is a torque controller, 14 is a motor, 15 is a detector, 16 is a differentiator, 17 is a rigid load, 18 is a calculation execution flag generator, Reference numeral 19 is a control constant identification unit, 20 is a torque holding unit, 21 is a subtractor, and 22 is a torque command conversion unit.

The speed command generator 10 outputs a speed command V _ref to the speed controller 12. The speed control unit 12 generates a torque command T _ref so that the speed command V _ref matches the motor speed signal V _fb, and outputs the torque command T _ref to the torque control unit 13 and the torque command conversion unit 22. The torque control unit 13 receives the torque command T _ref , performs a torque control calculation so that the torque generated by the motor 14 matches the torque command T _ref , and outputs a motor drive current _Im to the motor 14. Motor 14 is driven by the motor drive current I _m, to generate a torque. The load 17 is driven with the torque. The motor 14 is equipped with a detector 15 and outputs a position signal P _fb to the differentiator 16. The differentiator 16 receives the position signal P _fb , calculates the speed signal V _fb by taking the difference of the position signal P _fb every fixed time, and uses the speed signal V _fb as the speed control unit 12, the calculation execution flag creation unit 18, And output to the control constant identification unit 19. The calculation execution flag creation unit 18 receives the speed signal V _fb , generates a calculation execution flag that is ON when the signal is equal to or greater than a preset threshold value, and OFF when the signal is less than the threshold value. The control constant identification unit 19 and the torque command The data is output to the conversion unit 22. The torque command conversion unit 22 includes a torque holding unit 20 and a subtractor 21, and the torque holding unit 20 inputs the torque command T _ref and holds it as a torque command T _{ref_old} when the calculation execution flag is turned from OFF to ON. Output to the subtractor 21. Subtractor 21 outputs the torque command _{T Ref_new} obtained by subtracting the torque command _{T Ref_old} outputted from the torque command _{T ref} and the torque command holding portion 20 to the control constant identification unit 19. The control constant identification unit 19 receives the speed signal V _fb and the torque command T _{ref_new} output from the subtractor 21, and is attached to the rotor inertia and the motor 14 of the motor 14 from the speed signal V _fb and the torque command T _{ref_new} . The total value J and the viscous friction coefficient D with the inertia of the load 17 are calculated.

FIG. 2 is a block diagram in which FIG. 1 is modified so that the position of the motor 14 can be controlled. The difference between FIG. 1 in FIG. 2 instead of the speed command generating section 10 that generates a speed command V _ref, the position control section for generating a speed command V _ref as a position command P _ref and the position signal P _fb coincides 11 is provided.

FIG. 5 is a flowchart showing the motor control method of the present invention, which is executed at every control time. In FIG. 5, step ST1 generates a calculation execution flag that is ON when the motor speed detection signal V _fb is equal to or greater than a preset threshold value, and OFF when the motor speed detection signal V _fb is less than the threshold value. In step ST2, the torque command T _{ref_old} when the calculation execution flag changes from OFF to ON is held and subtracted from the torque command T _ref to generate a new torque command T _{ref_new} . In step ST3, an inertia total value J and a viscous friction coefficient D obtained by summing the rotor inertia value of the motor and the inertia value of the load machine driven by the motor are calculated from the torque command T _{ref_new} and the speed detection signal V _fb. It is a step to do.

  In the present invention, the torque command is assumed on the assumption that the output of the speed control unit 12 is a rotary motor. However, in the case of a linear motor, the output of the speed control unit 12 may be realized with the same configuration as the thrust command. Therefore, if this invention is used, an inertia total value and a viscous friction coefficient can be identified in real time by numerical formula calculation.

Feature of the present invention, based on the torque command _{T Ref_new} and motor speed detection signal _{V fb} by subtracting the torque command _{T Ref_old} when operation execution flag from the torque command _{T ref} output from the speed controller 12 is turned ON from OFF The control constant identification unit 18 for calculating the inertia J and the viscous friction coefficient D is provided.

  Hereinafter, a specific calculation method will be described.

When the control target is expressed by inertia J, viscous friction D, and constant disturbance _Tc , the relational expression between the torque command and the motor speed is expressed by Expression (11).

However, the torque command to be used in the present invention certain disturbance or Coulomb friction of gravity or the like in order to use the torque command _{T Ref_new} obtained by subtracting the torque command _{T Ref_old} when the operation execution flag from the torque command _{T ref} from OFF to ON Can be canceled, so that T _c = 0. Accordingly, a relational expression between the torque command T _{ref_new} and the motor speed V _fb is expressed by Expression (12).

Here, dV _fb / dt is a time differential value of V _fb , but in actuality, in order to use a value calculated by mathematical expression using claim 6 or claim 7,

far.
Multiplying both sides of the equation (12) by the time differential value of the motor speed V _fb and performing time integration in an arbitrary section [a, b] where the execution calculation flag is ON,

Here, the second term on the right side of equation (14) is

And rearranging equation (14),

It becomes. Next, using the relational expression of Expression (12) and differentiating both sides with respect to time, Expression (17) is obtained.

  Here, since the first term and the second term on the right side actually use the values calculated by the mathematical calculation using claim 6 or claim 7,

far.

Next, by multiplying both sides of the equation (17) by the time differentiation of the motor speed V _fb and performing time integration in an arbitrary section [a, b] where the execution calculation flag is ON,

Here, the first term on the right side of Equation (20) is

And rearranging equation (20),

It becomes. Here, when D is eliminated from the equations (16) and (22), the equation (1) is obtained.

When J is deleted from Expression (16) and Expression (22), Expression (2) is obtained.

Further, in the expressions (1) and (2), the absolute value of the motor speed | V _fb (a) | at the time a coincides with the absolute value of the motor speed at the time b | V _fb (b) | If an arbitrary section [a, b] in which the flag is ON is obtained, Expression (3) is obtained from Expression (1), and Expression (4) is obtained from Expression (2).

Further, in the equations (1) and (2), the absolute value | V _fb ′ (a) | of the motor speed differential value at time a and the absolute value | V _fb ′ (b) | of the motor speed differential value at time b. Are equal to each other and the execution calculation flag is set to an arbitrary section [a, b], the equations (1) to (5) are obtained, and the equations (2) to (6) are obtained.

It should be noted _{that the} time differential value _V fb of _{V fb ',} the time differential value command _{T ref_new} of _{T ref_new'} is,
V _fb ′ = dV _fb / dt × LPF (7)
T _{ref_new} ′ = dT _{ref_new} / dt × LPF (8)
However, LPF is calculated by a transfer function of a low-pass filter, or V _fb ′ = V _fb × (1−LPF) × α (9)
T _{ref_new} ′ = T _{ref_new} × (1-LPF) × β (10)
However, the LPF may be calculated by a low-pass filter transfer function, constants α> 0, β> 0, or may be calculated using an observer.

  FIG. 3 is a block diagram of a motor control apparatus for explaining an example in which the inertia total value and the viscous friction coefficient identified in the present invention are used to create a feedforward signal.

In FIG. 3, reference numeral 23 denotes a feedforward signal generator. The feedforward signal generator 23 receives the position command _Pref of the position controller 11 and creates and outputs a feedforward signal ff. The sum of the output signal of the speed controller 12 and the feedforward signal ff becomes the torque command _Tref .

In feedforward signal generator 23, s is a Laplace operator, FF _a and FF _b are feed-forward gain. J _i and D _i are the inertia total value J and the viscous friction coefficient D identified by the control constant identification unit 19 of the present invention.

For example, the feed forward signal ff is obtained by multiplying the position command P _ref by second order, the feed forward gain FF _a , and the identified inertia total value J _i , and the position command P _ref. the multiplied by 1-order differentiation ones and the feedforward gain FF _b, it can be obtained by adding the one obtained by multiplying a further identified viscous friction coefficient D _i.

  Thus, the present invention can be used to create a feedforward signal.

  Further, since the inertia total value J and the viscous friction coefficient D identified by the present invention are accurate, control parameters such as a position loop gain and a speed loop gain can be adjusted based on these values.

  Further, as an example in which the inertia total value J and the viscous friction coefficient D identified by the present invention can be used for adjustment of a vibration suppression compensator such as a disturbance observer, there is, for example, Japanese Patent No. 3360935.

  In this patent, by using the inertia total value J and viscous friction coefficient D identified by the present invention, the estimated disturbance signal is accurately calculated, and vibration suppression can be realized more easily.

  The motor control device and control method of the present invention can be expected to be applied to general industrial machines such as machine tools and industrial robots.

The block diagram of the motor control apparatus explaining the 1st example to which the present invention is applied. FIG. 1 is a block diagram of a motor control apparatus capable of performing position control according to a first embodiment to which the present invention is applied. The block diagram of the motor control apparatus explaining the 2nd example to which the present invention is applied. A block diagram of a motor control device for explaining a conventional inertia identification method Flowchart illustrating the method of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Speed command production | generation part 11 Position control part 12 Speed control part 13 Torque control part 14 Motor 15 Detector 16 Differentiator 17 Load 18 Calculation execution flag creation part 19 Control constant identification part 20 Torque holding part 21 Subtractor 22 Torque command conversion part 23 Feedforward signal generator 51 Speed command generator 52 Speed controller 53 Estimator 54 Identification unit

Claims (11)

A speed command generator for generating a speed command _{V ref,} a speed control unit for generating a torque command _{T ref} as the motor speed detection signal _{V fb} and the speed command _{V ref} is matched, the motor from the torque command _{T ref} In a motor control device comprising: a torque control unit that generates a drive current; and a detector that detects the position or speed of the motor to generate the motor speed detection signal V _fb .
A calculation execution flag generating unit that generates a calculation execution flag that is ON when the motor speed detection signal V _fb is equal to or greater than a preset threshold value, and OFF when the motor speed detection signal V _fb is less than the threshold value;
A torque command conversion unit that holds the torque command T _ref when the calculation execution flag changes from OFF to ON as T _{ref_old} and subtracts the torque command T _ref from the torque command T _ref to generate a new torque command T _{ref_new} ;
From the torque command T _{ref_new} and the speed detection signal V _fb , an inertia total value J and a viscous friction coefficient D obtained by summing the rotor inertia value of the motor and the inertia value of the load machine driven by the motor are calculated. A control constant identification unit to
A motor control device comprising: A position control unit that determines and generates a speed command V _ref so that the position command P _ref and the motor position detection signal P _fb match, and a torque so that the speed command V _ref and the motor speed detection signal V _fb match. A speed control unit that generates a command T _ref , a torque control unit that generates a motor drive current from the torque command T _ref , and a detector that detects the position or speed of the motor and generates the motor speed detection signal V _fb In a motor control device comprising:
A calculation execution flag creating unit that outputs a calculation execution flag when the speed detection signal V _fb is equal to or greater than a threshold;
A calculation execution flag generating unit that generates a calculation execution flag that is ON when the motor speed detection signal V _fb is equal to or greater than a preset threshold value, and OFF when the motor speed detection signal V _fb is less than the threshold value;
A torque command conversion unit that holds the torque command T _ref when the calculation execution flag changes from OFF to ON as T _{ref_old} and subtracts the torque command T _ref from the torque command T _ref to generate a new torque command T _{ref_new} ;
From the torque command T _{ref_new} and the speed detection signal V _fb , an inertia total value J and a viscous friction coefficient D obtained by summing the rotor inertia value of the motor and the inertia value of the load machine driven by the motor are calculated. A control constant identification unit to
A motor control device comprising: The control constant identification unit calculates the inertia total value J and the viscous friction coefficient D.
_{However, T ref_new} 'is _T time derivative of _{ref_new, V fb'} time derivative of _{V fb,} a and b represent arbitrary time that the execution operation flag is outputted b> a
The motor control device according to claim 1, wherein the motor control device is calculated by: The control constant identification unit determines the interval [a, b] for calculating the inertia total value J as the absolute value | V _fb (a) | of the motor speed at time a and the absolute value of the motor speed at time b. | V _fb (b) | is a section in which the execution calculation flag is ON, and the inertia total value J and the viscous friction coefficient D are


_3. The motor control device according to claim 1, wherein T _{ref_new} ′ is calculated by time differentiation of T _{ref_new} , and V _fb ′ is calculated by time differentiation of V _fb . The control constant identification unit determines an interval [a, b] for calculating the inertia total value J as an absolute value | V _fb ′ (a) | of a motor speed differential value at a time a and a motor speed at a time b. The absolute value of the differential value | V _fb ′ (b) | matches the section in which the execution calculation flag is ON, and the inertia total value J and the viscous friction coefficient D are


_3. The motor control device according to claim 1, wherein T _{ref_new} ′ is calculated by time differentiation of T _{ref_new} , and V _fb ′ is calculated by time differentiation of V _fb . The control constant identification unit to _the time differential value _V fb of _{V fb ',} the time differential value _{T Ref_new} of _{T ref_new',}
V _fb ′ = dV _fb / dt × LPF (7)
T _{ref_new} ′ = dT _{ref_new} / dt × LPF (8)
3. The motor control device according to claim 1, wherein the LPF is calculated by a transfer function of a low-pass filter. The control constant identification unit to _the time differential value _V fb of _{V fb ',} the time differential value _{T Ref_new} of _{T ref_new',}
V _fb ′ = V _fb × (1−LPF) × α (9)
_{Tref_new} '= _{Tref_newf} * (1-LPF) * beta (10)
3. The motor control apparatus according to claim 1, wherein the LPF is calculated by a transfer function of a low-pass filter and constants of α> 0 and β> 0. The control constant identification _unit, the time differential value _V fb of _{V fb} the _'time differentiated value _{T Ref_new} of _{T Ref_new',} the motor control device according to claim 1 or 2, wherein the calculating using the observer .   The identified inertia total value J and the identified viscous friction coefficient D are used for adjusting a control parameter, creating a feedforward signal, or adjusting a vibration suppression compensator. 2. The motor control device according to 2.   A value obtained by multiplying the feedforward signal by a value obtained by multiplying the differential value of the position command by the identified viscous friction coefficient D and a value obtained by multiplying the second-order differential value of the position command by the identified total inertia value J. The motor control device according to claim 9. A speed command generator for generating a speed command _{V ref,} a speed control unit for generating a torque command _{T ref} as the motor speed detection signal _{V fb} and the speed command _{V ref} is matched, the motor from the torque command _{T ref} In a motor control method comprising: a torque control unit that generates a drive current; and a detector that detects the position or speed of the motor and generates the motor speed detection signal V _fb .
Generating a calculation execution flag that is ON when the motor speed detection signal V _fb is equal to or greater than a preset threshold value, and OFF when the motor speed detection signal V _fb is less than the threshold value;
_{Holding the} torque command T _ref when the calculation execution flag changes from OFF to ON as T _{ref_old} and subtracting it from the torque command T _ref to generate a new torque command T _{ref_new} ;
From the torque command T _{ref_new} and the speed detection signal V _fb , an inertia total value J and a viscous friction coefficient D obtained by summing the rotor inertia value of the motor and the inertia value of the load machine driven by the motor are calculated. And steps to
A motor control method comprising: