JPH01202188A - Characteristic regulator for motor controller - Google Patents

Abstract

PURPOSE:To simplify the fine regulation of transmitting characteristic and to enhance the production efficiency of a controller by regulating to increase or decrease the transfer function of an arbitrary one of a plurality of transmitters so that a deviation between the control amount and the control data of a motor becomes minimum, matching between the transmitters, and enhancing the controllability as a whole controller. CONSTITUTION:A motor controller has a plurality of transmitters Dn of predetermined transfer function. Deviation calculating means C1 calculates a deviation between the control amount K and control data S of a motor M. Characteristic regulating means C2 regulates to increase or decrease the transfer function of an arbitrary one of a plurality of the transmitters Dn. Regulating transmitter altering means C3 alters the transmitter for regulating to increase or decrease the means C2 from the arbitrary one to other transmitter. Periodic altering means C4 periodically alters the transmitters to be altered by the means Cd until the calculated value of the means C1 becomes a predetermined value or less.

Description

DETAILED DESCRIPTION OF THE INVENTION Object of the Invention (Industrial Application Field) The present invention relates to a motor controller (hereinafter simply referred to as a controller) that controls a motor according to predetermined control data. The present invention relates to a characteristic adjustment device for a motor controller that adjusts the transmission characteristics of a transmission section.

(Prior technology) Operates faithfully to human power and controls the controlled object at a predetermined rotational speed.
Control motors that control position, speed, and angle are used in various fields. The controller adjusts the human power of these motors according to control data, and by sequentially applying human power according to the characteristics of each motor, the motors are made to perform a series of tasks. For example, a controller used in a machine tool adjusts motor power according to commands from a higher-level program controller and the characteristics of the motor being controlled, and drives the tool in a predetermined sequence to process a workpiece. .

Usually, such a controller is equipped with a plurality of transfer parts with a predetermined transfer function, and these plurality of transfer parts sequentially transmit control data to determine the amount of operation of the motor to be controlled, that is, the motor's human power. is created. Therefore, the transmission characteristics of the plurality of transmission sections are an important factor in determining the motor power, and the controller is designed so that these characteristics are optimized.

However, due to tolerances in the characteristics of the electronic components that make up the controller and the motor that is being controlled, the actually manufactured controller or the controller that is integrated into the system may not be able to optimally control the motor that is being controlled. However, it is common practice to make final fine adjustments to the transfer characteristics. For this purpose, the controller is equipped with a volume for finely adjusting the transfer characteristics.

With such a configuration of the controller, matching between the controller and the motor to be controlled is maintained, and it becomes possible to cause the motor to operate in a predetermined sequence.

(Problems to be Solved by the Invention) Conventionally, fine adjustment of the transmission characteristics of a transmission section inside a controller has been performed manually.

However, when there are multiple transmission sections inside the controller, changing the transmission characteristics of one transmission section may disrupt the relative relationship with the transmission characteristics of other transmission sections, reducing the controllability of the controller as a whole. Are known.

Therefore, when fine-tuning the transmission characteristics of a controller that has multiple transmission sections, in addition to adjusting the transmission characteristics of each transmission section independently, adjustments must also be made to maintain the harmony of the overall transmission section. This is an extremely complex task. Therefore, this adjustment requires a lot of time and requires skill, making it difficult to improve production efficiency.

The present invention has been made in view of the above-mentioned problems, and aims to improve production efficiency by completely automating the adjustment and adjustment of the transmission characteristics of a controller having a plurality of transmission parts, and to adjust the transmission characteristics with higher precision. The purpose of this invention is to provide an excellent motor/controller characteristic adjustment device that can maximize the control performance of the controller.

Structure of the invention (means for solving the problem) The means constituted by the present invention to achieve the above object are the first
As shown in the basic configuration diagram in FIG.
ti- A characteristic adjustment device for a motor controller that is connected to a motor type controller C that sequentially transmits signals to create a human power signal H for a motor M to be controlled, and that adjusts the transmission characteristics of the plurality of transmission sections Dn, respectively. Motor M
a deviation calculation means C1 that calculates the deviation between the control amount and the control data S, and increases or decreases the transfer function of any of the transfer parts Dn so that the calculated value of the deviation calculation means C1 becomes the minimum value. and an adjustment transmission section that changes the transmission section to which the characteristic adjustment means C2 is adjusted to increase or decrease from the arbitrary transmission section to another transmission section after the adjustment of the increase or decrease of the characteristic adjustment means C2 is completed. It is characterized by comprising a changing means C3, and a periodic changing means C4 for periodically changing the transmission section to be changed by the adjustment transmission section changing means C3 until the calculated value of the deviation calculating means C1 becomes equal to or less than a predetermined value. The gist is a motor controller characteristic adjustment device.

(Function) The motor controller characteristic adjustment device of the present invention is connected to the controller, and adjusts the transmission characteristics of the plurality of transmission sections Dn inside the controller by means of the following functions.

First, the characteristic adjusting means C2 increases or decreases the transfer function of an arbitrary transmitting part of the transmitting part Dn so that the deviation between the control amount of the motor M calculated by the deviation calculating means C1 and the control data S becomes the minimum value. It is something to be adjusted.

The ultimate purpose of the controller C is to control the control unit quantity K (for example, rotation speed, rotation angle, torque, etc.) of the motor M, which is the controlled object, in accordance with the commands of the control data S'. Therefore, the smaller the deviation between this control amount and the control data S, the higher the control performance of the controller C.The transfer characteristics of the plurality of transmission parts are adjusted to minimize this deviation as much as possible. must be selected.

Therefore, the characteristic adjustment means C2 adjusts the transfer function of any one of the plurality of transfer sections to a one that minimizes the deviation.

The adjustment transmission section changing means C3 starts operating after the characteristic adjustment means C2 completes the increase/decrease adjustment of one transmission section, and changes the transmission section to be increased/decreased by the characteristic adjustment means C2 to the one transmission section for which the increase/decrease adjustment has been completed. It acts to change from one section to another transmission section.

As described above, the plurality of transmission sections inside the controller are related to each other, and when the characteristic adjustment means C2 increases or decreases the transfer function of a part, the relative relationship with the transfer characteristics of the other transmission sections collapses. Therefore, the adjustment transmission section changing means C3
Accordingly, the transmission section adjusted by the characteristic adjustment means C2 is changed to another transmission section, and the transmission sections are matched with each other, thereby gradually increasing the controllability of the controller as a whole.

The periodic change means C4 acts to periodically change the transmission part to be changed by the adjustment transmission part change means C3 until the calculated value of the deviation calculation means C1 becomes equal to or less than a predetermined value. Due to the action of the means C3, the transfer functions of all the transmission parts are subject to increase/decrease adjustment by the characteristic adjustment means C2, and mutual matching between the transmission parts is maintained and a certain degree of control performance is ensured. Adjustment also has its limits, and it is common for the desired control performance to not be achieved.

Therefore, the periodic change means C4 makes the transmission part that has been adjusted once again the target of adjustment, and periodically executes adjustment of the plurality of transmission parts until the deviation falls within the permissible range.

EXAMPLES Hereinafter, in order to explain the present invention more specifically, examples will be given and explained.

(Example) FIG. 2 is a diagram showing the hardware configuration of a characteristic adjustment device according to an example, and shows a usage state in which it is connected to a controller.

The controller 10 is constructed of a digital circuit centered on a microcomputer, as shown in the figure, in consideration of the simplification and versatility of the configuration.

That is, the CPU 10a that executes the logical operation,
A ROM 10b non-volatilely stores various control programs executed by the ROM 10a, and a ROM 10b which temporarily stores information.
The main parts include a RAM 10c that assists the calculations of the PU 10a, and an input/output capacitor 10d that transmits and receives information between these logic circuits and other devices.

Other devices of the controller 10 include
) A PWM circuit 10e that outputs a PWM signal in accordance with a control signal input from 10d, and a predriver 10g that drives a power amplifier 10f constituted by a power transistor based on the PWM signal. Since the three-phase alternating current PWM-controlled by the power amplifier 10f is supplied as the armature current of the control motor 20, the control motor 20 is driven by the control signal output from the human power boat 10d, that is, centered around the CPU l0a. It will be controlled by a logic circuit.

Further, the controller 10 employs a feedback control method in order to more accurately and stably control the control motor 20. Information on the output of the control motor 20 that is fed back is sent to the current detection coil 22.2 that detects the armature current value in order to detect the torque generated by the Lumi motor 20.
4 and the detection output of the encoder 26 that detects the rotation status of the rotation shaft of the control motor 20.

A rotating shaft of the control motor 20 is connected to a pole screw 32 that is screwed into a table 30 on which a workpiece or the like is placed. Therefore, when the rotation shaft of the control motor 20 rotates, the ball screw 32 rotates, and the screwed table 30 can be moved in the left-right direction in the drawing. At this time, the amount of rotation of the rotating shaft corresponds to the amount of movement of the table 30, and the rotational speed of the rotating shaft corresponds to the moving speed of the table 30.

Similarly to the controller 10, the controller characteristic adjusting device 5°, which is an embodiment, is also constructed of a digital circuit centered on a microcomputer, taking into consideration the simplification of the configuration, versatility, and information consistency with the controller 1o. has been done. That is, the CPU 50 that executes logical operations
a, ROM 50b that non-volatilely stores various control programs executed by the CPU 50a; RAM 50C that temporarily stores information to assist the calculations of the CPU 50a;
The controller 1o is assembled by a capo 50d which is responsible for sending and receiving information between these logic circuits and the controller 1o.

In the system configured as described above, the ROM 10b of the controller 10 stores various information described below.

First, in order to perform predetermined machining on a workpiece in conjunction with other machine tools (not shown), a control procedure ( Hereinafter, control data D) is written.
It is remembered.

In addition, in order to actually drive the control motor 3o according to the stored control data D, various programs are written and used to sequentially output control signals from the turnout board 10d in accordance with the contents shown in the data. It is remembered.

As is well known, the logic circuit centered around the CPU 10a is like a collection of various electronic components, and by having these execute predetermined programs, various desired electronic circuits can be configured. .

Flowcharts of the programs stored in the ROM 10b are shown in FIGS. 3, 4, and 5. These programs are repeatedly executed from the time when the servo system including the controller 1° is started, and the 2 m Sec interrupt routine in Fig. 3 is 2 m 5 e.
c, 200 in Figure 4, the usec interrupt routine is 2
Every 00LLSec, the 60uSec routine of FIG. 5 is repeatedly executed by interrupting the CPU 10a every 60μSec. The processing of each separate routine will be explained below.

When the processing of the 2m5ec interrupt routine in FIG. 3 is started, first, in order to detect the current driving state of the control motor 3o, the rotational position (step 100) is performed. Then, the control data Dn instructing how to drive the control motor 3o in this state is read out (step 1).
10) Based on these data Xn and Dn, the feedback control system calculates the rotational position X of the control motor 30 using the following equation (step 120).

0X=AX (Dn-131◆Xn) In other words, the current rotational position Xn is added to the current control data Dn.
In order to calculate the deviation of the rotational position, the value (β1·Xn) obtained by multiplying the rotational position Xn by the feedback gain β1 is subtracted from the control data Dn, and this is multiplied by the amplification factor AX. It is set as a variable OX. Here, the amplification degree AX is a variable stored in advance at a predetermined address in the RAM 10c, and includes a proportional constant P1 and an integral constant 11. Therefore, by performing step 120, PI control of the rotational position is achieved.

The variable OX calculated in this way is 20
It is used in the 0119ec routine as follows. First, in the 200μSee interrupt routine, the rotational position Xn is detected from the detection result of the encoder 26 in order to detect the driving state of the control motor 30 (step 200).
The result is differentiated to calculate the rotational speed Vn (step 210). Then, the latest variable Ox calculated in the above-mentioned 2m5ectJ routine is read (step 220), and based on these data, a negative feedback calculation for the rotational speed is performed using the following equation (step 230).

0V=AV (OX-132◆Vn) Here, β2 is the feedback gain. In addition, AV enables PI control with an amplification factor that includes a proportional constant P2 and an integral constant 12, and like the variable AX, RAM
10c is stored in advance at a predetermined address.

Furthermore, the variable OV calculated in this 20011Sec interrupt routine is used by the 60uSec interrupt routine in FIG.
The control signal OT to be output to e is determined. That is, first, the current detection coils 22 and 24 which are analog information
The torque Tn is calculated by converting the detection result into digital information (step 300), and preparation is made for the following processing. Then, the latest variable Ov calculated in the above 200 μSec interrupt routine is read (step 310).
, to feed back the torque Tn detected in step 120 to the variable 0■, the following calculation is performed, and the final control signal OT is calculated (Stella 320).

0T=AT (OV-β3·Tn) Here, β3 is the feedback gain. Further, AT is an amplification factor including a proportional constant P3 and an integral constant 13, and is stored at a predetermined address in the RAM 10c.

When the final control signal OT is calculated in this way, this control signal OT is transferred from the PWM circuit 10d to the PWM circuit 10e.
Step 330), the series of processing is completed.

To summarize the processing by the above three interrupt routines, the deviation between the control data Dn and the actual rotational position Xn of the control motor 30 is detected every 2m5ec, the speed deviation is 200uSeci, and the current (torque) deviation is is 60
It is detected every uSec, and the armature current of the control motor 30 is PWM-controlled to minimize these.

FIG. 6 is a diagram visually showing a pseudo electronic circuit configured as the controller 10 using the various programs described above. By executing the above various programs, C
The logic circuit constituted by the PU 10a or the input/output capo 10d constitutes a servo circuit having a triple feedback loop as shown in the figure.

To explain briefly, the command unit 40a that gives commands to this servo system is a ROM that stores the aforementioned control procedure.
This corresponds to the storage area of 10b. The degree of amplification (transfer coefficient) of the position amplifier 40b, speed amplifier 40c, and current amplifier 40d that amplify this command value in stages corresponds to the coefficient in the logical operation executed within the CPU 10a, and the amplification degree of the position amplifier 40b The amplification degree of the speed amplifier 40c is determined by the coefficient AX in step 120, and the amplification degree of the speed amplifier 40c is determined by the coefficient A in step 230.
V, the amplification degree of the current amplifier 40d is set at step 320 described above.
corresponds to the coefficient AT. Further, the feedback information of this servo system is the detection output of the current detection coils 22, 24 and the encoder 26 as described above.
．． Since the detection output 24 is an analog output, it is converted into digital information by the A/D converter 40e, and then fed back to the human power of the current amplifier 40d via a predetermined feedback gain β3. In addition, since the detection output of the encoder 26 is a digital signal, the direct feedback gain β
1, and is fed back to the human power of the position amplifier 40b, and is also fed back to the human power of the speed amplifier 40c, via the differential factor S and feedback gain β2.

The above is a general description of the controller 10 made up of logic circuits. Controller 10 configured like this
The characteristic adjustment device 50 connected to the controller 10 is connected as shown in FIG. You can operate it by giving dummy control data to the controller, or
It has a function of accessing a predetermined storage area of the l0c without affecting the above-mentioned operation of the controller 10, reading the stored information, and rewriting it as appropriate.

In order to achieve the above function, R0M of the characteristic adjustment device 50
50b stores a characteristic adjustment routine program shown in FIG. Hereinafter, the operation of the characteristic adjustment device 50 of the embodiment will be explained along the flowchart of FIG.

The characteristic adjustment routine is started by the CPU 50a when the power of the characteristic adjustment device 50 is turned on. First, when the process is started, control data for driving the motor 20 at a constant speed is output to the controller 10 as dummy control data, and the CPU 10a of the controller 10 is activated (step 400). Therefore, controller 1
0 starts control faithful to the given control data (processing in FIGS. 3 to 5), and motor 20 starts at a constant speed.
drive.

Next, the operating state of the CPU 10a, which has started control as described above, is manually determined (step 410). Usually, C.P.
The chip that makes up U10a has a terminal that indicates whether the current processing state is the memory access state, the I10 access state, or the calculation state. is executed.

Then, based on the operating state of the CPU 10a input in step 410, it is determined whether or not the CPU 10a is currently in a memory access state in which it is accessing the ROM 10b and RAM 10c (step 420). When it is determined that the memory access state is present through this determination process,
From the characteristic adjustment device 50 to the ROM 10b of the controller 10
It is impossible to access the RAM 10c, and the process waits until the memory can be accessed from the outside.

On the other hand, when it is determined in step 420 that the ROM 50b and RAM 50c are not in an access state, the information reading process in step 430 is executed. The information read into the characteristic adjustment device 50 by this process is the following five pieces of information stored in the RAM 10 cu. The first and second information are the detection results of the electric baldness detection coils 22 and 24 and the detection results of the encoder 26, which indicate the driving status of the motor 20 controlled based on the control data D. Further, the third to fifth information are pseudo amplifiers configured by the controller 10, that is, a position amplifier 40b, a speed amplifier 40c, and a current amplifier 40d (
7) Three variables: amplification degree AX, AV, and AT.

As is clear from the explanation of the operation of the controller 10, the above five pieces of information are various quantities that reflect how the controller 10 and the motor 20 operate based on the control data given to the controller 10 in step 400. can be,
By reading this information, the characteristic adjustment device 50 can make a comprehensive evaluation of the controller 10.

After reading such various information, controller 1
In order to evaluate the control performance of 0, the control data D and the detection results of the current detection coils 22 and 24 are compared, and the difference between them, the deviation DTn (here, the subscript n represents the elapsed time), is calculated. A calculation is performed (step 440). In the ideal control performance of the controller 10, the control data, which is a control command value, and the control result match. However, in reality, there are slight differences due to control delays, responsiveness, etc.

This is the deviation, and since the controller 10 of this embodiment controls the rotational position, rotational speed, and torque of the motor 20, the deviation is also the torque (shoulder difference DT, rotational speed deviation DV, rotational position deviation DX). There will be three types.

Note that the deviation DT calculated in step 450 is the difference between the torque generated by the motor 20 and the target value, and is 60
In step 320 of the LLSec routine (Figure 5)? Calculate (OV-β3・Tn), that is, current amplifier 40
This corresponds to the human power of d (Figure 6).

After the calculation of the deviation DTn is completed, the deviation DTn
Step 4: Determine whether the absolute value of is the minimum value.
50), if it is not the minimum value, the variable AT used in the 60LLSec interrupt routine, that is, the amplification degree of the current amplifier 40d, is monotonically increased or decreased (step 4).
60), the process returns to step 410 again. That is, among the three variables existing in the controller 10, A
X.

The two variables AV are fixed, and the value of the variable AT is determined so that the torque deviation DT is minimized. Note that the accuracy of the variable AT determined in this way is determined in step 46.
It depends on the increase/decrease of the variable AT executed at 0, and affects the time required to determine the minimum value. Therefore, the increase/decrease of the variable AT executed in step 460 can be set arbitrarily.

In this way, once the optimum value of the variable AT is determined by fixing the other variables AX and AV, next the variables AT and A are determined.
With X fixed, the process moves on to searching for optimal values for other variables AV (steps 500 to 560).

This process is almost the same as that for determining the variable AT, and first outputs control data for driving the motor 10 at a constant speed, and starts the CPU 10a (step 50).
0). Then, in order not to adversely affect the operation of the CPU 10a that started the control, a predetermined address of the RAM 10c is accessed and the same five types of information as described above are manually input (
Steps 510 to 530).

Here, from the information obtained in this way, the rotation speed deviation D
Vn is calculated. This deviation DVn is the difference between the control data and the differential value of the detection output of the encoder 26, and is the difference between the control data and the differential value of the detection output of the encoder 26.
(OX-β2·Vn)(i, which is calculated in step 230 of the 00uSe'c routine (FIG. 4), corresponds to the human power of the speed amplifier 40c.

Next, it is determined whether the deviation DVn thus calculated is the minimum value (step 550), and the variable AL, that is, the amplification degree of the speed amplifier 40c is increased or decreased by minute values until the minimum value of the deviation DV is obtained (step 560). , repeat the above process.

Once the optimal value for the variable AV is determined through such processing, the variables AV and AT are fixed at their optimal values, and a similar process (steps 600 to 660) is performed to search for the optimal value for the final variable AX. Transition. In this process, the contents of the control data output to the controller 10 are different from those described above, and the contents are such that the motor 20 is repeatedly accelerated, constant speed, and decelerated in the forward and reverse directions. After outputting such control data and activating the CPU 10a (step 600), similar to the process described above, the RAM 10 is
Manually input five pieces of predetermined information from c (step 610~
Step 630) and calculation of the positional deviation DXn (step 640) are executed. This deviation DXn is the difference between the control data and the detection output of the encoder 26, and is the difference between the control data and the detection output of the encoder 26, and is
The value of (Dn-β1·Xn) calculated in step 120 of the 5ec routine (Fig. 3), that is, the position amplifier 40b.
This is equivalent to human power.

Then, it is determined whether the deviation DXri calculated in this way is the minimum value (step 650), and the variable AX, that is, the amplification degree of the position amplifier 40b, is increased or decreased by minute values until the minimum value of the deviation DX is obtained (step 660). , repeat the above process.

When the optimum values of the variables Aj, AV, and AX have been determined through the series of processes from step 400 to step 660, step 700 is executed based on the determination at step 650. Here, the deviations DT and DV that exist in the controller 10 are determined by the variables tentatively determined as described above.

It is determined whether each DX is within an allowable range and the control performance of the controller 10 is satisfactory. And when each shoulder difference is small within the allowable range,
The processing of the characteristic adjustment routine ends. On the other hand, if there is still a large deviation and it is determined that the characteristics of the controller 10 have not been sufficiently adjusted, the process proceeds to the first step 400.
Return to and repeat the above process to search for more optimal variables.

It should be noted that the tolerance range used as the criterion for judgment in step 700 is set in advance in the ROM 50'b according to the content of the one-shoulder difference to be judged.
remembered. For example, when the deviation is DX, the allowable range is XD [m], when the deviation is DV, the allowable range VD [m/S] is used, and when the deviation is DT, the allowable range TD [Kg-m] is used. Ru.

The controller characteristic adjusting device 50 of this embodiment configured as described above has the following effects.

As shown in the explanatory diagram of FIG.
It has two transmission parts. Therefore, in order to precisely adjust the characteristics, that is, the transfer characteristics, of this controller 10, it is necessary to search for the optimal values of the three interrelated transfer functions, and as in the past, manual adjustment takes a long time. It takes.

However, according to the characteristic adjustment device 50 of the embodiment, it is possible to automatically and within a short time adjust to a sufficient state in which the deviation is equal to or less than a predetermined value. Moreover, the adjustment does not require any manual work, and production efficiency is dramatically improved by completely automating the characteristic adjustment.

In addition, since the controller 10 was conventionally adjusted manually, when the controller 10 was a mass-produced type, there were large variations in control performance between individual controllers, making it impossible to maintain a constant quality. By using the example characteristic adjustment device 50, it is possible to produce a large number of controllers with constant accuracy.

In addition, when adjusting the variables of the controller 10, the characteristic adjusting device 50 of the above embodiment first adjusts the variable AT, then the variable AV, and finally the variable AX, as shown in FIG. However, this order is not restricted in any way, and the method of fixing variables other than the variable to be adjusted and finding the optimal value of the variable to be adjusted can be repeated for other variables as well. If carried out, the same effects as in the above embodiment can be obtained.

Effects of the Invention As described above in detail with reference to embodiments, the motor/controller characteristic adjusting device of the present invention has a function of automatically adjusting the transmission characteristic of a motor/controller having a plurality of transmission parts to an optimum value. It is something that you have.

Therefore, the control performance of the controller can be maximized by increasing the production efficiency of a controller having a plurality of transmission parts and adjusting the transmission characteristics with higher precision.

[Brief explanation of the drawing]

FIG. 1 is a basic configuration diagram showing the basic configuration of the characteristic adjustment device for a motor controller according to the present invention, FIG. 3, 4, and 5 are flowcharts of programs processed by the motor controller, FIG. 6 is a block diagram of a pseudo electric circuit of the motor controller operated by execution of the program, and FIG. 7 is a flowchart of a program processed by the motor controller. shows a flowchart of a program processed by the characteristic adjustment device. C1... Deviation calculation means C2... Characteristic adjustment means C3... - Adjustment transmission section changing means C4... Periodic changing means 10a, 50a - CPU 10b, 50b... ROM 10 c, 50 c-. -RAM 10d, 50d...man output boat

Claims (1)

[Scope of Claims] 1. A motor controller comprising a plurality of transfer units having a predetermined transfer function, connected to a motor controller that sequentially transmits control data through the plurality of transfer units to create an input signal for a motor to be controlled; A characteristic adjustment device for a motor/controller that adjusts the transmission characteristics of a transmission unit, comprising: a deviation calculation means for calculating a deviation between a control amount of the motor and control data; and a value calculated by the deviation calculation means is a minimum value. a characteristic adjusting means for increasing/decreasing the transfer function of an arbitrary transmitting section of the transmitting section; adjustment transmission section changing means for changing the transmission section from one transmission section to another, and a periodic change that periodically changes the transmission section to be changed by the adjustment transmission section changing means until the calculated value of the deviation calculation means becomes equal to or less than a predetermined value. A characteristic adjusting device for a motor controller, comprising: means;