Parameter identification device, drive system, parameter identification method and program

摘要

PROBLEM TO BE SOLVED: To provide a parameter identification device, a drive system, a parameter identification method, and a program that can obtain a model which accurately imitates a mechanical system including a motor and a load.SOLUTION: A parameter identification device comprises: a data obtaining unit that obtains a torque command, an angle and angular velocity of a motor, an angle and angular velocity of a load; a phase plane map generating unit that generates a phase plane map on the basis of the torque command, the angle and the angular velocity of the motor, the angle and the angular velocity of the load; and a parameter identifying unit that identifies inertia, viscosity, and friction of the motor, inertia, viscosity, and friction of the load, rigidity of a connection member, and a model parameter showing a dead zone width of the connection member on the basis of the phase plane map. The parameter identifying unit identifies the model parameter on the basis of both of the phase plane map obtained in a small amplitude operation of the load and the phase plane map obtained in a large amplitude operation of the load.SELECTED DRAWING: Figure 6