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INERTIA ESTIMATING METHOD AND INERTIA ESTIMATING APPARTUS OF POSITION CONTROL APPARATUS
INERTIA ESTIMATING METHOD AND INERTIA ESTIMATING APPARTUS OF POSITION CONTROL APPARATUS
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机译:位置控制装置的惯性估计方法和惯性估计装置
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摘要
A torque command value and an acceleration detection value are accumulated when a driven portion is subjected to acceleration/deceleration driving, and, from a ratio between the two, inertia of a movable portion is calculated. By executing the acceleration/deceleration driving about a position where influence of gravity torque is zero, the influence of the gravity torque included in the torque command value before and after the center position is offset, whereby inertia can be estimated correctly even with a machine structure in which the influence of gravity differs depending on the position of the motor.
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