PARAMETER ESTIMATION METHOD FOR OPERATION SYSTEM, PARAMETER ESTIMATION METHOD THEREOF, GENERATION METHOD FOR OPERATION PROFILE AND GENERATION SYSTEM THEREOF

摘要

PROBLEM TO BE SOLVED: To provide a system and method for estimating inertia and friction coefficients of a machine system to be controlled.;SOLUTION: An inertia estimator 402 generates a torque command signal which continuously varies with time during a test sequence. Then the speed of an operation system responding to the torque command signal which varies with time is measured and recorded during the test sequence. Then the inertia estimator estimates one of inertia and friction coefficients of the operation system on the basis of torque command data sent to the operation system and measured speed data. An operation profile which is optimized with time is also generated on the basis of restrictions for controlling a locus of movement between two points of an operation control system. A profile generation unit calculates an operation profile of an ST curve including jerk reference continuously varying with time in at least one segment of the operation profile, and creates a smooth locus optimized with time.;COPYRIGHT: (C)2014,JPO&INPIT