LOAD INERTIA ESTIMATION SYSTEM, MEDIUM ON WHICH LOAD INERTIA ESTIMATION PROGRAM IS RECORDED, AND MEDIUM ON WHICH OPERATION PROGRAM OF ROBOT IS RECORDED

摘要

PROBLEM TO BE SOLVED: To provide a load inertia estimation system accurately estimating the load inertia of a servomotor, a medium, on which a load inertia estimation program is recorded, and a medium, on which the operation program of a robot is recorded. SOLUTION: In the load inertia estimation system estimating the true value of the load inertia of a system controlling a device driving load 8 by using a servomotor 7, a proportional-plus-integral control section 1, an observer estimation calculating section 2 estimating disturbance working to load, a data storage section 3, in which a disturbance estimate and the quantity of the state of an actual machine are stored in a memory at a sampling period, a disturbance estimate analyzing section 4 analyzing the disturbance estimate by employing the quantity of the state of the actual machine, a correction-value calculating section 5 calculating a correction value for correcting a load inertia set value and a load inertia estimation calculating section 6 calculating the true value of load inertia from an output from the correction-value calculating section and the preset load inertia set value.