IDENTIFICATION AND COMPENSATION METHOD OF CONSTANT OF FUNCTION EXPRESSING CHARACTERISTIC TO BE CONTROLLED

PURPOSE:To identify Coulomb friction and viscosity friction to be controlled and to identify the compensation and inertia by identifying the Coulomb friction using the steady value of the difference between PI control system time response and equivalent IP control system time response. CONSTITUTION:The title item consists of a target 3 to be controlled where Coulomb friction exists and a controller 2 for controlling speed. Then, a PI control system is established, the command torque is inputted to a primary delay filter 24, and a signal which is equivalent to a command torque 25 of the IP control system is obtained as the output. Also, J which is the target 3 to be controlled is the total of the rotor inertia of a servo motor and the inertia of load, the level is constant Fc regardless of the speed, and Coulomb friction which becomes a resistance with a direction for interfering with a motion exists. Further, Kv of the controller 2 is a proportional gain and Ti is the time constant of integration and primary delay filter. A constant value Fc is identified according to the difference between the time difference of command torque of the PI control system and that of the equivalent IP control system.