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7. ADJUSTMENT
7.2.3
What is auto tuning?
The load inertia moment is estimated from the angular speed (
ω
) and torque (T) in accordance with the
equation of motion (7.1) used for motor acceleration/deceleration. In actuality, the acceleration/deceleration
characteristics of the model and those of the actual motor are compared to estimate the inertia moment of
the load in real time.
T
dt
d
J
=
ω
･･･････････････････････････
(7.1)
J : Inertia moment
ω
: Angular speed
T : Torque
Real-time auto tuning is performed in the following procedure:
(1) When the motor makes acceleration/deceleration, load inertia moment JL is estimated in the above
method to calculate the load inertia moment ratio (GD2).
(2) Each gain (PG1, VG1, PG2, VG2, VIC) to the calculated load inertia moment ratio (GD2) is changed
according to the response level set in parameter No. 2. Note that these gains have been patterned
beforehand to satisfy the aforementioned stabilization condition.
