Motor control device

Abstract

The purpose of this invention is to provide a motor control device that can determine whether industrial machinery is low-rigidity machinery in a shorter time without intermittently applying motor torque of significant magnitude and variation. This invention is a motor control device for controlling a motor assembled in machinery, comprising: a torque detector that detects the motor torque; a speed detector that detects the motor rotational speed; a first filter unit that extracts the vibration component of the machinery from the motor torque detected by the free torque detector; a second filter unit that extracts the vibration component of the machinery from the rotational speed detected by the free speed detector; an identification unit that identifies the resonance / anti-resonance characteristics of the machinery based on a transfer function model of order 2 or higher; and a judgment unit that calculates information on the poles or zeros of the transfer function model from the parameters identified by the free identification unit, and calculates the rigidity level of the machinery from the absolute values ​​and imaginary parts of each pole or zero.

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