Numerical control system and motor drive controller

A motor drive controller comprising:

• processing circuitry
• to control a machine drive system including a motor;
• and
• to estimate a disturbance force or a disturbance torque applied to the machine drive system using a detection result detected by a sensor to detect speed or acceleration of the machine drive system, wherein
• the processing circuitry calculates actual power of machine drive system corresponding one-to-one to a plurality of first structure models of the machine drive system from the detection result, based on the first structure models, calculates a command power of machine drive system that is a force applied by the motor to the machine drive system, based on a second structure model of the machine drive system including the motor of the machine drive system, a detection result of a motor current flowing through the motor, and a detection result of a position of the motor, and estimates the disturbance force or the disturbance torque using the actual power of machine drive system and the command power of machine drive system, and
• the plurality of first structure models have different frequency characteristics determined according to a plurality of divided frequency bands.

A motor drive controller comprising:

• processing circuitry
• to control a machine drive system including a motor;
• and
• to estimate a disturbance force or a disturbance torque applied to the machine drive system using a detection result detected by a sensor to detect speed or acceleration of the machine drive system, wherein
• the processing circuitry calculates an actual power of machine drive system corresponding to a first structure model of the machine drive system from the detection result, based on the first structure model, calculates a power command of machine drive system that is a force applied by the motor to the machine drive system, based on a second structure model of the machine drive system including the motor of the machine drive system, a detection result of a motor current flowing through the motor, and a detection result of a position of the motor, and estimates the disturbance force or the disturbance torque using the actual power of machine drive system and the power command of machine drive system, and
• one of a plurality of structures constituting the machine drive system is divided into a first inertial body model and a second inertial body model for modeling, the first structure model includes the first inertial body model, and the second structure model includes the second inertial body model.