Servo controller for measuring lubrication characteristics of a machine by experimental modal analysis

A servo controller for a servo motor that drives a feed axis provided for a machine tool, comprising:

• a speed command generator configured to generate a speed command value for a servo motor;
• a torque command generator configured to generate a torque command value for the servo motor on the basis of the speed command value;
• a speed detector configured to detect the speed of the servo motor driven on the basis of the torque command value;
• a sinusoidal wave disturbance input unit configured to supply a sinusoidal wave disturbance to a speed control loop including the speed command generator, the torque command generator and the speed detector;
• a frequency response calculator configured to estimate the gain and phase of the speed control loop input/output signal on the basis of the output of the speed control loop when the sinusoidal wave disturbance is input to the speed control loop;
• a resonance frequency detector configured to detect resonance frequencies at which the gain of the frequency response estimated by the frequency response calculator becomes maximum;
• a resonance mode characteristics analyzer configured to estimate resonance characteristics from the frequency response at and around the response frequency detected by the resonance frequency detector;
• and,
• a reference modal damping ratio retainer configured to retain the reference modal damping ratio as a resonance characteristic corresponding to the reference lubricating condition,
• wherein the resonance mode characteristics analyzer calculates lubrication characteristics on the basis of the reference modal damping ratio and the measured modal damping ratio at the resonance frequency corresponding to the reference modal damping ratio.