Machine learning apparatus for learning gain optimization, motor control apparatus equipped with machine learning apparatus, and machine learning method

Abstract

A machine learning apparatus according to one embodiment of the present invention is a machine learning apparatus for learning a condition associated with adjustment of a current gain parameter in electrical machine control, and comprises: a state observing unit which acquires actual current as well as an integral gain function and a proportional gain function in a current control loop, and observes state variables which include the integral gain function, the proportional gain function, and at least one of an amount of overshoot, an amount of undershoot, and a rise time of the actual current occurring in response to a step-like torque command; and a learning unit which learns the condition associated with the adjustment of the current gain parameter in accordance with a training data set constructed from the state variables.