Title:
FREQUENCY RESPONSE FUNCTION IDENTIFICATION SYSTEM
Document Type and Number:
WIPO Patent Application WO/2024/047974
Kind Code:
A1
Abstract:
A frequency response function identification system 1 comprises an observer 14 for generating an estimated effective torque u^e on the basis of a torque command value ur and a motor angular displacement θM, and an identifying unit 15 for identifying a frequency response function on the basis of the estimated effective torque u^e and the motor angular displacement θM, wherein: the observer 14 comprises an estimating unit 41 for estimating an estimated motor torque u^ from the torque command value ur, a static friction model 42 for outputting an estimated static frictional force τ^f on the basis of the motor angular displacement θM, and a calculating unit 43 for calculating the estimated effective torque u^e on the basis of the estimated motor torque u^ and the estimated static frictional force τ^f; and the identifying unit 15 uses local frequency modeling to identify the frequency response function from the estimated effective torque u^e and the motor angular displacement θM.
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Inventors:
NAKAGAMI REINA (JP)
MAEDA YOSHIHIRO (JP)
HARA WATARU (JP)
MAEDA YOSHIHIRO (JP)
HARA WATARU (JP)
Application Number:
PCT/JP2023/019469
Publication Date:
March 07, 2024
Filing Date:
May 25, 2023
Export Citation:
Assignee:
TOYOTA JIDOSHOKKI KK (JP)
NAGOYA INST TECH (JP)
NAGOYA INST TECH (JP)
International Classes:
G05B13/02
Domestic Patent References:
| WO2007105527A1 | 2007-09-20 |
Foreign References:
| JP2018124699A | 2018-08-09 |
Attorney, Agent or Firm:
HASEGAWA Yoshiki et al. (JP)
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