Title:
イナーシャと摩擦係数とばね定数を同時に推定する機能を備える電動機の制御装置
Document Type and Number:
Japanese Patent JP5209810
Kind Code:
B1
Abstract:
A sinusoidal command is added to a torque command of a controller to acquire a velocity and a current value of an electric motor. An estimated coupling torque value is calculated by calculating an input torque value from the current value and a torque constant of the electric motor and further calculating a coupling torque value from a velocity difference, motor inertia, and the input torque. An estimated torque error is then calculated from the estimated coupling torque value and the coupling torque value, and inertia, friction, and a spring constant are estimated from the estimated torque error, the velocity, and the coupling torque value.
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Inventors:
Naoto Sonoda
Yukio Toyosawa
Yukio Toyosawa
Application Number:
JP2012118693A
Publication Date:
June 12, 2013
Filing Date:
May 24, 2012
Export Citation:
Assignee:
FANUC Corporation
International Classes:
H02P29/00; G05D3/12
Domestic Patent References:
| JP2011072178A | ||||
| JP2009303432A |
Attorney, Agent or Firm:
Aiwa Patent Business Corporation