发明授权
- 专利标题： Controller of electric motor having function of estimating inertia and friction simultaneously
- 专利标题（中）： 具有同时估计惯性和摩擦功能的电动机控制器
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申请号： US12822269申请日： 2010-06-24
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公开(公告)号： US08232758B2公开(公告)日： 2012-07-31
- 发明人: Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
- 申请人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
- 申请人地址： JP Minamitsuru-gun, Yamanashi
- 专利权人： Fanuc Ltd
- 当前专利权人： Fanuc Ltd
- 当前专利权人地址： JP Minamitsuru-gun, Yamanashi
- 代理机构： Drinker Biddle & Reath LLP
- 优先权： JP2009-197652 20090828
- 主分类号： G05B1/06
- IPC分类号： G05B1/06
摘要：
A controller estimates Coulomb friction itself together with inertia and viscous friction, and reduces the influence of the Coulomb friction on the accuracy of the estimated inertia. In addition, the controller estimates inertia, viscous friction and Coulomb friction simultaneously with sequential adaptation in which a Fourier transformer is not used but an inverse transfer function model is used in order to minimize the estimated error. Data sampled for a predetermined time need not be accumulated, as a result, a large amount of data memory is unnecessary.
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