公开(公告)号：US20210373533A1

公开(公告)日：2021-12-02

申请号：US17031235

申请日：2020-09-24

Applicant: Delta Electronics, Inc.

Inventor： Chia-Yen LEE ,  Yu-Hsiang CHENG ,  Chia-Hui CHEN ,  Ping-Chun TSAI

IPC: G05B19/416 ,  G05B23/02 ,  G05B19/414

Abstract: A method for predicting and compensating frictions of a feed system includes following steps: constantly obtaining current signals and angle-position signals of a motor by a motor driver of a feed system after being activated; calculating frictions of the motor upon each rotating position according to the obtained current signals and angle-position signals and generating multiple records of friction data; creating a friction model according to the multiple records of friction data and the angle-position signals each respectively corresponding to each record of friction data with respect to each rotating position; importing current angle-position signal of the motor to the friction model for predicting a predicted friction; calculating a compensation current based on the predicted friction; and, controlling the motor driver to additionally provide the compensation current to the motor for conquering an upcoming friction of the feed system approximate to the predicted friction.