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US 11,305,422 B2Granted
Control apparatus and control method
AssigneeSony Corporation
InventorsTakara Kasai, Daisuke Nagao
Life of this patent
Estimating the term…
Abstract
To accurately predict a sensor value even in the case where external force is received. A control apparatus according to the present disclosure includes a prediction section that, in an actuator including a torque sensor that detects torque generated at a driving shaft, and an encoder that detects a rotational angle of the driving shaft, predicts a detection value of the encoder on a basis of a detection value of the torque sensor, or predict the detection value of the torque sensor on a basis of the detection value of the encoder, and a trouble determination section that compares a prediction value predicted by the prediction section with an actually measured value of the torque sensor or the encoder to perform trouble determination on the torque sensor or the encoder.
Claims13
A control apparatus, comprising:
- a prediction section in an actuator, wherein
- the actuator includes a torque sensor that detects torque generated at a driving shaft, and an encoder that detects a rotational angle of the driving shaft, and
- the prediction section is configured to:
- predict a first detection value of the encoder in a next cycle based on a first detection value of the torque sensor and a torque command value in a current cycle, wherein
- the torque command value is based on the detected rotational angle of the driving shaft and the torque generated at the driving shaft, and
- the next cycle is subsequent to the current cycle;
- and
- predict a second detection value of the torque sensor based on a second detection value of the encoder;
- and
- a trouble determination section configured to:
- compare the predicted first detection value of the encoder with a measured value of the encoder to perform trouble determination on the encoder;
- and
- compare the predicted second detection value of the torque sensor with a measured value of the torque sensor to perform trouble determination on the torque sensor.
10 more elements
A control method, comprising:
- predicting, in an actuator including a torque sensor that detects torque generated at a driving shaft, and an encoder that detects a rotational angle of the driving shaft, a first detection value of the encoder in a next cycle based on a first detection value of the torque sensor and a torque command value in a current cycle, wherein
- the torque command value is based on the detected rotational angle of the driving shaft and the torque generated at the driving shaft, and
- the next cycle is subsequent to the current cycle;
- predicting a second detection value of the torque sensor based on a second detection value of the encoder;
- comparing the predicted first detection value of the encoder with a measured value of the encoder to perform trouble determination on the encoder;
- and
- comparing the predicted second detection value of the torque sensor with a measured value of the torque sensor to perform trouble determination on the torque sensor.
4 more elements
A control apparatus, comprising:
- a prediction section, in an actuator including a torque sensor that detects torque generated at a driving shaft, and an encoder that detects a rotational angle of the driving shaft, configured to:
- predict a detection value of the encoder based on a detection value of the torque sensor and a torque command value, or predict a detection value of the torque sensor based on the detection value of the encoder;
- predict angular acceleration of the actuator in a next cycle based on an equation of motion, the torque command value in a current cycle, external force torque in the current cycle, and angular velocity of the actuator in the current cycle, wherein
- the torque command value is based on the detected rotational angle of the driving shaft and the torque generated at the driving shaft,
- the equation of motion defines a relationship between external force generated by the actuator at the driving shaft, the angular velocity of the actuator, and the angular acceleration of the actuator, and
- the next cycle is subsequent to the current cycle;
- and
- predict the detection value of the encoder for each control cycle based on the equation of motion, the torque command value, the angular velocity of the actuator, and the angular acceleration of the actuator;
- and
- a trouble determination section configured to:
- compare the predicted detection value of the encoder with a measured value of the encoder to perform trouble determination on the encoder, or
- compare the predicted detection value of the torque sensor with a measured value of the torque sensor to perform trouble determination on the torque sensor.
9 more elements
A control apparatus, comprising:
- a prediction section, in an actuator including a torque sensor that detects torque generated at a driving shaft, and an encoder that detects a rotational angle of the driving shaft, configured to:
- predict a detection value of the encoder based on a detection value of the torque sensor and a torque command value, or predict a detection value of the torque sensor based on the detection value of the encoder;
- predict external force torque of the actuator in a previous cycle based on an equation of motion, the torque command value in the previous cycle, angular velocity of the actuator in the previous cycle, and angular acceleration of the actuator in a current cycle, wherein
- the torque command value is based on the detected rotational angle of the driving shaft and the torque generated at the driving shaft,
- the equation of motion defines a relationship between the external force torque at the driving shaft, the angular velocity of the actuator, and the angular acceleration of the actuator, and
- the current cycle is subsequent to the previous cycle;
- and
- predict the detection value of the torque sensor for each control cycle based on the equation of motion, the torque command value, the angular velocity of the actuator, and the angular acceleration of the actuator;
- and
- a trouble determination section configured to:
- compare the predicted detection value of the encoder with a measured value of the encoder to perform trouble determination on the encoder, or
- compare the predicted detection value of the torque sensor with a measured value of the torque sensor to perform trouble determination on the torque sensor.
9 more elements
Dependencies are inferred from the claim text.