External force estimation during motor control
OwnerKeita Shimamoto, Tsuyoshi Yokoyainventors
Life of this patent
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Abstract
A control system may include: a motor configured to power a driven object; and circuitry configured to: generate a first driving force command to drive the motor during a first control; estimate a first force acting on the motor during the first control based, at least in part, on the first driving force command; generate a second driving force command to drive the motor during a second control after the first control; estimate a second force acting on the motor during the second control based, at least in part, on the second driving force command; and estimate an external force acting on the driven object during the second control based, at least in part, on a comparison between the first force and the second force.
Claims20
A control system comprising:
- a motor configured to power a driven object;
- and
- circuitry configured to:
- generate a first driving force command to drive the motor during a first control;
- estimate a first force acting on the motor during the first control based, at least in part, on the first driving force command;
- generate a second driving force command to drive the motor during a second control after the first control;
- estimate a second force acting on the motor during the second control based, at least in part, on the second driving force command;
- and
- estimate an external force acting on the driven object during the second control based, at least in part, on a comparison between the first force and the second force.
A control method comprising:
- generating a first driving force command to drive a motor during a first control, wherein the motor is configured to power a driven object;
- estimating a first force acting on the motor during the first control based, at least in part on the first driving force command;
- generating a second driving force command to drive the motor during a second control;
- estimating a second force acting on the motor during the second control based, at least in part on the second driving force command;
- and
- estimating an external force acting on the driven object based, at least in part, on a difference between the first force and the second force.
A non-transitory memory device having instructions stored thereon that, in response to execution by a processing device, cause the processing device to perform operations comprising:
- generating a first driving force command to drive a motor during a first control, wherein the motor is configured to power a driven object;
- estimating a first force acting on the motor during the first control based, at least in part on the first driving force command;
- generating a second driving force command to drive the motor during a second control;
- estimating a second force acting on the motor during the second control based, at least in part on the second driving force command;
- and
- estimating an external force acting on the driven object based, at least in part, on a difference between the first force and the second force.
Dependencies are inferred from the claim text.