Load characteristic estimating apparatus for driving machine

2-3. (canceled)

4:

• The load characteristic estimating apparatus for the driving machine according to claim 1, wherein
• the normal-rotation-speed calculating unit has a transfer characteristic same as a transfer characteristic of the normal-rotation-load calculating unit, and
• the reverse-rotation-speed calculating unit has a transfer characteristic same as a transfer characteristic of the reverse-rotation load calculating unit.

5:

• The load characteristic estimating apparatus for the driving machine according to claim 1, further comprising an output-result determining unit configured to determine whether each of a set of the average calculated by the normal-rotation load calculating unit and the average calculated by the normal-rotation-speed calculating unit and a set of the average calculated by the reverse-rotation-load calculating unit and the average calculated by the reverse-rotation-speed calculating unit is within a predetermined normal range.

6:

• The load characteristic estimating apparatus for the driving machine according to claim 5, wherein the output-result determining unit sets the predetermined normal range based on two linear expressions indicating relations between the driving speed and the load driving force respectively corresponding to the normal rotation action state and the reverse rotation action state of the driving machine.

8:

• The load characteristic estimating apparatus for the driving machine according to claim 7, further comprising a friction-coefficient estimating unit configured to estimate a coefficient of viscosity and a constant term in a linear expression model of the load driving force by approximating, with two linear expressions representing a relation between the driving speed and the load driving force respectively corresponding to the normal rotation action state and the reverse rotation action state, a set of the sequential average of the load driving force signal and the sequential average of the driving speed calculated for each of the action sections.

10:

• The load characteristic estimating apparatus for the driving machine according to claim 7, wherein the divided-section-average calculating unit sets a transfer characteristic of a calculation for calculating the sequential average of the load driving force signal for each of the action sections and a transfer characteristic of a calculation for calculating the sequential average of the driving speed for each of the action sections to the same transfer characteristic.

12:

• The load characteristic estimating apparatus for the driving machine according to claim 8, wherein the approximation is performed by a method of least squares.

13:

• The load characteristic estimating apparatus for the driving machine according to claim 11, wherein
• the normal-rotation-load calculating unit sets a time constant of a calculation for calculating the sequential average to a value larger than time required by the action command from start to stop, and
• the reverse-rotation-load calculating unit sets a time constant of a calculation for calculating the sequential average to a value larger than time required by the action command from start to stop.

The load characteristic estimating apparatus for the driving machine according to claim 7, wherein the divided-section-average calculating unit sets, based on a result of the determination of the action-section determining unit, a time constant of a calculation for calculating a sequential average of the load driving signal for each of the action sections to a value larger than time required by the action command from start to stop.

15:

• The load characteristic estimating apparatus for the driving machine according to claim 1, wherein
• the normal-rotation-load calculating unit sets a time constant of a calculation for calculating the sequential average to a value larger than time required by the action command from start to stop, and
• the reverse-rotation-load calculating unit sets a time constant of a calculation for calculating the sequential average to a value larger than time required by the action command from start to stop.