# US 2014/0197770 A1 · Load characteristic estimating apparatus for driving machine > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0197770 A1 - Document ID: US20140197770A1 - Status: Published application - Kind: A1 - Application number: 14/115,662 - Filed: 2012-03-27 - Published: 2014-07-17 - Earliest claimed: 2011-05-31 - Assignees: Mitsubishi Electric Corporation - Inventors: Kenji Shimoda; Hidetoshi Ikeda; Hiroyuki Sekiguchi; Takashi Isoda - Web page: https://patentgrep.com/patent/US20140197770A1 ## CPC - H02P 31/00: Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00 - G05B 19/19: characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path - H02P 23/14: Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage - H02P 2205/05: Torque loop, i.e. comparison of the motor torque with a torque reference - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A load characteristic estimating apparatus for a driving machine includes an action-command generating unit for generating an action command for a position and speed of a driving machine, a driving-force-command generating unit for generating a driving force command to cause an action of the driving machine to follow the action command, a driving unit for generating driving force corresponding to the driving force command and drive the driving machine, a sign determining unit for determining, based on driving speed of the driving machine, the state of the driving machine, a load-driving-force estimating unit for calculating, based on the driving force command, a load driving force signal, and a normal reverse-rotation-average calculating unit and a reverse-rotation-average calculating unit, configured to calculate a sequential average of the load driving force signal, respectively when the determination result is a normal and reverse rotation action. ## Claims ### Claim at position 1 1: A load characteristic estimating apparatus for a driving machine comprising: an action-command generating unit configured to generate an action command including a command for an action for a position of the driving machine and a command for an action for speed of the driving machine; a driving-force-command generating unit configured to generate a driving force command to cause an action of the driving machine to follow the action command; a driving unit configured to generate driving force corresponding to the driving force command and drive the driving machine; a sign determining unit configured to determine, based on driving speed of the driving machine, in which state among a normal rotation action state, a reverse rotation action state, and a stop state the driving machine is; a load-driving-force estimating unit configured to calculate, based on the driving force command or a signal representing the driving force, a load driving force signal, which is an estimated value of load driving force applied to the driving machine; a normal-rotation-load calculating unit configured to calculate a sequential average of the load driving force signal when a result of the determination of the sign determining unit is the normal rotation action state; and a reverse-rotation-load calculating unit configured to calculate a sequential average of the load driving force signal when the result of the determination of the sign determining unit is the reverse rotation action state, a normal-rotation-speed calculating unit configured to calculate a sequential average of the driving speed when the result of the determination of the sign determining unit is the normal rotation action state; and a reverse-rotation-speed calculating unit configured to calculate a sequential average of the driving speed when the result of the determination of the sign determining unit is the reverse rotation action state. ### Claim at position 2 2-3. (canceled) ### Claim at position 3 (depends on 1) 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. ### Claim at position 4 (depends on 1) 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. ### Claim at position 5 (depends on 5) 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. ### Claim at position 6 7: A load characteristic estimating apparatus for a driving machine comprising: an action-command generating unit configured to generate an action command including a command for an action for a position of the driving machine and a command for an action for speed of the driving machine; a driving-force-command generating unit configured to generate a driving force command to cause an action of the driving machine to follow the action command; a driving unit configured to generate driving force corresponding to the driving force command and drive the driving machine; a sign determining unit configured to determine, based on driving speed of the driving machine, in which state among a normal rotation action state, a reverse rotation action state, and a stop state the driving machine is; a load-driving-force estimating unit configured to calculate, based on the driving force command for a signal representing the driving force, a load driving force signal, which is an estimated value of load driving force applied to the driving machine; an action-section determining unit configured to determine, based on the driving speed, a result of the determination of the sign determining unit, a first speed threshold in the normal rotation action state of the driving machine, and a second speed threshold in the reverse rotation action state of the driving machine, in which state of a plurality of action sections divided according to a level relation of the driving speed the driving machine is; and a divided-section-average calculating unit configured to calculate, based on a result of the determination of the action-section determining unit, a sequential average of the load driving force signal for each of the action sections and calculate, based on the result of the determination of the action-section determining unit, a sequential average of the driving speed for each of the action sections. ### Claim at position 7 (depends on 7) 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. ### Claim at position 8 (depends on 7) 9: The load characteristic estimating apparatus for the driving machine according to claim 7, further comprising: a normal-rotation-speed calculating unit configured to calculate a sequential average of the driving speed when the result of the determination of the sign determining unit is the normal rotation action state; and a reverse-rotation-speed calculating unit configured to calculate a sequential average of the driving speed when the result of the determination of the sign determining unit is the reverse rotation action state, wherein the average calculated by the normal-rotation-speed calculating unit is set as the first speed threshold, and the average calculated by the reverse-rotation-speed calculating unit is set as the second speed threshold. ### Claim at position 9 (depends on 7) 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. ### Claim at position 10 (depends on 8) 11: The load characteristic estimating apparatus for the driving machine according to claim 8, further comprising: a normal-rotation-load calculating unit configured to calculate a sequential average of the load driving force signal when the result of the determination of the sign determining unit is the normal rotation action state; a reverse-rotation-load calculating unit configured to calculate a sequential average of the load driving force signal when the result of the determination of the sign determining unit is the reverse rotation action state; a normal-rotation-speed calculating unit configured to calculate a sequential average of the driving speed when the result of the determination of the sign determining unit is the normal rotation action state; and a reverse-rotation-speed calculating unit configured to calculate a sequential average of the driving speed when the result of the determination of the sign determining unit is the reverse rotation action state, wherein the friction-coefficient estimating unit further uses, for the estimation of the coefficient of viscosity and the constant term, 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. ### Claim at position 11 (depends on 8) 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. ### Claim at position 12 (depends on 11) 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. ### Claim 14 (depends on 7) 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. ### Claim at position 14 (depends on 1) 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.