# US 2021/0239552 A1 · Data generation device and data generation system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0239552 A1 - Document ID: US20210239552A1 - Status: Published application - Kind: A1 - Application number: 17/052,988 - Filed: 2019-05-07 - Published: 2021-08-05 - Earliest claimed: 2018-05-08 - Assignees: Yokogawa Electric Corporation; Keio University - Applicants: Yokogawa Electric Corporation; Keio University - Inventors: Yuki SAITO; Kouhei OHNISHI; Takahiro NOZAKI - Web page: https://patentgrep.com/patent/US20210239552A1 ## CPC - G01L 5/00: Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes - H02P 23/14: Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage - G01L 3/24: Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity - G05B 11/01: electric - G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G) - 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 data generation device includes: a parameter generator; and a reaction force data generator. The parameter generator generates value data based on a signal having a correlation with a driving force. The parameter generator generates velocity data based on a signal representing a response of a member driven by the driving force. The reaction force data generator generates data of a reaction force received by the member from a predetermined object based on the value data and the velocity data. ## Claims ### Claim 1 A data generation device comprising: a parameter generator configured to generate value data based on a signal having a correlation with a driving force and generate velocity data based on a signal representing a response of a member driven by the driving force; and a reaction force data generator configured to generate data of a reaction force received by the member from a predetermined object based on the value data and the velocity data. ### Claim 2 (depends on 1) The data generation device according to claim 1, the data generation device further comprising: a physical property data generator configured to generate physical property data of the object based on the data of the reaction force. ### Claim 3 (depends on 2) The data generation device according to claim 2, wherein the physical property data generator is configured to generate the physical property data by executing a recursive least squares algorithm based on the velocity data, acceleration data generated based on the signal, position data generated based on the signal, and the data of the reaction force. ### Claim 4 (depends on 2) The data generation device according to claim 2, wherein the physical property data includes any one of an inertia coefficient, a viscosity coefficient, and an elasticity coefficient related to the object. ### Claim 5 (depends on 1) The data generation device according to claim 1, wherein the value data is electric current value data. ### Claim 6 (depends on 1) The data generation device according to claim 1, wherein the velocity data is angular velocity data. ### Claim 7 (depends on 1) The data generation device according to claim 1, wherein the member is a rotating shaft, and wherein the data of the reaction force is data of reaction torque. ### Claim 8 (depends on 1) The data generation device according to claim 1, the data generation device comprising: a storage configured to store any one of internal interference torque related to the driving force, gravity term torque, and a dynamic friction coefficient as a parameter, wherein the reaction force data generator is configured to generate the data of the reaction force based on the value data, a parameter read from the storage, and the velocity data. ### Claim 9 (depends on 8) The data generation device according to claim 8, the data generation device comprising: a storage configured to store an observer gain of the reaction force data generator, wherein the reaction force data generator is configured to derive a first result by multiplying the value data by a torque constant related to the driving force, derive a second result by multiplying the first result by an inertia moment of the member and the observer gain, derive a fourth result by subtracting a third result derived based on the parameter from a result of a sum of the first result and the second result, derive a fifth result by applying a low-pass filter to the fourth result, and derive the data of the reaction force by subtracting the second result from the fifth result. ### Claim 10 (depends on 1) The data generation device according to claim 1, wherein the parameter generator is configured to derive the velocity data by integrating values obtained by subtracting load torque received by the driving force from values obtained by multiplying the value data by a torque constant related to the driving force. ### Claim 11 (depends on 1) The data generation device according to claim 1, wherein the data generation device is configured to transmit the data of the reaction force to a higher-order control device including a controller configured to execute control based on the data of the reaction force. ### Claim 12 A data generation system comprising a data generation device for generating data and a higher-order control device, wherein the data generation device comprise: a parameter generator configured to generate value data based on a signal having a correlation with a driving force and generate velocity data based on a signal representing a response of a member driven by the driving force; a reaction force data generator configured to generate data of a reaction force received by the member from a predetermined object based on the value data and the velocity data; and a first communicator configured to transmit the data of the reaction force and wherein the higher-order control device comprise: a second communicator configured to receive the data of the reaction force; and a controller configured to execute control based on the received data of the reaction force. ### Claim 13 (depends on 12) The data generation system according to claim 12, wherein the controller is configured to output a control signal for stopping the driving force in case that the data of the reaction force converges within a range from a predetermined upper limit to a lower limit. ### Claim 14 (depends on 12) The data generation system according to claim 12, the data generation system comprising: a storage configured to store any one of internal interference torque related to the driving force, gravity term torque, and a dynamic friction coefficient as a parameter, wherein the reaction force data generator is configured to generate the data of the reaction force based on the value data, a parameter read from the storage, and the velocity data. ### Claim 15 (depends on 14) The data generation system according to claim 14, the data generation system comprising: a storage configured to store an observer gain of the reaction force data generator, wherein the reaction force data generator is configured to derive a first result by multiplying the value data by a torque constant related to the driving force, derive a second result by multiplying the first result by an inertia moment of the member and the observer gain, derive a fourth result by subtracting a third result derived based on the parameter from a result of a sum of the first result and the second result, derive a fifth result by applying a low-pass filter to the fourth result, and derive the data of the reaction force by subtracting the second result from the fifth result. ### Claim 16 (depends on 12) The data generation system according to claim 12, wherein the parameter generator is configured to derive the velocity data by integrating values obtained by subtracting load torque received by the driving force from values obtained by multiplying the value data by a torque constant related to the driving force. ### Claim 17 (depends on 12) The data generation system according to claim 12, wherein the data generation device further comprises: a physical property data generator configured to generate physical property data of the object based on the data of the reaction force, wherein the first communicator is configured to transmit the physical property data, wherein the second communicator is configured to receive the physical property data, and wherein the controller is configured to execute control based on the received physical property data. ### Claim 18 (depends on 17) The data generation system according to claim 17, wherein the controller is configured to output a control signal for controlling the driving force so that a difference between the received physical property data and predetermined physical property data is reduced. ### Claim 19 (depends on 17) The data generation system according to claim 17, wherein the physical property data generator is configured to generate the physical property data by executing a recursive least squares algorithm based on the velocity data, acceleration data generated based on a signal representing a response of a member driven by the driving force, position data generated based on a signal representing a response of a member driven by the driving force, and the data of the reaction force. ### Claim 20 (depends on 17) The data generation system according to claim 17, wherein the physical property data includes any one of an inertia coefficient, a viscosity coefficient, and an elasticity coefficient related to the object.