Method for automatically estimating inertia in a mechanical system
AssigneeLinestream Technologies
InventorGang Tian
Life of this patent
Estimating the term…
Abstract
Systems and methods for estimating an inertia and a friction coefficient for a controlled mechanical system are provided. In one or more embodiments, an inertia estimator can generate a torque command signal that varies continuously over time during a testing sequence. The velocity of a motion system in response to the time-varying torque command signal is measured and recorded during the testing sequence. The inertia estimator then estimates the inertia and/or the friction coefficient of the motion system based on the torque command data sent to the motion system and the measured velocity data. In some embodiments, the inertia estimator estimates the inertia and the friction coefficient based on integrals of the torque command data and the velocity data.
Claims20
A method for estimating parameters of a motion system, comprising:
- generating a torque command signal that varies continuously over a time the time range comprising an acceleration phase and a deceleration phase;
- measuring velocity data for a motion device representing a velocity of the motion system over the time range in response to the torque command signal;
- and
- determining an inertia of the motion system based on a product of an integral of the velocity data over the acceleration phase and an integral of the torque command signal over the deceleration phase.
A system for estimating mechanical parameters of a motion system, comprising:
- a memory;
- a processor configured to execute computer-executable components stored on the memory, the computer-executable components comprising:
- a torque command generator configured to generate a torque command signal that varies continuously over time during a testing sequence, the testing sequence comprising an acceleration phase and a deceleration phase;
- a velocity monitoring component configured to obtain velocity data representing a velocity of a motion system over time in response to the torque command signal;
- and
- an inertia component configured to estimate an inertia of the motion system based on a product of an integral of the velocity data over the acceleration phase and an integral of the torque command signal over the deceleration phase.
A non-transitory computer-readable medium having stored thereon computer-executable instructions that, in response to execution, cause a computer system to perform operations, comprising:
- generating a torque command signal that varies continuously over a time interval comprising an acceleration phase and a deceleration phase;
- obtaining velocity data from a controlled mechanical system;
- and
- estimating an inertia of the controlled mechanical system based on a product of an integral of the velocity data over the acceleration phase and an integral of the torque command signal over the deceleration phase.
Dependencies are inferred from the claim text.