The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 13, 2003
Filed:
Jun. 07, 2000
Sumitomo Heavy Industries, Ltd., Tokyo, JP;
Abstract
A discrete Kalman filter and a disturbance estimating unit are added to a feedback loop for feeding back a detected value of position from a position detector The Kalman filter estimates position and velocity of an object to be controlled, thereafter outputting an estimated value of position and an estimated value of velocity. The disturbance estimating unit estimates from a command value of current and the estimated value of velocity the disturbance that is added to a load The estimated value of position is fed back to a position controller and the estimated value of velocity is fed back to a velocity controller Further, a difference between a target value of current outputted from the velocity controller and the estimated value of disturbance is output as the command value of current.