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. 18, 2004
Filed:
Aug. 02, 2002
Kei Terada, Tokyo, JP;
Mitsubishi Denki Kabushiki Kaisha, Tokyo, JP;
Abstract
An acceleration signal generating portion inputs a machine velocity vm of a drive machine and outputs an acceleration signal af of low frequency. Also, a pseudo torque signal generating portion inputs a torque command &tgr;r, removes the noise, and outputs a pseudo torque signal &tgr;f of low frequency. Also, a torque error signal calculating portion subtracts a product of the acceleration signal af and a previous mechanical constant estimated value Je(k−1) calculated in a multiplication circuit from the pseudo torque signal &tgr;f of low frequency, and outputs a torque error signal &tgr;err as a disturbance torque estimated value &tgr;d0. Also, a mechanical constant estimation gain portion estimates the mechanical constant by inputting a torque error derivative signal d&tgr;err that is generated by torque error derivative signal generating portion by inputting a torque error signal &tgr;err. Also, a mechanical constant estimation gain portion starts or stops to update the mechanical constant estimating operation, based on a disturbance torque estimated value &tgr;d0, or alters the mechanical constant estimation gain. Also, a mechanical constant estimated value operating portion adds the previous mechanical constant estimated value Je(k−1) to the error output from the mechanical constant estimation gain portion , and outputs the mechanical constant estimated value Je(k).