Apparatus for estimating quantity of state relating to motor, and electric tool

摘要

The present application discloses an apparatus including: a motor model that reflects a characteristic of a motor and includes at least inputs pertaining to a first quantity of state and a second quantity of state and an output pertaining to a third quantity of state; a comparator that calculates a difference between the third quantity of state in an actual motor and the third quantity of state output from the motor model; and an amplifier that amplifies an output of the comparator at a predetermined gain. The first quantity of state in the actual motor is input into the motor model as the first quantity of state, and an output of the amplifier is input into the motor model as the second quantity of state. The apparatus then uses the output of the amplifier as an estimated value of the second quantity of state in the actual motor.

主权项

1. An apparatus for estimating a quantity of state relating to a motor, comprising:
a motor model that includes at least inputs comprising a voltage applied to the motor and a torque acting on the motor, and an output comprising a current flowing through the motor; a comparator that calculates a difference between the current in an actual motor and the current output from the motor model; and an amplifier that amplifies an output of the comparator at a predetermined gain, wherein:
the voltage in the actual motor is input into the motor model,the motor model calculates the current output based on the voltage and torque inputs by performing a numerical calculation not including a differentiation operation, andan output of the amplifier is set as an estimated value of the torque in the actual motor and is input into the motor model.