LOAD CHARACTERISTIC ESTIMATING APPARATUS FOR DRIVING MACHINE

摘要

A load characteristic estimating apparatus for a driving machine includes an action-command generating unit for generating an action command for a position and speed of a driving machine, a driving-force-command generating unit for generating a driving force command to cause an action of the driving machine to follow the action command, a driving unit for generating driving force corresponding to the driving force command and drive the driving machine, a sign determining unit for determining, based on driving speed of the driving machine, the state of the driving machine, a load-driving-force estimating unit for calculating, based on the driving force command, a load driving force signal, and a normal reverse-rotation-average calculating unit and a reverse-rotation-average calculating unit, configured to calculate a sequential average of the load driving force signal, respectively when the determination result is a normal and reverse rotation action.

主权项

1: A load characteristic estimating apparatus for a driving machine comprising:
an action-command generating unit configured to generate an action command including a command for an action for a position of the driving machine and a command for an action for speed of the driving machine; a driving-force-command generating unit configured to generate a driving force command to cause an action of the driving machine to follow the action command; a driving unit configured to generate driving force corresponding to the driving force command and drive the driving machine; a sign determining unit configured to determine, based on driving speed of the driving machine, in which state among a normal rotation action state, a reverse rotation action state, and a stop state the driving machine is; a load-driving-force estimating unit configured to calculate, based on the driving force command or a signal representing the driving force, a load driving force signal, which is an estimated value of load driving force applied to the driving machine; a normal-rotation-load calculating unit configured to calculate a sequential average of the load driving force signal when a result of the determination of the sign determining unit is the normal rotation action state; and a reverse-rotation-load calculating unit configured to calculate a sequential average of the load driving force signal when the result of the determination of the sign determining unit is the reverse rotation action state, a normal-rotation-speed calculating unit configured to calculate a sequential average of the driving speed when the result of the determination of the sign determining unit is the normal rotation action state; and a reverse-rotation-speed calculating unit configured to calculate a sequential average of the driving speed when the result of the determination of the sign determining unit is the reverse rotation action state.