Method and apparatus for estimating the force generated by a motor as a function of an external load imposed thereon

Claim 1

An apparatus for estimating a force generated by a motor as a result of an external load being imposed thereon, said estimated force being exclusive of dynamic and frictional forces in said motor, the apparatus comprising: a. a first transducer coupled to the motor for producing a first input signal representing a total force generated by said motor; b. a second transducer coupled to the motor for producing a second input signal representing a motor velocity; and c. a transfer function circuit having inputs responsive to the first input signal and the second input signal, said transfer function circuit including: 1. a first circuit having a first input responsive to the first input signal and a second input and producing an output signal representing an algebraic sum of said first and second inputs, 2. a second circuit for modifying the output signal as a function of the dynamic and frictional forces in the motor to produce a controlled output signal, and 3. a third circuit for algebraically summing the controlled output signal with the second input signal and producing a resultant output signal, said resultant output signal being connected to the second input and produced from the transfer function circuit as a signal representing an estimate of the force generated by the motor as a result of an external load being applied thereon.

Claim 2

An apparatus for estimating a force generated by a motor as a result of an external load being imposed thereon, said estimated force being exclusive of dynamic and frictional forces in said motor, the apparatus comprising: a. a first transducer coupled to the motor for producing a first input signal representing a total force generated by said motor; b. a second transducer coupled to the motor for producing a second input signal representing a motor velocity; and c. a transfer function circuit having inputs responsive to the first input signal and the second input signal, said transfer function circuit including: 1. a first circuit having a first input responsive to the first input signal and a second input and producing an output signal representing an algebraic sum of said first and second inputs, 2. a second circuit for modifying the output signal as a function of the dynamic and frictional forces in the motor to produce a controlled output signal, and 3. a third circuit for algebraically summing the controlled output signal with the second input signal and producing a resultant output signal, said resultant output signal being connected to the second input and produced from the transfer function circuit as a signal representing an estimate of the force generated by the motor as a result of an external load being applied thereon.

Claim 5

An apparatus for estimating a force generated by a motor as a result of an external load being imposed thereon, said estimated force being exclusive of dynamic and frictional forces in said motor, the apparatus comprising: a. a first transducer coupled to the motor for producing a first input signal having a magnitude representing a total force generated by said motor; b. a second transducer coupled to the motor output for producing a second input signal representing an output velocity of the motor; c. a transfer function circuit having a first input responsive to the first input signal and a second input, said transfer function circuit modifying an algebraic sum of the inputs as a function of the dynamic and friction forces in the motor and producing a controlled output signal; d. a summing network responsive to the second input signal and the controlled output signal for algebraically summing the second input signal with the controlled output signal and producing a first output signal; and e. a multiplier responsive to the first output signal and having an output connected to the second input of the transfer function circuit, said multiplier producing a feedback signal representing an estimate of the force generated by the motor as a function of a load applied thereon.

Claim 6

An apparatus for estimating a force generated by a motor as a result of an external load being imposed thereon, said estimated force being exclusive of dynamic and frictional forces in said motor, the apparatus comprising: a. a first transducer coupled to the motor for producing a first input signal having a magnitude representing a total force generated by said motor; b. a second transducer coupled to the motor output for producing a second input signal representing an output velocity of the motor; c. a transfer function circuit having a first input responsive to the first input signal and a second input, said transfer function circuit modifying an algebraic sum of the inputs as a function of the dynamic and friction forces in the motor and producing a controlled output signal; d. a summing network responsive to the second input signal and the controlled output signal for algebraically summing the second input signal with the controlled output signal and producing a first output signal; and e. a multiplier responsive to the first output signal and having an output connected to the second input of the transfer function circuit, said multiplier producing a feedback signal representing an estimate of the force generated by the motor as a function of a load applied thereon.

Claim 11

An apparatus for estimating a force generated by a motor as a function of an external load being applied thereon, said estimated force being exclusive of inertial and frictional forces in said motor, the apparatus comprising: a. a summing junction having a plurality of junction inputs and producing a junction output signal representing an algebraic sum of said inputs; b. a first transducer coupled to the motor and having an output connected to one of the junction inputs, said output supplying a signal representing a total force supplied by the motor; c. a transfer function circuit having an input responsive to the junction output signal for modifying said signal as an inverse function of the inertia of said motor and integrating the modified signal to produce a controlled output signal; d. a first feed back loop responsive to the controlled output signal and connected to a second junction input for modifying the controlled output signal as a function of frictional losses in the motor; e. a velocity transducer coupled to the motor output for producing a second input signal representing an output velocity of the motor; an f. a second feedback loop comprising

Claim 12

An apparatus for estimating a force generated by a motor as a function of an external load being applied thereon, said estimated force being exclusive of inertial and frictional forces in said motor, the apparatus comprising: a. a summing junction having a plurality of junction inputs and producing a junction output signal representing an algebraic sum of said inputs; b. a first transducer coupled to the motor and having an output connected to one of the junction inputs, said output supplying a signal representing a total force supplied by the motor; c. a transfer function circuit having an input responsive to the junction output signal for modifying said signal as an inverse function of the inertia of said motor and integrating the modified signal to produce a controlled output signal; d. a first feed back loop responsive to the controlled output signal and connected to a second junction input for modifying the controlled output signal as a function of frictional losses in the motor; e. a velocity transducer coupled to the motor output for producing a second input signal representing an output velocity of the motor; an f. a second feedback loop comprising

Claim 16

An apparatus for estimating a force generated by a motor as a function of an external load being imposed thereon through a power transmission, said estimated force being exclusive of inertial and frictional forces in said motor and power transmission means, the apparatus comprising: a. a summing junction having a plurality of junction inputs and producing a junction output signal representing an algebraic sum of said inputs; b. a first transducer coupled to the motor and having an output coupled to a first junction input, said output supplying a signal representing a total force supplied by the motor; c. a transfer function circuit responsive to the junction output signal for reducing said signal as an inverse function of the inertia of said motor and power transmission means to produce a modified signal and integrating the modified signal to produce a controlled output signal. d. a feedback loop responsive to the controlled output signal and connected to a second junction input for reducing the controlled output signal as a function of frictional losses in the motor and power transmission means; e. second transducer coupled to the motor output for producing a velocity input signal representing an output velocity of the motor; f. a second feedback loop comprising:

Claim 17

An apparatus for estimating a force generated by a motor as a function of an external load being imposed thereon through a power transmission, said estimated force being exclusive of inertial and frictional forces in said motor and power transmission means, the apparatus comprising: a. a summing junction having a plurality of junction inputs and producing a junction output signal representing an algebraic sum of said inputs; b. a first transducer coupled to the motor and having an output coupled to a first junction input, said output supplying a signal representing a total force supplied by the motor; c. a transfer function circuit responsive to the junction output signal for reducing said signal as an inverse function of the inertia of said motor and power transmission means to produce a modified signal and integrating the modified signal to produce a controlled output signal. d. a feedback loop responsive to the controlled output signal and connected to a second junction input for reducing the controlled output signal as a function of frictional losses in the motor and power transmission means; e. second transducer coupled to the motor output for producing a velocity input signal representing an output velocity of the motor; f. a second feedback loop comprising:

Claim 19

A method for estimating a force developed by a motor as a function of an external load applied thereon exclusive of dynamic and frictional forces in the motor, the method comprising: a. generating a first input signal proportional to a total force developed by said motor; b. algebraically summing the first input signal and a second signal and producing a first output signal; c. modifying the first output signal as a function of the dynamic and frictional forces within the motor and producing an attenuated output signal; d. integrating the attenuated output signal and producing a controlled output signal; e. generating a velocity signal representing an output motor velocity; f. algebraically summing the controlled output signal and the velocity signal to produce the second signal representing the force developed by the motor as a function of the external load applied thereon.

Claim 20

A method for estimating a force developed by a motor as a function of an external load applied thereon exclusive of dynamic and frictional forces in the motor, the method comprising: a. generating a first input signal proportional to a total force developed by said motor; b. algebraically summing the first input signal and a second signal and producing a first output signal; c. modifying the first output signal as a function of the dynamic and frictional forces within the motor and producing an attenuated output signal; d. integrating the attenuated output signal and producing a controlled output signal; e. generating a velocity signal representing an output motor velocity; f. algebraically summing the controlled output signal and the velocity signal to produce the second signal representing the force developed by the motor as a function of the external load applied thereon.

Claim 21

A method for estimating a force developed by a motor as a function of an external load applied thereon exclusive of dynamic and frictional forces in the motor, the method comprising: a. generating a first input signal proportional to a total force developed by said motor; b. algebraically summing the first input signal and a secOnd signal to produce a first output signal; c. integrating said first output signal to produce a second output signal; d. modifying the second output signal in a manner inversely proportional to dynamic forces in said motor to produce a controlled output signal; e. reducing the controlled output signal in direct proportions to the frictional losses in the motor; f. generating a velocity signal representing an output motor velocity; g. algebraically summing the controlled output signal and the velocity signal to produce the second signal representing an estimated load force signal proportional to the force developed by the motor as a function of an external load applied thereon.

Claim 22

A method for estimating a force developed by a motor as a function of an external load applied thereon exclusive of dynamic and frictional forces in the motor, the method comprising: a. generating a first input signal proportional to a total force developed by said motor; b. algebraically summing the first input signal and a secOnd signal to produce a first output signal; c. integrating said first output signal to produce a second output signal; d. modifying the second output signal in a manner inversely proportional to dynamic forces in said motor to produce a controlled output signal; e. reducing the controlled output signal in direct proportions to the frictional losses in the motor; f. generating a velocity signal representing an output motor velocity; g. algebraically summing the controlled output signal and the velocity signal to produce the second signal representing an estimated load force signal proportional to the force developed by the motor as a function of an external load applied thereon.

Claim 23

A method for estimating a force developed by a motor as a function of an external load applied thereon exclusive of inertial forces coulomb frictional losses and viscous frictional losses in the motor, the method comprising: a. generating an input signal proportional to a total force developed by said motor; b. producing a first signal having a magnitude inversely proportional to the inertial forces of the motor; c. producing a second signal having a magnitude proportional to the coulomb frictional losses of the motor; d. producing a third signal having a magnitude proportional to the viscous frictional losses of the motor; e. summing the input signal, the first signal, the second signal, the third signal and a fourth signal to produce a modified input signal; f. integrating the modified input signal to produce a controlled output signal; g. generating a velocity signal representing an output motor velocity; h. summing the controlled output signal with the velocity signal to produce the fourth signal, said fourth signal representing the estimated load force which is the force generated by the motor as a function of the external load applied thereon.

Claim 24

A method for estimating a force developed by a motor as a function of an external load applied thereon exclusive of inertial forces coulomb frictional losses and viscous frictional losses in the motor, the method comprising: a. generating an input signal proportional to a total force developed by said motor; b. producing a first signal having a magnitude inversely proportional to the inertial forces of the motor; c. producing a second signal having a magnitude proportional to the coulomb frictional losses of the motor; d. producing a third signal having a magnitude proportional to the viscous frictional losses of the motor; e. summing the input signal, the first signal, the second signal, the third signal and a fourth signal to produce a modified input signal; f. integrating the modified input signal to produce a controlled output signal; g. generating a velocity signal representing an output motor velocity; h. summing the controlled output signal with the velocity signal to produce the fourth signal, said fourth signal representing the estimated load force which is the force generated by the motor as a function of the external load applied thereon.