Patent US5533166A successfully refreshed from Google Patents.
US5533166A
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Method for calculating speed estimated value in speed control system
Assignee: Meidensha Corp
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Filing: 1995-03-02
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Granted: 1996-07-02
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Expires: 2015-03-02
Abstract
Abstract A method for calculating a speed estimated value in a speed control system, comprises the steps of: (a) storing the number of speed detection pulses obtained at each interval of a speed control process and time that the speed detection pulse was obtained; (b) calculating a detection speed from the number of latest speed detection pulses and its detection time, and the number of the previously stored speed detection pulses and its detection time; (c) executing an averaging process of motor model output corresponding to time that the detection speed was obtained; (d) obtaining a difference between an output obtained at said step (c) and the detection speed; (e) executing a calculation of a load torque estimation by multiplying the difference of the step (d) by an observer gain; (f) executing an estimation of a motor speed for next processing from the difference of the step (d) and a difference between the detection speed and the motor model output; (g) calculating an output of a speed amplifier by constituting the speed amplifier by a proportion element and from a speed estimated value obtained in the step (f); (h) obtaining a torque command by summing the speed amplifier and the load torque estimated value; and (i) outputting the torque command of the step (h) at a start point of the next speed control interval. Therefore, an output time of the torque command becomes clear, and the estimated value of the motor speed at a correct time can be obtained.
Inventors
- 👤 Yasuhiro Yoshida
- 👤 Yasuhiro Yamamoto
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 21:44
CPC Classifications
G; G01; G01P; G01P3/00; G01P3/42; G01P3/44; G01P3/48; G01P3/481; G01P3/489; H; H02; H02P; H02P23/00; H02P23/16; Y; Y10; Y10S; Y10S388/00; Y10S388/90; Y10S388/904; Y10S388/906; Y10S388/923; Y10S388/93
Claims Analysis
Total Claims: 7
Claim 1
Independent Claim
224 words
A method for processing a speed estimating calculation in a speed control system, comprises the steps of: (a) storing the number of speed detection pulses obtained at each interval of a speed control process and time that the speed detection pulses was obtained; (b) calculating a detection speed from the number of latest speed detection pulses and its detection time, and the number of the previously stored speed detection pulses and its detection time; (c) executing an averaging process of motor model output corresponding to time that the detection speed was obtained; (d) obtaining a difference between an output obtained at the step (c) and the detection speed; (e) executing a calculation of a load torque estimation by multiplying the difference of the step (d) by an observer gain; (f) executing an estimation of a motor speed for next control interval from the difference of the step (d) and a difference between the detection speed and the motor model output; (g) calculating an output of a speed amplifier by constituting the speed amplifier by a proportion element and from a speed estimated value obtained in the step (f); (h) obtaining a torque command by summing the speed amplifier and the load torque estimated value; and (i) outputting the torque command of the step (h) at a start point of the next speed control interval.
Claim 2
Independent Claim
224 words
A method for processing a speed estimating calculation in a speed control system, comprises the steps of: (a) storing the number of speed detection pulses obtained at each interval of a speed control process and time that the speed detection pulses was obtained; (b) calculating a detection speed from the number of latest speed detection pulses and its detection time, and the number of the previously stored speed detection pulses and its detection time; (c) executing an averaging process of motor model output corresponding to time that the detection speed was obtained; (d) obtaining a difference between an output obtained at the step (c) and the detection speed; (e) executing a calculation of a load torque estimation by multiplying the difference of the step (d) by an observer gain; (f) executing an estimation of a motor speed for next control interval from the difference of the step (d) and a difference between the detection speed and the motor model output; (g) calculating an output of a speed amplifier by constituting the speed amplifier by a proportion element and from a speed estimated value obtained in the step (f); (h) obtaining a torque command by summing the speed amplifier and the load torque estimated value; and (i) outputting the torque command of the step (h) at a start point of the next speed control interval.
Claim 3
Dependent Claim
124 words
A method as claimed in claim 1, wherein when the speed detection is not obtained in the step (b), a torque command to be outputted at a start of the next interval is obtained by the following steps; (j) calculating a speed estimated value at the next interval from a difference between the previous detected speed and the averaged motor model output corresponding to the previous detected speed and a difference between the previous detected speed and the motor model output, (k) calculating an output of a speed amplifier by constituting the speed amplifier by a proportion element and from the speed estimated value obtained in the step (j), and (1) summing the output of the speed amplifier and the load torque estimated value.
Claim 4
Dependent Claim
44 words
A method as claimed in claim 1, wherein an output of an speed amplifier is calculated by the speed amplifier constituted by a proportional element and an integral element, and is outputted as a torque command at a start time of the next interval.
Claim 5
Dependent Claim
59 words
A method as claimed in claim 1, wherein an output of an speed amplifier is calculated by the speed amplifier constituted by a proportional element and an integral element, and the sum of the output of the speed amplifier and the load torque estimated value is outputted as a torque command at a start time of the next interval.
Claim 6
Dependent Claim
265 words
An estimating system for processing a speed estimating calculation in a speed control system, comprising: a storing means for storing the number of speed detection pulses obtained at each interval of a speed control process and time that the speed detection pulses was obtained; a calculating means for calculating a detection speed from the number of latest speed detection pulses and its detection time, and the number of the previously stored speed detection pulses and its detection time; an averaging means for executing an averaging process of motor model output corresponding to time that the detection speed was obtained; a deviating means for obtaining a difference between an output obtained at said averaging means and the detection speed; a torque estimated value calculating means for executing a calculation of a load torque estimation by multiplying the difference of said deviating means by an observer gain; a motor speed estimated value calculating means for executing an estimation of a motor speed for next processing from the difference of said deviating means and a difference between the detection speed and the motor model output; an amplifier means for calculating an output of a speed amplifier by constituting the speed amplifier by a proportion element and from a speed estimated value obtained by said motor speed estimated value calculating means; a torque command calculating means for obtaining a torque command by summing the speed amplifier and the load torque estimated value; and an torque command outputting means for outputting the torque command of said torque command calculating means at a start point of the next speed control interval.
Claim 7
Dependent Claim
265 words
An estimating system for processing a speed estimating calculation in a speed control system, comprising: a storing means for storing the number of speed detection pulses obtained at each interval of a speed control process and time that the speed detection pulses was obtained; a calculating means for calculating a detection speed from the number of latest speed detection pulses and its detection time, and the number of the previously stored speed detection pulses and its detection time; an averaging means for executing an averaging process of motor model output corresponding to time that the detection speed was obtained; a deviating means for obtaining a difference between an output obtained at said averaging means and the detection speed; a torque estimated value calculating means for executing a calculation of a load torque estimation by multiplying the difference of said deviating means by an observer gain; a motor speed estimated value calculating means for executing an estimation of a motor speed for next processing from the difference of said deviating means and a difference between the detection speed and the motor model output; an amplifier means for calculating an output of a speed amplifier by constituting the speed amplifier by a proportion element and from a speed estimated value obtained by said motor speed estimated value calculating means; a torque command calculating means for obtaining a torque command by summing the speed amplifier and the load torque estimated value; and an torque command outputting means for outputting the torque command of said torque command calculating means at a start point of the next speed control interval.
References Cited (Backward Citations)
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| 3.5 Years (Year 4) | 1999-07-02 | 2000-01-01 | 2000-07-02 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2003-07-02 | 2004-01-01 | 2004-07-02 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2007-07-02 | 2008-01-01 | 2008-07-02 | $7700.00 | Window Closed / Lapsed |