Patent ID: 11931897
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. A torque estimation system for estimating friction torque of a rotation mechanism comprising:
an angular velocity sensor configured to detect an angular velocity of the rotation mechanism; and
a limit value setting unit configured to set an upper limit value and a lower limit value according to the angular velocity of the rotation mechanism detected by the angular velocity sensor, the upper limit value and the lower limit value limiting an upper limit and a lower limit, respectively, of the friction torque of the estimated friction torque,
wherein the limit value setting unit further sets the upper limit value and the lower limit value based on at least a model based on Coulomb friction and viscous friction, a measurement error of the angular velocity sensor, and the angular velocity of the rotation mechanism.