Patent ID: 9533666
Date: 2017-01-03
CPC Classifications: B60T

Claim:
1. A system for calculating observed applied force, comprising: a current sensor, in communication with a controller; a position sensor, in communication with the controller and configured to measure a rotational speed of a motor shaft; and a tangible, non-transitory memory configured to communicate with the controller, the tangible, non-transitory memory having instructions stored thereon that, in response to execution by the controller, cause the controller to perform operations comprising: receiving, by the controller, a motor current from the current sensor at a first time; calculating, by the controller, a first electromagnetic torque; calculating, by the controller, a first flywheel angular velocity; receiving, by the controller, a motor shaft angular velocity from the position sensor at a second time; subtracting, by the controller, the first flywheel angular velocity and the motor shaft angular velocity received at the second time to obtain a first angular velocity difference; calculating, by the controller, a first observed disturbance torque; and calculating, by the controller, a first observed applied force.