Patent ID: 9124212
Filing Date: 2015-09-01
Classification: G05B,H02P

Abstract:
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.