US 11,750,133 B2
External force estimation during motor control
Keita Shimamoto, Fukuoka (JP); and Tsuyoshi Yokoya, Fukuoka (JP)
Filed by KABUSHIKI KAISHA YASKAWA DENKI, Fukuoka (JP)
Filed on Jan. 13, 2022, as Appl. No. 17/574,581.
Application 17/574,581 is a continuation of application No. PCT/JP2020/014290, filed on Mar. 27, 2020.
Claims priority of provisional application 62/940,912, filed on Nov. 27, 2019.
Claims priority of application No. PCT/JP2019/028261 (WO), filed on Jul. 18, 2019.
Prior Publication US 2023/0006590 A1, Jan. 5, 2023
Int. Cl. H02P 23/14 (2006.01)
CPC H02P 23/14 (2013.01) 20 Claims
OG exemplary drawing
 
1. A control system comprising:
a motor configured to power a driven object; and
circuitry configured to:
generate a first driving force command to drive the motor during a first control;
estimate a first force acting on the motor during the first control based, at least in part, on the first driving force command;
generate a second driving force command to drive the motor during a second control after the first control;
estimate a second force acting on the motor during the second control based, at least in part, on the second driving force command; and
estimate an external force acting on the driven object during the second control based, at least in part, on a comparison between the first force and the second force.