CN-115622461-B - External force estimating device, external force estimating method, and non-transitory computer-readable recording medium

Abstract

An external force estimating device, method and non-transitory computer readable recording medium estimate an external force acting on a motor, the external force estimating device including a processor. The processor is configured to calculate an output torque of the motor using a current value supplied to the motor, estimate an inertia torque of the motor using rotational position information of the motor, estimate a1 st friction torque of the motor using rotational position information of the motor, correct a temperature of the 1 st friction torque using temperature information of the motor, and estimate an external force by subtracting the inertia torque and the 1 st friction torque after the temperature correction from the output torque.

Inventors

• TAKADA TARO
• Feather wild display
• MIKAMI NAOKI

Assignees

• 丰田自动车株式会社

Dates

Publication Date

20260508

Application Date

20220624

Priority Date

20210629

Claims (5)

1. 1. An external force estimating device for estimating an external force acting on a motor, the external force estimating device being characterized in that, The device is provided with a processor and is provided with a control unit, The processor may be configured to provide the processor with a memory, Calculating an output torque of the motor using a current value supplied to the motor, The rotational position information of the motor is used to estimate the inertial torque of the motor, Estimating a1 st friction torque of the motor using rotational position information of the motor, Temperature correction is performed on the 1 st friction torque using temperature information of the motor, The motor acts on the load via a gear, The processor may be configured to provide the processor with a memory, Estimating the 2 nd friction torque based on a correspondence relation between a rotation angle of the motor and the 2 nd friction torque varying according to the rotation angle, Estimating the 3 rd friction torque based on a correspondence relationship between a rotation angle of the load and the 3 rd friction torque varying according to the rotation angle, The external force is estimated by subtracting the inertia torque, the 1 st friction torque, the 2 nd friction torque, and the 3 rd friction torque after the temperature correction from the output torque.
2. 2. The external force estimation device according to claim 1, wherein, The 1 st friction torque includes at least one of a coulomb friction torque and a viscous friction torque.
3. 3. The external force estimating device according to claim 1 or 2, characterized in that, The processor is configured to estimate the inertia torque of the motor using a result of the inverse dynamics calculation.
4. 4. An external force estimating method for estimating an external force acting on a motor that operates a load via a gear, the external force estimating method comprising: calculating an output torque of the motor using a current value supplied to the motor; estimating an inertia torque of the motor and a1 st friction torque of the motor using rotational position information of the motor; temperature correction is performed on the 1 st friction torque by using temperature information of the motor; estimating a2 nd friction torque based on a correspondence relation between a rotation angle of the motor and the 2 nd friction torque varying according to the rotation angle; Estimating the 3 rd friction torque based on a correspondence relationship between a rotation angle of the load and the 3 rd friction torque varying according to the rotation angle, and The external force is estimated by subtracting the inertia torque, the 1 st friction torque, the 2 nd friction torque, and the 3 rd friction torque after the temperature correction from the output torque.
5. 5. A non-transitory computer-readable recording medium storing a program that, when executed by a processor of an external force estimating device that estimates an external force acting on a motor that operates a load via a gear, causes the external force estimating device to execute processing, The process comprises: calculating an output torque of the motor using a current value supplied to the motor; estimating an inertia torque of the motor and a1 st friction torque of the motor using rotational position information of the motor; temperature correction is performed on the 1 st friction torque by using temperature information of the motor; estimating a2 nd friction torque based on a correspondence relation between a rotation angle of the motor and the 2 nd friction torque varying according to the rotation angle; Estimating the 3 rd friction torque based on a correspondence relationship between a rotation angle of the load and the 3 rd friction torque varying according to the rotation angle, and The external force is estimated by subtracting the inertia torque, the 1 st friction torque, the 2 nd friction torque, and the 3 rd friction torque after the temperature correction from the output torque.

Description

External force estimating device, external force estimating method, and non-transitory computer-readable recording medium Technical Field The present invention relates to an external force estimating device, an external force estimating method, and a non-transitory computer-readable recording medium. Background In a feedback control system, an interference observer is used to stabilize the control system in order to suppress the influence of interference. For example, japanese patent application laid-open No. 2020-035394 discloses a disturbance observer that calculates a torque constant based on temperature information of a motor, and estimates friction torque and inertia torque generated by coulomb friction, viscous drag based on position information of the motor, thereby estimating a disturbance. Disclosure of Invention In order to smoothly operate a load by a motor, it is necessary to improve the accuracy of motor control. For this reason, it is necessary to accurately estimate the external force acting on the motor. In addition, in order to perform soft control according to the adaptability of the external force, it is also necessary to accurately estimate the external force acting on the motor. However, since the value of friction torque generated by coulomb friction, viscous friction, or the like varies depending on temperature, it is difficult to accurately estimate external force in the method of japanese patent application laid-open No. 2020-035394 using temperature information only for calculation of torque constant. The invention provides an external force estimation device, an external force estimation method, and a non-transitory computer-readable recording medium capable of reducing errors of an estimated external force. An external force estimating device according to an aspect of the present invention estimates an external force acting on a motor, The external force estimating device is provided with a processor, The processor is configured to be configured to, Calculating an output torque of the motor using a current value supplied to the motor, The rotational position information of the motor is used to estimate the inertial torque of the motor, Estimating a1 st friction torque of the motor using rotational position information of the motor, Temperature correction is performed on the 1 st friction torque using temperature information of the motor, The external force is estimated by subtracting the inertia torque and the 1 st friction torque after temperature correction from the output torque. An external force estimating method according to an aspect of the present invention estimates an external force acting on a motor, the external force estimating method including: calculating an output torque of the motor using a current value supplied to the motor; estimating an inertia torque of the motor and a friction torque of the motor using rotational position information of the motor; temperature correction of the estimated friction torque using temperature information of the motor, and The external force is estimated by subtracting the inertia torque and the friction torque after temperature correction from the output torque. A non-transitory computer-readable recording medium according to an aspect of the present invention stores a program, The program, when executed by a processor of an external force estimation device that estimates an external force acting on a motor, causes the external force estimation device to execute: calculating an output torque of the motor using a current value supplied to the motor, Using the rotational position information of the motor to estimate an inertia torque of the motor and a friction torque of the motor, Temperature correction is performed on the estimated friction torque using temperature information of the motor, The external force is estimated by subtracting the inertia torque and the friction torque after temperature correction from the calculated output torque. An external force estimating device according to an aspect of the present invention corrects the temperature of friction torque using temperature information of a motor. In this way, according to the external force estimating device according to an aspect of the present invention, it is possible to correct the fluctuation of the friction torque caused by the temperature change, and it is possible to reduce the error of the estimated external force. According to the present invention, it is possible to provide an external force estimation device, an external force estimation method, and a non-transitory computer-readable recording medium that can reduce an error of an estimated external force. Drawings Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals denote like elements, and in which: fig. 1 is a schematic diagram showing the co