Method for automatically estimating inertia, coulomb friction, and viscous friction in a mechanical system
US10126202B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Sep 11, 2015 |
| Grant date | Nov 13, 2018 |
| Priority date | — |
| Expiry date | Dec 23, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01N19/02
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Systems and methods for estimating an inertia, a Coulomb friction coefficient, and a viscous friction coefficient for a controlled mechanical system are provided. In one or more embodiments, an inertia and friction estimation system can generate a torque command signal that varies continuously over time during a testing sequence. The velocity of a motion system in response to the time-varying torque command signal is measured and recorded during the testing sequence. The estimation system then estimates the inertia and the friction coefficients of the motion system based on the torque command data sent to the motion system and the measured velocity data. In some embodiments, the estimation system estimates the inertia and the friction coefficients based on integrals of the torque command data and the velocity data.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.