JPH1183647A - Load estimating device - Google Patents
Load estimating deviceInfo
- Publication number
- JPH1183647A JPH1183647A JP25748897A JP25748897A JPH1183647A JP H1183647 A JPH1183647 A JP H1183647A JP 25748897 A JP25748897 A JP 25748897A JP 25748897 A JP25748897 A JP 25748897A JP H1183647 A JPH1183647 A JP H1183647A
- Authority
- JP
- Japan
- Prior art keywords
- load
- acceleration
- measured
- change
- load estimating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、使用状況によって
変化する負荷量の値を簡便な操作で検出可能とした負荷
推定装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load estimating apparatus capable of detecting a value of a load that changes depending on a use condition by a simple operation.
【０００２】[0002]
【従来の技術】従来、外部負荷を取り付ける位置決め装
置などにおいて、精度良くかつ安定して位置決め又は速
度制御を行うためには、トルク定数や負荷の大きさなど
の物理情報が不可欠である。トルク定数は設計上のパラ
メータにより正確な値を知ることが可能であり、使用す
る状況で変化することはないが、負荷量は装置に取り付
ける際の治具などによってその値が変化し易い。一般的
に、この負荷量の値は被測定負荷の形状や材質密度から
計算により求めている。2. Description of the Related Art Conventionally, in a positioning device to which an external load is attached, physical information such as a torque constant and a magnitude of a load is indispensable for accurate and stable positioning or speed control. The exact value of the torque constant can be known from the design parameters and does not change depending on the use condition, but the value of the load amount tends to change depending on a jig or the like when the device is mounted on the device. Generally, the value of the load is obtained by calculation from the shape and material density of the load to be measured.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら上述の従
来例においては、複数の材質を使用した負荷や、形状が
複雑な負荷の場合には計算が困難になり、また負荷を装
置に取り付ける際にねじなどを使用した場合には、その
計算値を修正しなければならないという問題がある。However, in the above-mentioned conventional example, it is difficult to calculate a load using a plurality of materials or a load having a complicated shape. When using such a method, there is a problem that the calculated value must be corrected.
【０００４】本発明の目的は、上述の問題点を解消し、
固定方法にも拘らず、かつ複雑な計算を必要とせずに、
使用状態での外部負荷の負荷量を求めることができる負
荷推定装置を提供することにある。An object of the present invention is to solve the above-mentioned problems,
Despite the fixing method and without the need for complicated calculations,
It is an object of the present invention to provide a load estimating device capable of obtaining a load amount of an external load in a use state.
【０００５】[0005]
【課題を解決するための手段】上記目的を達成するため
の本発明に係る負荷推定装置は、駆動機構と、該駆動機
構の変位量を検出する位置検出機構とから成る負荷推定
装置において、負荷量が既知の負荷を取り付けた場合と
負荷量が未知の被測定負荷を取り付けた場合に、同一条
件で前記駆動機構を駆動し、該駆動機構の変位量を前記
位置検出機構により検出し、前記変位量の変化の差から
前記被測定負荷の値を求めることを特徴とする。According to another aspect of the present invention, there is provided a load estimating apparatus including a driving mechanism and a position detecting mechanism for detecting a displacement of the driving mechanism. When a load with a known amount is attached and when a load to be measured is attached with an unknown load amount, the drive mechanism is driven under the same conditions, and the displacement of the drive mechanism is detected by the position detection mechanism. The value of the load to be measured is obtained from a difference between changes in the displacement amount.
【０００６】[0006]
【発明の実施の形態】本発明を図示の実施例に基づいて
詳細に説明する。図１は第１の実施例の負荷推定装置の
構成図を示し、モータ等の回転駆動器１には負荷イナー
シャ２が着脱自在に取り付けられており、回転駆動器１
には駆動手段３の出力が接続されている。負荷イナーシ
ャ２の回転角度を検出する回転角度検出機構４の出力は
演算装置５に接続され、演算装置５の出力は信号波形計
測器６に接続されている。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail with reference to the illustrated embodiment. FIG. 1 shows a configuration diagram of a load estimating apparatus according to a first embodiment. A load drive 2 such as a motor has a load inertia 2 detachably attached thereto.
Is connected to the output of the driving means 3. The output of the rotation angle detection mechanism 4 that detects the rotation angle of the load inertia 2 is connected to a calculation device 5, and the output of the calculation device 5 is connected to a signal waveform measuring device 6.
【０００７】負荷量が既知の負荷イナーシャ２を回転駆
動器１に取り付け、駆動手段３から一定の駆動信号S1を
入力して、一定トルクで一定時間、回転駆動器１を駆動
する。このとき、負荷イナーシャ２の回転角度S2を回転
角度検出機構４により検出し、演算装置５へ回転角度信
号S3を出力する。演算装置５はこの回転角度信号S3から
回転角速度を演算し、回転角速度信号S4を信号波形測定
器６に出力する。そして、信号波形測定器６において、
この回転角速度信号S4の加速時の変化率の平均値を演算
する。この回転角速度信号S4の変化は回転角加速度に比
例する。A load inertia 2 having a known load amount is attached to the rotary drive 1, and a constant drive signal S1 is input from the drive means 3 to drive the rotary drive 1 with a constant torque for a fixed time. At this time, the rotation angle S2 of the load inertia 2 is detected by the rotation angle detection mechanism 4, and a rotation angle signal S3 is output to the arithmetic unit 5. The arithmetic unit 5 calculates the rotational angular velocity from the rotational angle signal S3, and outputs the rotational angular velocity signal S4 to the signal waveform measuring device 6. Then, in the signal waveform measuring device 6,
The average value of the rate of change of the rotation angular velocity signal S4 during acceleration is calculated. This change in the rotational angular velocity signal S4 is proportional to the rotational angular acceleration.
【０００８】次に、負荷量が未知の被測定負荷イナーシ
ャ２’を回転駆動器１に取り付け、上述と同一条件で駆
動した場合の回転角速度信号S4’の変化を、信号波形測
定器６により測定する。既知と未知の負荷イナーシャ
２、２’の回転角速度信号S4、S4’の変化を比較して、
被測定負荷イナーシャ２’の負荷量を推定する。即ち、
未知の負荷イナーシャ２’は回転角速度信号S4’の変化
から次のようにして推定する。Next, a change in the rotational angular velocity signal S4 'when the load inertia 2' to be measured whose load is unknown is attached to the rotary driver 1 and driven under the same conditions as described above is measured by the signal waveform measuring device 6. I do. By comparing the change of the rotational angular velocity signals S4, S4 'of the known and unknown load inertia 2, 2',
The load amount of the measured load inertia 2 ′ is estimated. That is,
The unknown load inertia 2 'is estimated as follows from the change in the rotational angular velocity signal S4'.
【０００９】回転系においては次の関係がある。 トルク＝負荷イナーシャ×回転角加速度 …(1) The following relationship exists in the rotating system. Torque = load inertia x rotational angular acceleration ... (1)
【００１０】ここで、回転角加速度は回転角速度の変化
に比例し、トルクが一定であると回転角加速度は負荷イ
ナーシャの大きさに反比例する。Here, the rotational angular acceleration is proportional to the change in the rotational angular velocity, and when the torque is constant, the rotational angular acceleration is inversely proportional to the magnitude of the load inertia.
【００１１】図２は信号波形測定器６の出力のグラフ図
を示し、縦軸は角速度で横軸は時間である。既知の負荷
イナーシャ２の負荷量をJaとし、そのときの回転角速度
の変化をＡとすると、回転駆動器１が駆動中は式(1) に
基づいて角加速度は一定なので、所定時間Ｔの速度変化
分Vaから、回転角加速度Ａは次式により求めることがで
きる。 Ａ＝Va／Ｔ …(2) FIG. 2 is a graph showing the output of the signal waveform measuring device 6, wherein the vertical axis represents angular velocity and the horizontal axis represents time. Assuming that the load amount of the known load inertia 2 is Ja, and the change of the rotational angular velocity at that time is A, the angular acceleration is constant based on the equation (1) while the rotary driver 1 is driven. From the change Va, the rotational angular acceleration A can be obtained by the following equation. A = Va / T (2)
【００１２】また、未知の負荷イナーシャ２’の負荷量
をJbとし、その場合の回転角加速度をＢとすると、Ｂも
Ａと同様の方法で求めることができる。If the load amount of the unknown load inertia 2 'is Jb and the rotational angular acceleration in that case is B, B can be obtained in the same manner as A.
【００１３】従って、回転駆動器１自体が有する負荷イ
ナーシャ２”の負荷量をJmとすると、次の関係が成り立
つ。 （Ja＋Jm）×Ａ＝（Jb＋Jm）×ＢAccordingly, if the load amount of the load inertia 2 ″ of the rotary drive 1 itself is Jm, the following relationship holds: (Ja + Jm) × A = (Jb + Jm) × B
【００１４】これから、未知である負荷イナーシャ２’
の負荷量Jbは、次式により求めることができる。 Jb＝（Ja＋Jm）×（Ａ／Ｂ）−Jm …(3) From now on, the unknown load inertia 2 '
Can be obtained by the following equation. Jb = (Ja + Jm) × (A / B) −Jm (3)
【００１５】図３は第２の実施例の信号波形測定器６の
出力のグラフ図を示し、縦軸は角速度で横軸は時間であ
る。Vmは回転駆動器１を静止状態から一定トルクで一定
時間Ｔだけ駆動させたときの最大速度を示し、回転駆動
器１が駆動中は式(1) に基づいて角加速度は一定なの
で、時間Ｔと最大速度Vmから第１の実施例と同様に回転
角加速度Ａは次式で求めることができる。 Ａ＝Vm／Ｔ …(4) FIG. 3 is a graph showing the output of the signal waveform measuring device 6 of the second embodiment, in which the vertical axis represents angular velocity and the horizontal axis represents time. Vm indicates the maximum speed when the rotary driver 1 is driven from the stationary state with a constant torque for a predetermined time T. When the rotary driver 1 is driven, the angular acceleration is constant based on the equation (1). From the maximum velocity Vm and the maximum velocity Vm, the rotational angular acceleration A can be obtained by the following equation, as in the first embodiment. A = Vm / T (4)
【００１６】また、回転角加速度Ｂも上述と同様にして
求めることができ、これらの回転角加速度Ａ、Ｂから未
知である負荷イナーシャ２’の負荷量Jbを、第１の実施
例と同様に求めることができる。The rotational angular acceleration B can also be obtained in the same manner as described above, and the load Jb of the load inertia 2 'unknown from these rotational angular accelerations A and B can be obtained in the same manner as in the first embodiment. You can ask.
【００１７】図４は第３の実施例の信号波形測定器６の
出力のグラフ図を示し、縦軸は角速度で横軸は時間であ
る。静止摩擦トルクが大きく、回転駆動器１の加速時の
加速度が一定でない場合には、加速終了後の軸受けの摩
擦等によって一定の減速トルクが発生する。従って、減
速時の速度変化に注目し、式(1) から負荷イナーシャ
２’に比例する減速角加速度を求める。即ち、所定時間
Ｔの速度変化分Vaから、未知の負荷イナーシャ２’の負
荷量Jbを第１の実施例と同様にして求めることができ
る。なお、摩擦だけで減速するのではなく、逆方向の駆
動力を加えて減速してもよい。FIG. 4 is a graph showing the output of the signal waveform measuring device 6 of the third embodiment, in which the vertical axis represents angular velocity and the horizontal axis represents time. If the static friction torque is large and the acceleration of the rotary driver 1 during acceleration is not constant, a constant deceleration torque is generated due to the friction of the bearing after the end of acceleration. Therefore, paying attention to the speed change at the time of deceleration, the deceleration angular acceleration proportional to the load inertia 2 'is obtained from the equation (1). That is, the load amount Jb of the unknown load inertia 2 'can be obtained from the speed change amount Va during the predetermined time T in the same manner as in the first embodiment. Instead of decelerating only by friction, deceleration may be performed by applying a driving force in the opposite direction.
【００１８】また、第４の実施例として、回転駆動器１
自体の負荷イナーシャ２”の負荷量Jmが不明な場合に
は、既知の２つの負荷イナーシャ２による角加速度A1、
A2を求めて、次式からJmを求めることができる。 （Ja＋Jm）×A1＝（Jb＋Jm）×A2 …(5) Jm＝（Jb×A2−Ja×A1）／（A1−A2） …(6) As a fourth embodiment, a rotary drive 1
If the load amount Jm of the load inertia 2 ″ itself is unknown, the angular acceleration A1 due to the two known load inertias 2,
By obtaining A2, Jm can be obtained from the following equation. (Ja + Jm) x A1 = (Jb + Jm) x A2 ... (5) Jm = (Jb x A2-Ja x A1) / (A1-A2) ... (6)
【００１９】以上の説明は回転駆動系についてである
が、直線駆動系においても同様の方法で測定することが
でき、直線駆動系においては次の関係がある。力＝重量
×加速度Although the above description is about a rotary drive system, it can be measured in the same manner in a linear drive system, and the following relationship exists in a linear drive system. Force = weight x acceleration
【００２０】ここで、加速度は速度の変化に比例し、力
が一定であると加速度は重量に反比例する。既知の重量
を取り付けた場合と、未知の重量を取り付けた場合と
で、一定のトルクで速度変化を測定し、両者の値から未
知の重量を演算する。Here, the acceleration is proportional to the change in speed, and if the force is constant, the acceleration is inversely proportional to the weight. When a known weight is attached and when an unknown weight is attached, the speed change is measured with a constant torque, and the unknown weight is calculated from the values of both.
【００２１】[0021]
【発明の効果】以上説明したように本発明に係る負荷推
定装置は、既知の負荷を取り付けた場合と未知の被測定
負荷を取り付けた場合で、同一条件で駆動機構を駆動し
たときの位置検出機構の出力の差異から、装置に取り付
けた状態での被測定負荷の負荷量を直接求めることがで
きるので、複雑な計算を必要とせず、簡単な手続きで直
接使用状態での負荷量を知ることができる。As described above, the load estimating apparatus according to the present invention detects a position when a driving mechanism is driven under the same conditions when a known load is mounted and when an unknown load to be measured is mounted. From the difference in the output of the mechanism, the load of the load to be measured in the state where it is attached to the device can be directly calculated, so that it is possible to know the load in the state of use directly by a simple procedure without the need for complicated calculations. Can be.
【図１】第１の実施例の構成図である。FIG. 1 is a configuration diagram of a first embodiment.
【図２】信号波形測定器の出力のグラフ図である。FIG. 2 is a graph showing the output of a signal waveform measuring instrument.
【図３】第２の実施例の信号波形測定器の出力のグラフ
図である。FIG. 3 is a graph showing an output of a signal waveform measuring instrument according to a second embodiment.
【図４】第３の実施例の信号波形測定器の出力のグラフ
図である。FIG. 4 is a graph showing an output of a signal waveform measuring instrument according to a third embodiment.
１ 回転駆動器 ２ 負荷イナーシャ ３ 駆動手段 ４ 回転角度検出機構 ５ 演算装置 ６ 信号波形測定器 DESCRIPTION OF SYMBOLS 1 Rotation drive 2 Load inertia 3 Driving means 4 Rotation angle detection mechanism 5 Arithmetic unit 6 Signal waveform measuring device
Claims (8)
する位置検出機構とから成る負荷推定装置において、負
荷量が既知の負荷を取り付けた場合と負荷量が未知の被
測定負荷を取り付けた場合に、同一条件で前記駆動機構
を駆動し、該駆動機構の変位量を前記位置検出機構によ
り検出し、前記変位量の変化の差から前記被測定負荷の
値を求めることを特徴とする負荷推定装置。1. A load estimating device comprising a driving mechanism and a position detecting mechanism for detecting a displacement of the driving mechanism, wherein a load having a known load is mounted and a load to be measured having an unknown load is mounted. In this case, the drive mechanism is driven under the same condition, the displacement of the drive mechanism is detected by the position detection mechanism, and the value of the load to be measured is obtained from the difference in the change in the displacement. Load estimation device.
た請求項１に記載の負荷推定装置。2. The load estimating device according to claim 1, wherein a driving direction of the driving mechanism is a rotation direction.
た請求項１に記載の負荷推定装置。3. The load estimating device according to claim 1, wherein a driving direction of the driving mechanism is a linear direction.
運動とした請求項１に記載の負荷推定装置。4. The load estimating apparatus according to claim 1, wherein a method of decelerating the driving mechanism after acceleration is free motion.
向の起電力とした請求項１に記載の負荷推定装置。5. The load estimating apparatus according to claim 1, wherein a method of decelerating the driving mechanism after acceleration is an electromotive force in a reverse direction.
化は、加速時の加速度の平均値とした請求項１に記載の
負荷推定装置。6. The load estimating device according to claim 1, wherein the change in the amount of displacement detected by the position detecting mechanism is an average value of acceleration during acceleration.
化は、加速終了後の減速する際の加速度の平均値とした
請求項１に記載の負荷推定装置。7. The load estimating apparatus according to claim 1, wherein the change in the amount of displacement detected by the position detection mechanism is an average value of acceleration at the time of deceleration after the end of acceleration.
化は、加速終了時の最高到達速度とした請求項１に記載
の負荷推定装置。8. The load estimating device according to claim 1, wherein the change in the amount of displacement detected by the position detection mechanism is a maximum arrival speed at the end of acceleration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25748897A JPH1183647A (en) | 1997-09-05 | 1997-09-05 | Load estimating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25748897A JPH1183647A (en) | 1997-09-05 | 1997-09-05 | Load estimating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH1183647A true JPH1183647A (en) | 1999-03-26 |
Family
ID=17306994
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25748897A Pending JPH1183647A (en) | 1997-09-05 | 1997-09-05 | Load estimating device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH1183647A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006204059A (en) * | 2005-01-24 | 2006-08-03 | Fujitsu Ltd | Traveling device |
-
1997
- 1997-09-05 JP JP25748897A patent/JPH1183647A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006204059A (en) * | 2005-01-24 | 2006-08-03 | Fujitsu Ltd | Traveling device |
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