Boots – shoes – and leggings
Patent
1985-02-15
1988-05-17
Lall, Parshotam S.
Boots, shoes, and leggings
318636, 364577, G06F 1546, G05B 1114
Patent
active
047455632
ABSTRACT:
The speed of a motor or a moving body driven by a motor is detected by interpolating by an estimated speed, the speed between pulse signals generated by a pulse generator. The estimated speed is obtained by updating a variable representing the torque disturbance obtained by compensating for a variable representing a motor torque by a variable representing a torque disturbance synchronously with a clock pulse of a predetermined interval, and the initial value of the estimated speed and a compensatory amount of the torque disturbance is updated each time the pulse generator generates a pulse. In the prior art, the mean speed of the present pulse signal section was regarded as the initial value in the immediately following pulse signal section, while in the present invention, the real (spontaneous) speed is obtained when the pulse generator generates a pulse signal, and this real speed is regarded as the initial value of the estimated speed of the immediately following pulse signal section. The real speed can be precisely obtained by utilizing the fact that an error in the interpolated estimated speed can be ascertained by obtaining the amount of change in the variable representing the torque disturbance.
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Kaku Yasuhiko
Kyura Nobuhiro
Juffernbruch Daniel W.
Lall Parshotam S.
Yaskawa Electric Mfg. Co. Ltd.
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