JP2023048255A - Motor control device, motor control method, motor control system, correction information generation device, and correction information generation method - Google Patents

Abstract

To improve the accuracy of removing an error caused by torsion of a power transmission system from rotational angle data acquired by an angle acquisition unit.SOLUTION: A motor control device comprises: a motor drive unit that drives a motor; an angle acquisition unit that acquires rotational angle data of a main spindle of the motor; a torque acquisition unit that acquires torque data of an output shaft of a transmission attached to the main spindle from a torque sensor attached to the output shaft; and a correction unit that corrects the rotational angle data acquired by the angle acquisition unit in accordance with the torque data acquired by the torque acquisition unit.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a motor control device, a motor control method, a motor control system, a correction information generation device, and a correction information generation method.

A motor that provides driving force to a joint of a robot device, a speed reducer that inputs the driving force of the motor and outputs the driving force to the joint, and a motor-side angle detector that detects the rotation angle of the rotation shaft of the motor. a speed reducer-side angle detector that detects the rotation angle of the output shaft of the speed reducer; the difference between the rotation angle of the motor and the speed reducer; and the torque applied to the joint. and storage means for storing correction information, and corrects the driving force to each joint based on the correction information stored in the storage means when performing a plurality of tasks. (See, for example, Patent Document 1).

JP 2019-217592 A

In the above-described technique, the correction amount to be added to the motor angle command value is the difference between the rotation angle of the motor detected by the motor-side angle detector and the rotation angle of the speed reducer detected by the speed reducer-side angle detector. , from the correction information based on the relationship with the torque applied to the joint. However, the above technique is a technique of compensating the angle command value by adding a correction amount obtained using the rotation angle detected by the motor side angle detector to the angle command value. The calculated rotation angle still contains errors due to the torsion of the driveline including the speed reducer.

An object of the present disclosure is to improve the accuracy of removing an error due to the torsion of the power transmission system from the rotation angle data acquired by the angle acquisition unit.

In one aspect of the present disclosure,
a motor driving unit that drives the motor;
an angle acquisition unit that acquires rotation angle data of the main shaft of the motor;
a torque acquisition unit that acquires torque data of the output shaft from a torque sensor attached to the output shaft of the transmission attached to the main shaft;
and a correction unit that corrects the rotation angle data acquired by the angle acquisition unit according to the torque data acquired by the torque acquisition unit.

According to one aspect of the present disclosure, it is possible to improve the accuracy of removing an error due to torsion of the power transmission system from the rotation angle data acquired by the angle acquisition unit.

1 is a diagram illustrating a configuration example of a motor control system according to an embodiment; FIG. 1 is a block diagram showing a configuration example of a controller, which is an example of a motor control device according to an embodiment; FIG. FIG. 4 is a diagram illustrating a spring-mass model of an actuator; FIG. 4 is a diagram illustrating a spring-mass model in a state in which the output shaft of the torque sensor cannot rotate relative to the case of the motor; 7 is a flowchart illustrating a flow for creating a correction formula in a correction information generation phase; FIG. 3 is a diagram illustrating a hysteresis curve defined by a torque Tout and a rotation angle θin, and a correction formula that approximates the hysteresis curve; FIG. 5 is a diagram illustrating a spring-mass model in which the output shaft of the torque sensor is released from a state in which it cannot rotate relative to the case of the motor; FIG. 4 is a diagram for explaining correction of rotation angle data of a main shaft of a motor; FIG. 4 is a diagram for explaining calculation of a rotation angle of an output shaft from which an error due to torsion of the power transmission system is removed; FIG. 10 is a flow chart illustrating an operational flow of an actuator including a correction phase; FIG. It is a conceptual diagram which shows an example of a map.

Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings.

FIG. 1 is a diagram showing a configuration example of a motor control system according to one embodiment. A motor control system 1 shown in FIG. 1 is a system that moves a movable part (not shown) such as a link of a robot by controlling the operation of an actuator 10 that uses a motor 30 as a power source. The motor control system 1 includes an actuator 10 that moves a movable portion (not shown) and a controller 20 that controls the actuator 10 . The actuator 10 has a motor 30 , an encoder 40 , a speed reducer 50 and a torque sensor 60 .

The motor 30 is a servomotor having a main shaft 31 rotated by a drive signal supplied from the controller 20 . Specific examples of the motor 30 include, but are not limited to, a stepping motor.

The encoder 40 detects the rotation angle θin of the main shaft 31 and outputs rotation angle data representing the detected rotation angle. The rotation angle data is also called a motor angle signal. The controller 20 estimates the rotation angle of the output shaft 51 of the speed reducer 50 or the sensor shaft 61 of the torque sensor 60 using the rotation angle data obtained from the encoder 40 that detects the rotation angle of the main shaft 31 of the motor 30 . Therefore, the encoder 40 is preferably a multi-turn absolute encoder capable of detecting rotation angles of 360° or more.

By adopting a multi-turn absolute encoder for the encoder 40, the encoder 40 can be used in common for estimating the rotation angle of the output shaft 51 or the sensor shaft 61 and for controlling the rotation of the motor 30. . By sharing the encoder 40, the size of the actuator 10 can be reduced, and thus the size of the motor control system 1 can be reduced. Moreover, by mounting the encoder 40 on the side opposite to the speed reducer 50 with respect to the motor 30, the peripheral structure of the speed reducer 50 and the torque sensor 60 can be simplified.

Further, by using the encoder 40 as an absolute encoder, the controller 20 can acquire the origin information of the rotation angle of the main shaft 31 from the encoder 40 . Note that the encoder 40 may be an incremental encoder when the controller 20 has a memory for storing rotation angle data.

The reduction gear 50 is an example of a transmission attached to the main shaft 31 of the motor 30 . The speed reducer 50 reduces the speed of the output shaft 51 to a rotational speed lower than that of the main shaft 31 to increase the torque of the output shaft 51 over the torque of the main shaft 31 . The speed reducer 50 has, for example, a speed reduction mechanism such as gears between the main shaft 31 and the output shaft 51 . The speed reducer 50 has an input portion connected to one end of the main shaft 31 and an output shaft 51 connected to the input side of the sensor shaft 61 of the torque sensor 60 .

Torque sensor 60 is attached to output shaft 51 of speed reducer 50 . Torque sensor 60 detects torque Tout of output shaft 51 of speed reducer 50 and outputs torque data representing the detected torque. Torque data is also referred to as reducer output shaft torque signal. The torque sensor 60 has, for example, a sensor shaft 61 having an input side connected to the output shaft 51 and an output side connected to a movable portion (not shown). The sensor shaft 61 is an example of an output shaft of the torque sensor 60 .

The controller 20 is an example of a motor control device that controls driving of the motor 30 . The controller 20 acquires rotation angle data from the encoder 40 and acquires torque data from the torque sensor 60 . The controller 20 outputs drive signals for rotating the main shaft 31 of the motor 30 based on the obtained data.

FIG. 2 is a block diagram showing a configuration example of the controller 20, which is an example of the motor control device according to one embodiment. The controller 20 has a motor drive section 21 , an angle acquisition section 22 , a torque acquisition section 23 , a correction section 24 and a calculation section 25 .

The motor drive unit 21 is a drive unit that drives the motor 30 and outputs a drive signal for rotating the main shaft 31 of the motor 30 . The motor drive unit 21 is, for example, a circuit that generates drive currents to flow through the windings of the motor 30 as drive signals.

The angle acquisition unit 22 acquires rotation angle data of the main shaft 31 from the encoder 40 . The angle acquisition unit 22 supplies the acquired rotation angle data to the correction unit 24 .

The torque acquisition unit 23 acquires torque data of the output shaft 51 from the torque sensor 60 . The torque acquisition unit 23 supplies the acquired torque data to the correction unit 24 .

The corrector 24 corrects the rotation angle data acquired by the angle acquirer 22 according to the torque data acquired by the torque acquirer 23 . An error (torsion angle) due to twisting of the power transmission system including the reduction gear 50 is included in the rotation angle data acquired by the angle acquisition unit 22 . Also, the twist angle changes according to the magnitude of the torque of the output shaft 51 of the speed reducer 50 . Therefore, the correction unit 24 corrects the rotation angle data acquired by the angle acquisition unit 22 according to the torque data acquired by the torque acquisition unit 23, so that the rotation angle data acquired by the angle acquisition unit 22 is , the accuracy of removing errors due to torsion of the driveline is improved.

By correcting the rotation angle data acquired by the angle acquisition unit 22 in this way, the correction unit 24 subtracts the error due to the torsion of the power transmission system from the rotation angle data acquired by the angle acquisition unit 22, Appropriate rotation angle data with reduced error is derived. The error contained in the rotation angle data derived by the correction unit 24 is reduced, and the accuracy of the rotation angle data is improved, thereby improving the accuracy of control using the rotation angle data. For example, the controller 20 rotates the main shaft 31 of the motor 30 with high precision so that the rotation angle correction data, which is data after correction of the rotation angle data acquired by the angle acquisition unit 22, follows the rotation angle command data. You can control it.

For example, the correction unit 24 corrects the rotation angle data acquired by the angle acquisition unit 22 by a correction amount Δ that changes according to the torque data acquired by the torque acquisition unit 23 . The correction amount Δ is, for example, data representing an error due to torsion of the power transmission system including the speed reducer 50, and is, for example, a torsion angle θin_LI described later.

The correction unit 24 may derive the correction amount Δ corresponding to the torque data acquired by the torque acquisition unit 23 based on a predetermined correspondence relationship between the torque data and the correction amount Δ. Correspondence is, for example, a relationship defined by a correction formula or a map. A detailed example will be described later.

The calculation unit 25 divides the post-correction data (rotation angle correction data) of the rotation angle data acquired by the angle acquisition unit 22 by the reduction ratio i of the reduction gear 50 to obtain the output shaft 51 of the reduction gear 50 or A rotation angle θout of the sensor shaft 61 of the torque sensor 60 is calculated. A speed reduction ratio i represents the speed ratio of the speed reducer 50 . In this way, the calculation unit 25 uses the rotation angle correction data with the error reduced to calculate the rotation angle θout. As a result, the error included in the rotation angle θout is reduced, and the calculation accuracy of the rotation angle θout is improved.

By improving the calculation accuracy (estimation accuracy) of the rotation angle θout, the accuracy of the control using the rotation angle θout is improved. For example, the controller 20 can precisely control the rotation of the main shaft 31 of the motor 30 so that the rotation angle θout calculated by the calculator 25 follows the target rotation angle of the movable portion (not shown).

The functions of each part of the controller 20 are implemented by the processor operating according to the programs stored in the memory. The processor is, for example, a CPU (Central Processing Unit). The function of each part of the controller 20 may be realized by FPGA (Field Programmable Gate Array) or ASIC (Application Specific Integrated Circuit). The configuration of each unit of controller 20 may be divided into a plurality of elements.

The technique according to this embodiment is implemented in two phases, a correction information generation phase and a correction phase. In the correction information generation phase, the correction information generation device generates correction information for correcting the rotation angle of the main shaft 31 of the motor 30 based on the rotation angle data and the torque data acquired under predetermined conditions. The correction information generating device may be the controller 20 or a device (not shown) different from the controller 20 (such as a computer). The correction information generation device has a configuration similar to that of the angle acquisition section 22 and the torque acquisition section 23 . The function of each part of the correction information generation device may be realized in the same way as the controller 20, and is realized, for example, by the processor operating according to the program stored in the memory.

The correction information generation phase is performed at least once, for example, before the actuator 10 starts operating. The correction information generation device includes a correction unit that generates correction information for correcting the rotation angle data acquired by the angle acquisition unit 22 according to the torque data acquired by the torque acquisition unit 23 in the correction information generation phase. Prepare. In the correction phase, the controller 20 corrects the rotation angle data acquired by the angle acquisition section 22 according to the torque data acquired by the torque acquisition section 23 based on the correction information generated by the correction section.

The correction information generated by the correction unit derives a correction amount Δ used for correcting the rotation angle data acquired by the angle acquisition unit 22 according to the torque data acquired by the torque acquisition unit 23, for example. It is information for The correction information is, for example, a correspondence relationship between the torque data and the correction amount Δ, more specifically, a relationship determined by a correction formula or map. A detailed example will be described later.

In the correction information generation phase, the correction information generation device generates, for example, a correction formula or a map for correcting the rotation angle data acquired by the angle acquisition unit 22 according to the torque data acquired by the torque acquisition unit 23. Generate correction information.

A spring-mass model is used to describe how the correction information is generated. Replacing the actuator 10 shown in FIG. 1 with the spring-mass model yields the spring-mass model shown in FIG. In the correction information generation phase, the sensor shaft 61 and the case 32 are fixed like the spring-mass model shown in FIG. Sensor shaft 61 is the final output shaft of actuator 10 . The case 32 is a case (housing) of the motor 30 and may be part of the case of the actuator 10 . The sensor shaft 61 is fixed to the fixed portion 71 and the case 32 is fixed to the fixed portion 72 so that the sensor shaft 61 cannot rotate relative to the case 32 .

FIG. 5 is a flowchart illustrating a flow for creating a correction formula in the correction information generation phase. The generation of correction information such as a correction formula or a map is performed by a correction information generation device, for example, may be performed by the correction unit 24 of the controller 20, or may be performed by a correction unit other than the correction unit 24. good.

The correction unit drives the motor 30 in accordance with the drive signal output from the motor drive unit 21 in a fixed state in which the sensor shaft 61 is not relatively rotatable with respect to the case 32, and causes the output shaft 51 of the speed reducer 50 to generate torque. (Step S10). The corrector changes the rotation angle of the main shaft 31 of the motor 30 to change the torque generated in the output shaft 51 . While changing this torque, the correction unit acquires rotation angle data (detection value of rotation angle θin of main shaft 31) by angle acquisition unit 22, and converts torque data (detection value of torque Tout of output shaft 51) into torque. Acquired by the acquisition unit 23 (steps S20, 30).

FIG. 6 is a diagram illustrating a hysteresis curve defined by torque Tout and rotation angle θin, and a correction formula that approximates the hysteresis curve. When the torque generated in the output shaft 51 is changed while the sensor shaft 61 is fixed so as not to rotate relative to the case 32, a hysteresis curve as shown in FIG. 6 is obtained. The correction unit generates a first-order correction formula (θin_LI=K×Tout+B) that approximates the hysteresis curve by regression analysis based on the acquired plurality of coordinate data (θin, Tout) (steps S40, S50). In this case, the correction unit estimates the slope (change rate K) of the first-order correction formula. B is the backlash of the speed reducer 50 and is a predetermined constant. Note that B may be zero. When B is zero, the correction formula is expressed as, for example, "θin_LI=K×Tout".

When the sensor shaft 61 is fixed so as not to rotate relative to the case 32, the rotation angle data (the detected value of the rotation angle θin of the main shaft 31) acquired by the angle acquisition unit 22 is used for the power transmission system including the speed reducer 50. It represents the error due to twist (torsion angle). That is, the above correction formula is an arithmetic formula for estimating the torsion angle θin_LI.

The correction formula (θin_LI=K×Tout+B) has a term including the change rate K and a constant term including the backlash B. The rate of change K represents the rate of change of the rotation angle data with respect to the torque data when the sensor shaft 61 cannot rotate relative to the case 32 . Note that the regression equation that approximates the hysteresis curve is not limited to the primary correction equation, and may be a secondary or higher correction equation.

The correction unit stores the rate of change K calculated in step S50 in a readable manner in the memory of the controller 20 (step S60). The change rate K stored in the memory in the correction information generation phase is used for correcting the rotation angle data acquired by the angle acquisition unit 22 in the correction phase executed after the correction information generation phase.

During operation of the actuator 10 including the correction phase, as shown in FIG. 7, the fixation between the sensor shaft 61 and the case 32 is released, and the sensor shaft 61 is connected to a load such as a movable portion. FIG. 7 is a diagram illustrating a spring-mass model in which the state in which the sensor shaft 61 cannot rotate relative to the case 32 is released.

The motor driving section 21 of the controller 20 drives the motor 30 in a state in which the sensor shaft 61 is released from being unable to rotate relative to the case 32 . The correction unit 24 reads the rate of change K stored in the memory in advance in the correction information creation phase, and converts the torque data (detection value of the torque Tout of the output shaft 51) acquired by the torque acquisition unit 23 to the above correction formula (θin_LI =K×Tout+B), the twist angle θin_LI is estimated (calculated). The correction unit 24 calculates rotation angle correction data θcin (=θin−θin_LI) by subtracting the torsion angle θin_LI from the rotation angle data (the detected value of the rotation angle θin of the main shaft 31) acquired by the angle acquisition unit 22. do. As a result, as shown in FIG. 8, the rotation angle correction data θcin (=θin−θin_LI) from which the error due to the torsion of the power transmission system is removed is calculated.

The calculation unit 25 of the controller 20 calculates the rotation angle θout of the output shaft 51 of the speed reducer 50 or the sensor shaft 61 of the torque sensor 60 by dividing the rotation angle correction data θcin by the reduction ratio i of the speed reducer 50 . As a result, as shown in FIG. 9, the rotation angle θout from which the error due to the torsion of the power transmission system is removed is calculated.

FIG. 10 is a flow chart illustrating the operational flow of the actuator including the correction phase. The motor drive unit 21 of the controller 20 drives the motor 30 in a state in which the sensor shaft 61 is released from being unable to rotate relative to the case 32 (step S110). The correction unit 24 of the controller 20 acquires the backlash B, the rate of change K representing the slope of the correction formula, and the reduction ratio i from the memory (step S120). The correction unit 24 of the controller 20 acquires the rotation angle data (the detected value of the rotation angle θin of the main shaft 31) by the angle acquisition unit 22, and the torque data (the detected value of the torque Tout of the output shaft 51) by the torque acquisition unit 23. (step S130). The order of steps S120 and S130 does not matter.

The calculation unit 25 of the controller 20 calculates the rotation angle θout of the output shaft 51 of the speed reducer 50 or the sensor shaft 61 of the torque sensor 60 by reflecting the data acquired in steps S120 and S130 in the above correction formula. (Step S140). The calculation unit 25 outputs the calculated rotation angle θout to the motor control unit of the controller 20 (step S150). The motor control section controls the rotation of the main shaft 31 of the motor 30 so that the rotation angle θout calculated by the calculation section 25 follows the target rotation angle of the movable section (not shown). This improves the positioning accuracy of the movable portion with respect to the command value (target value).

As described above, the motor control system 1 of this embodiment includes the encoder 40 that detects the rotation angle of the main shaft 31 of the motor 30, the speed reducer 50 that changes the rotational speed of the main shaft 31 of the motor 30, and the and a torque sensor 60 for detecting torque according to the rotation of the speed reducer 50 . With the case 32 and the sensor shaft 61 fixed, the controller 20 outputs rotation angle data representing the rotation angle detected by the encoder 40 during rotation of the main shaft 31 of the motor 30 and the torque sensor 60 at the detection timing of the rotation angle. Acquire torque data representing the torque detected by . Based on these acquired data, the controller 20 generates correction information such as a correction formula for correcting a rotational angle error caused by a predetermined elastic deformation caused by transmission of the rotational force of the main shaft 31 of the motor 30 .

Then, the controller 20 stores correction information such as a correction formula in the memory. The fixation between the case 32 and the sensor shaft 61 is released, and the movable portion is connected to the sensor shaft 61 . In this state, the controller 20 outputs rotation angle data representing the rotation angle detected by the encoder 40 while the main shaft 31 of the motor 30 is rotating, and torque data representing the torque detected by the torque sensor 60 at the detection timing of the rotation angle. and get. The controller 20 calculates the rotation angle correction data θcin based on these acquired data, the correction formula described above, and the backlash B. FIG. The controller 20 also calculates the rotation angle θout of the output shaft 51 or the sensor shaft 61 based on the calculated rotation angle correction data θcin and the reduction ratio i of the speed reducer 50 .

Therefore, according to the present embodiment, the rotation angle correction data θcin and the rotation angle θout in which the torsion error of the power transmission system including the speed reducer 50 is corrected can be obtained. Improves accuracy. As a result, the positioning accuracy of the movable portion connected to the sensor shaft 61 is improved.

Further, in the present embodiment, the correction unit of the correction information generation device generates correction information such as a correction formula or map without using the rotation angle data of the output shaft 51 of the speed reducer 50 . Accordingly, correction information can be generated even in a configuration in which an encoder for detecting the rotation angle of the speed reducer 50 is not installed in the actuator 10 . Also, the correction unit 24 corrects the rotation angle data acquired by the angle acquisition unit 22 without using the rotation angle data of the output shaft 51 of the speed reducer 50 . As a result, the rotation angle data acquired by the angle acquisition unit 22 can be corrected even if the actuator 10 is not provided with an encoder for detecting the rotation angle of the speed reducer 50 . If the encoder for detecting the rotation angle of the speed reducer 50 becomes unnecessary, the size of the actuator 10 can be reduced, for example.

Although the embodiments have been described above, the present invention is not limited to the above embodiments. Various modifications and improvements such as combination or replacement with part or all of other embodiments are possible.

For example, the relational rule between rotation angle data and torque data is not limited to the correction formula described above, and may be defined by a map.

FIG. 11 is a conceptual diagram showing an example of a map. For example, the correction unit of the correction information generating device calculates coefficients such as the slope (rate of change K) of the correction formula for each range of torque data (step S50 in FIG. 5), and calculates the rate of change K for each range of torque data. is stored in the memory (step S60 in FIG. 5). Alternatively, the correction unit of the correction information generating device calculates coefficients such as the slope (rate of change K) of the correction formula for each range of rotation angle data and each range of torque data (step S50 in FIG. 5), and , and coefficients such as the rate of change K for each range of torque data may be stored in the memory (step S60 in FIG. 5).

The correction unit 24 determines coefficients such as the rate of change K corresponding to the rotation angle data acquired by the angle acquisition unit 22 and the torque data acquired by the torque acquisition unit 23 from a map such as that shown in FIG. For example, the correction unit 24 determines that the acquired rotation angle data (detection value of rotation angle θin) is in the range of θin_1≦θin<θin_1 and the acquired torque data (detection value of torque Tout) is Tout_2≦Tout. <Tout_3, then the rate of change K is determined to be K_23.

Further, the transmission attached to the main shaft of the motor is not limited to a speed reducer, and may be a speed increaser.

1 Motor Control System 10 Actuator 20 Controller 30 Motor 31 Main Shaft 32 Case 40 Encoder 50 Reduction Gear 51 Output Shaft 60 Torque Sensor 61 Sensor Shaft 71, 72 Fixed Part

Claims (20)

a motor driving unit that drives the motor;
an angle acquisition unit that acquires rotation angle data of the main shaft of the motor;
a torque acquisition unit that acquires torque data of the output shaft from a torque sensor attached to the output shaft of the transmission attached to the main shaft;
and a correction unit that corrects the rotation angle data acquired by the angle acquisition unit according to the torque data acquired by the torque acquisition unit. The motor control device according to claim 1, wherein the correction unit corrects the rotation angle data acquired by the angle acquisition unit with a correction amount that varies according to the torque data acquired by the torque acquisition unit. . 3. The motor control device according to claim 2, wherein the correction unit derives the correction amount corresponding to the torque data acquired by the torque acquisition unit based on a correspondence relationship between the torque data and the correction amount. . 4. The motor control device according to claim 3, wherein said correspondence relationship is a relationship defined by a correction formula or a map. 5. The motor according to claim 4, wherein the correction formula includes a rate of change of the rotation angle data with respect to the torque data when the output shaft of the torque sensor cannot rotate relative to the case of the motor. Control device. 6. The motor control device according to claim 4, wherein said correction formula has a term including backlash of said transmission. The motor control device according to any one of claims 1 to 6, wherein the angle acquisition unit acquires the rotation angle data from a multi-turn absolute encoder. The rotation angle of the output shaft of the transmission or the torque sensor is obtained by dividing the rotation angle correction data, which is data after correction of the rotation angle data acquired by the angle acquisition unit, by the gear ratio of the transmission. 8. The motor control device according to any one of claims 1 to 7, further comprising a calculation unit for calculating . The motor control device according to any one of claims 1 to 8, wherein the transmission is a speed reducer. The correction unit corrects the rotation angle data acquired by the angle acquisition unit according to the torque data acquired by the torque acquisition unit without using the rotation angle data of the output shaft of the transmission. 10. The motor control device according to any one of claims 1 to 9, wherein drive the motor,
obtaining rotation angle data of the main shaft of the motor by an angle obtaining unit;
acquiring torque data of the output shaft from a torque sensor attached to the output shaft of the transmission attached to the main shaft;
A motor control method comprising correcting the rotation angle data acquired by the angle acquisition unit according to the torque data acquired from the torque sensor. a motor;
a motor drive unit that drives the motor;
an encoder that outputs rotation angle data of the main shaft of the motor;
a transmission attached to the main shaft;
a torque sensor that outputs torque data of the output shaft of the transmission;
an angle acquisition unit that acquires the rotation angle data;
and a correction unit that corrects the rotation angle data acquired by the angle acquisition unit according to the torque data acquired from the torque sensor. an angle acquisition unit that acquires rotation angle data of the main shaft of the motor;
a torque acquisition unit that acquires torque data of the output shaft from a torque sensor attached to the output shaft of the transmission attached to the main shaft;
A correction information generating device, comprising: a correction unit that generates correction information for correcting the rotation angle data acquired by the angle acquisition unit according to the torque data acquired by the torque acquisition unit. The correction information is information for deriving a correction amount used to correct the rotation angle data acquired by the angle acquisition unit according to the torque data acquired by the torque acquisition unit. 14. The correction information generation device according to claim 13. 15. The correction information generation device according to claim 14, wherein said correction information is a correspondence relationship between said torque data and said correction amount. 16. The correction information generating apparatus according to claim 15, wherein said correspondence relationship is a relationship defined by a correction formula or map. 17. The correction according to claim 16, wherein said correction formula includes a rate of change of said rotation angle data with respect to said torque data in a state in which the output shaft of said torque sensor cannot rotate relative to said motor case. Information generator. The correction information generation device according to any one of claims 13 to 17, wherein said correction section generates said correction information without using rotation angle data of an output shaft of said transmission. 19. The correction information generating device according to any one of claims 13 to 18, wherein said correction unit generates said correction information in a state in which an output shaft of said torque sensor cannot rotate relative to a case of said motor. . Acquiring the rotation angle data of the main shaft of the motor by the angle acquiring unit,
acquiring torque data of the output shaft from a torque sensor attached to the output shaft of the transmission attached to the main shaft;
A correction information generating method for generating correction information for correcting the rotation angle data acquired by the angle acquisition unit according to the torque data acquired from the torque sensor.

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