A control apparatus of a machine tool including a feed axis, which is driven by a feed axis motor, includes a load torque estimation unit configured to estimate a load torque acting on a spindle motor, based on a torque command to the spindle motor which drives a spindle axis of the machine tool, and a speed of the spindle motor; and a speed control unit configured to control a speed of a feed axis motor such that the load torque estimated by the load torque estimation unit follows a prescribed load torque target value.

A method and system for operating a vehicle that includes an integrated starter/generator and a driveline disconnect clutch is described. In one example, the method estimates engine torque as a function of engine temperature during cold engine starts so that if an estimate of engine torque is in error, the integrated starter/generator may still successfully start the engine.

A method and system for operating a vehicle that includes an integrated starter/generator and a driveline disconnect clutch is described. In one example, the method estimates engine torque as a function of engine temperature during cold engine starts so that if an estimate of engine torque is in error, the integrated starter/generator may still successfully start the engine.

A control apparatus of a machine tool including a feed axis, which is driven by a feed axis motor, includes a load torque estimation unit configured to estimate a load torque acting on a spindle motor, based on a torque command to the spindle motor which drives a spindle axis of the machine tool, and a speed of the spindle motor; and a speed control unit configured to control a speed of a feed axis motor such that the load torque estimated by the load torque estimation unit follows a prescribed load torque target value.

The invention provides a control device comprising: an actual value obtaining part, obtaining a torque actual value and a velocity actual value, wherein the torque actual value represents a torque generated by the driving source and the velocity actual value represents a velocity of the motion body; an inferring part, which calculates an external force inferred value and a velocity inferred value every other operation period based on the torque actual value by using an operation formula of a predetermined model representing driving of the motion body, wherein the external force inferring value represents an external force generated by the control system; and an output part, evaluating a reliability of the external force inferred value based on the velocity inferred value calculated together if the inferring part calculates the external inferred value, and effectively outputting the external force inferred value when it is judged that there is a designated reliability.

The invention provides a control device comprising: an actual value obtaining part, obtaining a torque actual value and a velocity actual value, wherein the torque actual value represents a torque generated by the driving source and the velocity actual value represents a velocity of the motion body; an inferring part, which calculates an external force inferred value and a velocity inferred value every other operation period based on the torque actual value by using an operation formula of a predetermined model representing driving of the motion body, wherein the external force inferring value represents an external force generated by the control system; and an output part, evaluating a reliability of the external force inferred value based on the velocity inferred value calculated together if the inferring part calculates the external inferred value, and effectively outputting the external force inferred value when it is judged that there is a designated reliability.