Electromechanical device, movable body, robot, method of measuring temperature of electromechanical device

1. An electromechanical device, comprising:

a rotor;

a stator having a magnetic coil;

a sensor adapted to detect an electric angle of the rotor;

a control section adapted to perform a PWM drive on the magnetic coil based on a signal from the sensor;

a resistor connected in series to the magnetic coil when measuring temperature of the electromechanical device; and

a voltage measurement section adapted to measure a voltage between both ends of the resistor,

wherein the control section calculates an electric resistance of the magnetic coil using the voltage between the both ends of the resistor measured by the voltage measurement section, and then determines the temperature of the magnetic coil using the electric resistance of the magnetic coil in a measurement period in which application of a drive voltage to the magnetic coil is stopped in the PWM drive.

2. The electromechanical device according to claim 1 , wherein

the control section selects a period including an inflection point of an induced voltage caused in the magnetic coil as the measurement period, and performs the measurement of the voltage between the both ends of the resistor in the measurement period.

3. The electromechanical device according to claim 1 , wherein

the control section includes a constant-current source adapted to make a current flowing through the magnetic coil constant in the period in which the application of the drive voltage to the magnetic coil is stopped, and

the control section selects a period including an inflection point of an induced voltage caused in the magnetic coil as the measurement period, and performs the measurement of the voltage between the both ends of the resistor in a condition of making the current flowing through the magnetic coil constant using the constant-current source in the measurement period.

4. The electromechanical device according to claim 1 , wherein

the control section selects a period including a point at which an induced voltage caused in the magnetic coil takes one of a local maximum value and a local minimum value as the measurement period, and in the measurement period, stops driving the magnetic coil and performs the measurement of the voltage between the both ends of the resistor.

5. The electromechanical device according to claim 1 , wherein

the control section includes a table used for calculating the temperature of the magnetic coil from the voltage between the both ends of the electric resistance measured.

6. A movable body comprising the electromechanical device according to claim 1 .

7. A movable body comprising the electromechanical device according to claim 2 .

8. A movable body comprising the electromechanical device according to claim 3 .

9. A movable body comprising the electromechanical device according to claim 4 .

10. A movable body comprising the electromechanical device according to claim 5 .

11. A robot comprising the electromechanical device according to claim 1 .

12. A robot comprising the electromechanical device according to claim 2 .

13. A robot comprising the electromechanical device according to claim 3 .

14. A robot comprising the electromechanical device according to claim 4 .

15. A robot comprising the electromechanical device according to claim 5 .

16. A method of measuring temperature of an electromechanical device, comprising:

setting a measurement period in which the temperature of the electromechanical device is measured;

stopping driving a magnetic coil of the electromechanical device in the measurement period;

connecting a resistor in series to the magnetic coil;

measuring a voltage between both ends of the resistor in the measurement period;

calculating electric resistance of the magnetic coil using the voltage; and

determining the temperature of the magnetic coil from a value of the electric resistance.