Abstract
This paper describes a torque control method for a geared DC motor. The torque sensory feedback provides a benefit for the fine torque generation by geared DC motors. However, it reduces the structural stiffness and causes a low response in both torque and position controls. To improve this, a control method based on an acceleration control is proposed. The proposed method uses two control loops. At the inner loop, a high-performance control system for the acceleration of the motor axis is constructed. At the outer loop, a control system with a positive feedback of the load position is introduced. With this structure in mind, the paper suggests that a high-stiffness torque control system can be achieved when the acceleration control system at the inner loop is carefully designed using the disturbance observer.
| Original language | English |
|---|---|
| Pages (from-to) | 484-491 |
| Number of pages | 8 |
| Journal | Transactions of the Japan Society of Mechanical Engineers Series C |
| Volume | 58 |
| Issue number | 546 |
| DOIs | |
| Publication status | Published - 1992 |
| Externally published | Yes |
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Keywords
- Acceleration Controller
- Actuator
- Disturbance Observer
- Geared DC Motor
- Robotics
- Torque Control
- Vibration Control
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering
Cite this
A Study on the Torque Control of a DC Motor with Reduction Gears (2nd Report, Torque Control Based on an Acceleration Controller). / Kaneko, Kenji; Suzuki, Natsuo; Ohnishi, Kouhei; Tanie, Kazuo.
In: Transactions of the Japan Society of Mechanical Engineers Series C, Vol. 58, No. 546, 1992, p. 484-491.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A Study on the Torque Control of a DC Motor with Reduction Gears (2nd Report, Torque Control Based on an Acceleration Controller)
AU - Kaneko, Kenji
AU - Suzuki, Natsuo
AU - Ohnishi, Kouhei
AU - Tanie, Kazuo
PY - 1992
Y1 - 1992
N2 - This paper describes a torque control method for a geared DC motor. The torque sensory feedback provides a benefit for the fine torque generation by geared DC motors. However, it reduces the structural stiffness and causes a low response in both torque and position controls. To improve this, a control method based on an acceleration control is proposed. The proposed method uses two control loops. At the inner loop, a high-performance control system for the acceleration of the motor axis is constructed. At the outer loop, a control system with a positive feedback of the load position is introduced. With this structure in mind, the paper suggests that a high-stiffness torque control system can be achieved when the acceleration control system at the inner loop is carefully designed using the disturbance observer.
AB - This paper describes a torque control method for a geared DC motor. The torque sensory feedback provides a benefit for the fine torque generation by geared DC motors. However, it reduces the structural stiffness and causes a low response in both torque and position controls. To improve this, a control method based on an acceleration control is proposed. The proposed method uses two control loops. At the inner loop, a high-performance control system for the acceleration of the motor axis is constructed. At the outer loop, a control system with a positive feedback of the load position is introduced. With this structure in mind, the paper suggests that a high-stiffness torque control system can be achieved when the acceleration control system at the inner loop is carefully designed using the disturbance observer.
KW - Acceleration Controller
KW - Actuator
KW - Disturbance Observer
KW - Geared DC Motor
KW - Robotics
KW - Torque Control
KW - Vibration Control
UR - http://www.scopus.com/inward/record.url?scp=84996024991&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84996024991&partnerID=8YFLogxK
U2 - 10.1299/kikaic.58.484
DO - 10.1299/kikaic.58.484
M3 - Article
AN - SCOPUS:84996024991
VL - 58
SP - 484
EP - 491
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 546
ER -