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
N1 - Copyright:
Copyright 2016 Elsevier B.V., All rights reserved.
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
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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 -