A Study on the Torque Control of a DC Motor with Reduction Gears (2nd Report, Torque Control Based on an Acceleration Controller)

Kenji Kaneko, Natsuo Suzuki, Kouhei Ohnishi, Kazuo Tanie

Research output: Contribution to journalArticle

4 Citations (Scopus)


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 languageEnglish
Pages (from-to)484-491
Number of pages8
JournalTransactions of the Japan Society of Mechanical Engineers Series C
Issue number546
Publication statusPublished - 1992
Externally publishedYes



  • 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

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