Bilateral control of two-mass resonant system based on concept of multilateral control

Eiichi Saito, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Bilateral controls in a case that slave system has flexible mechanism have been researched. Conventional methods focused on force transmission and position tracking between master system and load of slave system. However, due to the fact, an excessive force will act on an environment when an external force is applied to a slave actuator. This paper proposes a novel bilateral control of two-mass resonant system based on a concept of multilateral control. Control goals of the proposed method are composed of one common mode and one differential mode in multilateral control. In particular, the control goals of force control in the proposed method is set as realization of law of action-reaction between the master system, the slave actuator and the load. Therefore, it can be avoided that an excessive force acts on the environment. In addition, the local feedback on torsional mode of the slave system was conducted for suppression the vibration instead of achieving the neglected control goal in differential mode of the multilateral control. The proposed method clarifies the physical meaning of the multilateral control. Finally, the validity of the proposed method is verified by simulations.

Original languageEnglish
Title of host publication2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
DOIs
Publication statusPublished - 2013 Aug 22
Event2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
Duration: 2013 May 282013 May 31

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
CountryTaiwan, Province of China
CityTaipei
Period13/5/2813/5/31

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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