Force control of two-mass resonant system with vibration suppression based on modal transformation

Eiichi Saito, Seiichiro Katsura

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

2 Citations (Scopus)

Abstract

This paper proposes a force control of a two-mass resonant system based on modal transformation. In the conventional force-control method in resonant system, the control goals are not clearly defined from the point of the view of control stiffness. Moreover, there is a problem that it is needed to know value of an environmental stiffness for setting force gain. Therefore, in this paper, the control stiffness in the case of force control of the two-mass resonant system is defined on the modal spaces which are composed of rigid and torsional modes. Concretely speaking, in the force control, it is defined that a control stiffness of a rigid mode should be zero. Based on the control stiffness, a force control of the two-mass resonant system is designed. Vibration suppression is conducted in torsional mode. On the other hand, in rigid mode, force control is conducted. The validity of the proposed method is verified by both simulation and experimental results.

Original languageEnglish
Title of host publicationProceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Pages2589-2594
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada
Duration: 2012 Oct 252012 Oct 28

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
CountryCanada
CityMontreal, QC
Period12/10/2512/10/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Saito, E., & Katsura, S. (2012). Force control of two-mass resonant system with vibration suppression based on modal transformation. In Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society (pp. 2589-2594). [6388843] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2012.6388843