High stiffness torque control for a geared DC motor based on acceleration controller

Kenji Kaneko, Natsuo Suzuki, Kouhei Ohnishi, Kazuo Tanie

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

8 Citations (Scopus)

Abstract

The authors propose a torque control method for a geared DC motor with the ability to improve the structure stiffness reduced by the torque sensor. One of the special features of the proposed method is that it introduces an acceleration controller and positive feedback of the link angle through the inverse dynamics of the acceleration controller. The acceleration controller is realized by a disturbance observer which estimates the total sum of the disturbance torque imposed on a motor axis, and an acceleration controller is necessary for good performance of the positive feedback of the link angle. The effectiveness of the proposed method was demonstrated by experiments using a single axis geared DC motor system with a torque sensor.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherPubl by IEEE
Pages849-854
Number of pages6
ISBN (Print)0879426888
Publication statusPublished - 1991 Dec 1
EventProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn
Duration: 1991 Oct 281991 Nov 1

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume1

Other

OtherProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91
CityKobe, Jpn
Period91/10/2891/11/1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Kaneko, K., Suzuki, N., Ohnishi, K., & Tanie, K. (1991). High stiffness torque control for a geared DC motor based on acceleration controller. In IECON Proceedings (Industrial Electronics Conference) (pp. 849-854). (IECON Proceedings (Industrial Electronics Conference); Vol. 1). Publ by IEEE.