Reaction-torque-based reflected wave rejection for vibration suppression of integrated resonant and time-delay system

Eiichi Saito, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

The vibration suppression on a resonant system, based on the reflected wave rejection, has been recently proposed. In the method, the resonant system is modeled through a wave equation, in order to consider high order vibrations and vibration suppression is achieved by eliminating a reflected wave. However, it is difficult to implement such method when there are input and output time-delays, because it requires the implementation of the inverse of a time delay. Under such background, vibration suppression on the integrated resonant and time-delay system by using a modified reflected wave rejection has been proposed. However, a problem still remains, which is to need to use load-position information. Therefore, this paper proposes a novel vibration suppression method for systems including time delays by using a reaction-torque-based reflected wave rejection, which does not use the load position information. The novel reflected wave rejection can estimate and compensate the reflected wave by using motor position and reaction-torque information which is estimated by a reaction-torque observer. The validity of the proposed method is confirmed by experimental results.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages665-670
Number of pages6
ISBN (Electronic)9781479936335
DOIs
Publication statusPublished - 2015 Apr 9
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: 2015 Mar 62015 Mar 8

Publication series

NameProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
CountryJapan
CityNagoya
Period15/3/615/3/8

    Fingerprint

Keywords

  • Reflected Wave Rejection
  • Resonant System
  • Time-Delay Compensation
  • Vibration Control
  • Wave Equation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Saito, E., & Katsura, S. (2015). Reaction-torque-based reflected wave rejection for vibration suppression of integrated resonant and time-delay system. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 665-670). [7084056] (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7084056