Torque control with nonlinear compensation for harmonic drive DC motors

Kenji Kaneko, Toshiyuki Murakami, Kouhei Ohnishi, Kiyoshi Komoriya

Research output: Contribution to conferencePaper

Abstract

By controlling the torsional angle of the torque sensing element without using the torque sensor output, a high stiffness torque control system for geared DC motors has been proposed. This torque control system is successful when the torque sensor and the harmonic drive gear are modeled as linear springs. This paper describes a drive system observer added to the previous torque control system in order to compensate for nonlinearities of the drive system such as harmonic drive gears. The effectiveness of the proposed method was demonstrated by the experiments.

Original languageEnglish
Pages1022-1027
Number of pages6
Publication statusPublished - 1994 Dec 1
EventProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy
Duration: 1994 Sep 51994 Sep 9

Other

OtherProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3)
CityBologna, Italy
Period94/9/594/9/9

    Fingerprint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kaneko, K., Murakami, T., Ohnishi, K., & Komoriya, K. (1994). Torque control with nonlinear compensation for harmonic drive DC motors. 1022-1027. Paper presented at Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3), Bologna, Italy, .