Torque control with nonlinear compensation for harmonic drive DC motors

Kenji Kaneko, Toshiyuki Murakami, Kouhei Ohnishi, Kiyoshi Komoriya

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

9 Citations (Scopus)

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
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE
Pages1022-1027
Number of pages6
Volume2
Publication statusPublished - 1994
Externally publishedYes
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

DC motors
Torque control
Torque
Control systems
Gears
Control nonlinearities
Sensors
Stiffness
Compensation and Redress
Experiments

ASJC Scopus subject areas

  • 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. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2, pp. 1022-1027). IEEE.

Torque control with nonlinear compensation for harmonic drive DC motors. / Kaneko, Kenji; Murakami, Toshiyuki; Ohnishi, Kouhei; Komoriya, Kiyoshi.

IECON Proceedings (Industrial Electronics Conference). Vol. 2 IEEE, 1994. p. 1022-1027.

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

Kaneko, K, Murakami, T, Ohnishi, K & Komoriya, K 1994, Torque control with nonlinear compensation for harmonic drive DC motors. in IECON Proceedings (Industrial Electronics Conference). vol. 2, IEEE, pp. 1022-1027, Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3), Bologna, Italy, 94/9/5.
Kaneko K, Murakami T, Ohnishi K, Komoriya K. Torque control with nonlinear compensation for harmonic drive DC motors. In IECON Proceedings (Industrial Electronics Conference). Vol. 2. IEEE. 1994. p. 1022-1027
Kaneko, Kenji ; Murakami, Toshiyuki ; Ohnishi, Kouhei ; Komoriya, Kiyoshi. / Torque control with nonlinear compensation for harmonic drive DC motors. IECON Proceedings (Industrial Electronics Conference). Vol. 2 IEEE, 1994. pp. 1022-1027
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