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

Eiichi Saito, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ665-670
ページ数6
ISBN(電子版)9781479936335
DOI
出版ステータスPublished - 2015 4 9
イベント2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
継続期間: 2015 3 62015 3 8

出版物シリーズ

名前Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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