Torque/force control of wave system based on reflected wave rejection and wave-based load disturbance observer

Eiichi Saito, Seiichiro Katsura

研究成果: Conference contribution

3 引用 (Scopus)

抜粋

The researches have been ongoing on various vibration control methods for resonant system. Reflected wave rejection-based vibration control is one of the vibration control for resonant system which considers high order resonances owing to the wave equation. However, the conventional reflected wave rejection-based vibration control mainly focuses on the position control, the torque/force control of the resonant system has not been researched. In this paper, reflected wave rejection-based vibration control is extended to the torque/force control of the resonant system which is modeled as wave equation, and the torque/force control of the resonant system based on a wave-based load disturbance observer is proposed. In the proposed method, the vibration is suppressed by the reflected wave rejection, and torque control is constructed based on an environmental torque estimated by the wave-based load disturbance observer. Additionally, the design procedure of control gains are presented. The validity of the proposed method is confirmed by the experimental results.

元の言語English
ホスト出版物のタイトルIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版者Institute of Electrical and Electronics Engineers Inc.
ページ5038-5043
ページ数6
ISBN(電子版)9781479917624
DOI
出版物ステータスPublished - 2016 1 25
イベント41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
継続期間: 2015 11 92015 11 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Japan
Yokohama
期間15/11/915/11/12

    フィンガープリント

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

これを引用

Saito, E., & Katsura, S. (2016). Torque/force control of wave system based on reflected wave rejection and wave-based load disturbance observer. : IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 5038-5043). [7392890] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392890