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

Eiichi Saito; Seiichiro Katsura

doi:10.1109/IECON.2015.7392890

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

Eiichi Saito, Seiichiro Katsura

システムデザイン工学科

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語	English
ホスト出版物のタイトル	IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版社	Institute of Electrical and Electronics Engineers Inc.
ページ	5038-5043
ページ数	6
ISBN（電子版）	9781479917624
DOI	https://doi.org/10.1109/IECON.2015.7392890
出版ステータス	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 9 → 2015 11 12

Other

Other	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Country	Japan
City	Yokohama
Period	15/11/9 → 15/11/12

ASJC Scopus subject areas

Electrical and Electronic Engineering
Industrial and Manufacturing Engineering

文献へのアクセス

10.1109/IECON.2015.7392890

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引用スタイル

Saito, E & Katsura, S 2016, Torque/force control of wave system based on reflected wave rejection and wave-based load disturbance observer. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392890, Institute of Electrical and Electronics Engineers Inc., pp. 5038-5043, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 15/11/9. https://doi.org/10.1109/IECON.2015.7392890

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