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.
| 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 9 → 2015 11 12 |
Other
| Other | 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 |
|---|---|
| 国 | Japan |
| 市 | Yokohama |
| 期間 | 15/11/9 → 15/11/12 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
これを引用
Torque/force control of wave system based on reflected wave rejection and wave-based load disturbance observer. / Saito, Eiichi; Katsura, Seiichiro.
IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 5038-5043 7392890.研究成果: Conference contribution
}
TY - GEN
T1 - Torque/force control of wave system based on reflected wave rejection and wave-based load disturbance observer
AU - Saito, Eiichi
AU - Katsura, Seiichiro
PY - 2016/1/25
Y1 - 2016/1/25
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84973115744&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84973115744&partnerID=8YFLogxK
U2 - 10.1109/IECON.2015.7392890
DO - 10.1109/IECON.2015.7392890
M3 - Conference contribution
AN - SCOPUS:84973115744
SP - 5038
EP - 5043
BT - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
ER -