A switched torsion disturbance observer for improving the performance of torsion torque control in a two inertia system with backlash

カテゴリ: 研究会(論文単位)

論文No: IIC20019,MEC20012

グループ名: 【D】産業応用部門 産業計測制御/【D】産業応用部門 メカトロニクス制御合同研究会

発行日: 2020/09/01

タイトル(英語): A switched torsion disturbance observer for improving the performance of torsion torque control in a two inertia system with backlash

著者名: パドロン ファン(長岡技術科学大学),川合 勇輔(長岡技術科学大学),横倉 勇希(長岡技術科学大学),大石 潔(長岡技術科学大学),宮崎 敏昌(長岡技術科学大学)

著者名(英語): Juan Padron(Nagaoka University of Technology),Yusuke Kawai(Nagaoka University of Technology),Yuki Yokokura(Nagaoka University of Technology),Kiyoshi Ohishi(Nagaoka University of Technology),Toshimasa Miyazaki(Nagaoka University of Technology)

キーワード: Two mass systems|Backlash|Disturbance Observer|Industrial Robots|Switching Control

要約(日本語): Reduction gears are a fundamental component of industrial robots. However, some of them may have backlash,_x000D_ deteriorating control performance in general and affecting torsional torque control, which is essential for precise control_x000D_ of the load side. This

要約(英語): Reduction gears are a fundamental component of industrial robots. However, some of them may have backlash,_x000D_ deteriorating control performance in general and affecting torsional torque control, which is essential for precise control_x000D_ of the load side. This paper proposes a switched torsion disturbance observer, where the order of its Q-filter is_x000D_ varied by a switching law design based on an analogy between nonlinear friction and backlash. The effectiveness of this approach_x000D_ is confirmed by numerical simulations.

原稿種別: 英語

PDFファイルサイズ: 1,151 Kバイト