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Minimum-Variance Load-Side External Torque Estimation Robust Against Modeling and Measurement Errors

Minimum-Variance Load-Side External Torque Estimation Robust Against Modeling and Measurement Errors

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カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門(英文)

発行日: 2020/03/01

タイトル(英語): Minimum-Variance Load-Side External Torque Estimation Robust Against Modeling and Measurement Errors

著者名: Shota Yamada (The University of Tokyo), Hiroshi Fujimoto (The University of Tokyo)

著者名(英語): Shota Yamada (The University of Tokyo), Hiroshi Fujimoto (The University of Tokyo)

キーワード: estimation,force sensing,reaction force observer,torque sensing,two-inertia system,two-mass system

要約(英語): Sensorless external torque estimation is important for industrial applications. The load-side torque in a two-inertia system with a load-side encoder can be estimated by using either of the two observers that present different levels of robustness against modeling and measurement errors on the motor side and transmission part. By combining these observers, we propose a load-side external torque observer with high estimation accuracy even under modeling and measurement errors. Analyses of the observer with and without a joint torque sensor unveil the advantages and limitations of applying a joint torque sensor for external torque estimation. In addition, we derive a systematic design method for the proposed observers to minimize the estimation variance by considering the variance of the plant parameters and sensor measurements. The advantages of the proposed method are evaluated through simulations and experiments.

本誌: IEEJ Journal of Industry Applications Vol.9 No.2 (2020) Special Issue on “Motion Control and Its Related Technologies”

本誌掲載ページ: 117-124 p

原稿種別: 論文/英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/9/2/9_117/_article/-char/ja/

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