商品情報にスキップ
1 1

Velocity Driven N-order Stick Compensator and Slip Suppressor for Nonlinear Friction in an Oil-Seal-Mounted Geared Motor

Velocity Driven N-order Stick Compensator and Slip Suppressor for Nonlinear Friction in an Oil-Seal-Mounted Geared Motor

通常価格 ¥770 JPY
通常価格 セール価格 ¥770 JPY
セール 売り切れ
税込

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): Velocity Driven N-order Stick Compensator and Slip Suppressor for Nonlinear Friction in an Oil-Seal-Mounted Geared Motor

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

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

キーワード: nonlinear friction,geared motor,disturbance observer,stick-slip,oil seal

要約(英語): Geared motors require oil for lubrication; however, the oil may leak if no sealing is provided. One method for preventing leaking is to mount oil seals on the input and output sides of the gear. However, this increases the effects of nonlinear friction in the motor, causing stick-slip during velocity zero-crossings. This paper proposes a stick-slip suppression method based on a velocity-driven N-order stick compensator (VDNSC) and a slip suppressor. The proposed stick compensator is based on a motor-side normalization compensator (MNC) and works as an order-variable friction observer, while the proposed slip suppressor is based on velocity-switched high frequency damping. The validity of the proposed method is confirmed through experiments with low-velocity control.

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: 168-176 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_168/_article/-char/ja/

販売タイプ
書籍サイズ
ページ数
詳細を表示する