Back-drivability Improvement of Geared System Based on Disturbance Observer and Load-side Disturbance Observer

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: 2020/09/01

タイトル(英語): Back-drivability Improvement of Geared System Based on Disturbance Observer and Load-side Disturbance Observer

著者名: Shuang Xu (Graduate School of Engineering, Yokohama National University), Minoru Yokoyama (Graduate School of Engineering, Yokohama National University), Tomoyuki Shimono (Faculty of Engineering, Yokohama National University)

著者名(英語): Shuang Xu (Graduate School of Engineering, Yokohama National University), Minoru Yokoyama (Graduate School of Engineering, Yokohama National University), Tomoyuki Shimono (Faculty of Engineering, Yokohama National University)

キーワード: geared two-inertia system，back-drivability，disturbance observer，load-side disturbance observer

要約(英語): This paper proposes a method of improving the back-drivability of torque control according to the dynamic characteristic of forward-drivability based on the concept of proposed equivalent expression. The control strategy is composed of disturbance observer (DOB), a load-side DOB (LDOB) and the designed controller for torque control. The DOB realizes robust motion control by compensating for the friction and modeling error of the system, and the LDOB estimates the external torque input from the load-side. According to the designed controller, the proposed method constructs the back-drivability as forward-drivability via each transfer function of the equivalent expression. In addition, a scaling factor is introduced to quantitatively adjust the back-drivability to adapt to different application demands. Moreover, the decision basis of parameters in the proposed control is discussed and the effect on the control system is clarified. The experimental results are compared with the conventional torque control method, and show the consistency in the quantitative improvement of back-drivability effectively with the scaling factor.

本誌: IEEJ Journal of Industry Applications Vol.9 No.5 （2020）

本誌掲載ページ: 475-485 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/9/5/9_475/_article/-char/ja/