減速機とモータ／負荷側エンコーダを有する電磁モータの不感帯付ばねモデルを用いた負荷トルク制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2021/09/01

タイトル(英語): Load Torque Control of an Electromagnetic Motor with a Reduction Gear and Motor/Load-side Encoders Using a Spring Model including a Dead Zone

著者名: 近藤　大智（三重大学大学院工学研究科電気電子工学専攻），矢代　大祐（三重大学大学院工学研究科電気電子工学専攻），弓場井　一裕（三重大学大学院工学研究科電気電子工学専攻），駒田　諭（三重大学大学院工学研究科電気電子工学専攻）

著者名(英語): Daichi Kondo (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Daisuke Yashiro (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Kazuhiro Yubai (Depa

キーワード: トルク制御，電磁モータ，二慣性系，外乱オブザーバ，バックラッシュ　　torque control，electromagnetic motor，two-inertia system，disturbance observer，backlash

要約(英語): Actuators with characteristics such as light weight, a high torque/weight ratio, and a high torque control performance are desired for contact tasks using robots. Although electromagnetic motors with gears have these features, friction in gears degrades the torque control performance. Therefore, in this study, the load torque control performance is improved by utilizing motor/load side angle information. Both the torque controller and the load torque observer in the proposed control system utilize motor/load side encoders and the spring model, which includes a dead zone. The dead zone model represents the backlash between the motor output shaft and the reducer output shaft. A simulation and experiment show the efficacy of the proposed control system.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.141 No.9 （2021）

本誌掲載ページ: 700-708 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/141/9/141_700/_article/-char/ja/