Stable Torsion Torque Control Based on Friction-Backlash Analogy for Two-Inertia Systems with Backlash

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: 2022/03/01

タイトル(英語): Stable Torsion Torque Control Based on Friction-Backlash Analogy for Two-Inertia Systems with Backlash

著者名: 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)

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 system，torsion torque control，disturbance observer，backlash，static friction

要約(英語): Torsion torque control (TTC) has been studied in applications ranging from industrial robots to electric vehicles. However, its performance is severely compromised when there is joint backlash, causing limit cycles and inducing unstable behavior. This study proposes a stable TTC scheme for two-inertia systems with joint backlash based on an analogy between static friction and backlash phenomena. First, a transformation of the joint torsion dynamics into a first-order system is applied, and a proportional torsion torque controller is proposed. Then, an analogy between the transformed joint torsion dynamics with backlash and one-mass systems with static friction is established. Based on this analogy, a combination of a switched disturbance observer and an impact torque suppression controller is proposed, ensuring rapid control over backlash and stable reengagement with reduced gear collision impact. The effectiveness of the proposed method is verified through simulation and experimental results.

本誌: IEEJ Journal of Industry Applications Vol.11 No.2 （2022） Special Issue on “Motion Control and its Related Technologies”

本誌掲載ページ: 279-290 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/11/2/11_21004543/_article/-char/ja/