モータ/負荷側エンコーダ及び減速機付きモータを用いたトルク制御系のばね定数最適化
モータ/負荷側エンコーダ及び減速機付きモータを用いたトルク制御系のばね定数最適化
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: 2023/01/01
タイトル(英語): Optimization of Spring Constant of Load Torque Control System Using Electromagnetic Motor with Reduction Gear and Motor/Load-Side Encoders
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),池田 遊斗(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), Yuto Ikeda (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Kazuhiro Yubai (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Satoshi Komada (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University)
キーワード: トルク制御,電磁モータ,二慣性系,バックラッシュ,ばね,最適化_x000D_ torque control,electromagnetic motor,two-inertia system,backlash,spring,optimization
要約(英語): A load torque control system using an electromagnetic motor with a reduction gear, a spring, and motor/load-side encoders is designed. Frequency analysis indicates that the control system with a low-stiffness spring has high robustness against backlash modeling error and high disturbance suppression characteristics. However, the control system has low target tracking characteristics and frequently causes current saturation. Therefore, this study addresses this problem by optimizing not only parameters of the controller but also the stiffness of the spring. The validity of the optimized control system is verified by simulations and experiments.
本誌: 電気学会論文誌D(産業応用部門誌) Vol.143 No.1 (2023)
本誌掲載ページ: 2023/01/10 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/143/1/143_1/_article/-char/ja/
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