Angle Controller for Motor with Reduction Gear that Utilizes Torsional Torque Estimator Including Backlash Model and High-Pass Filter

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: 2024/05/01

タイトル(英語): Angle Controller for Motor with Reduction Gear that Utilizes Torsional Torque Estimator Including Backlash Model and High-Pass Filter

著者名: Yuto Ikeda (Department of Electrical and Electronic Engineering, Mie University), Daisuke Yashiro (Department of Electrical and Electronic Engineering, Mie University), Kazuhiro Yubai (Department of Electrical and Electronic Engineering, Mie University),

著者名(英語): Yuto Ikeda (Department of Electrical and Electronic Engineering, Mie University), Daisuke Yashiro (Department of Electrical and Electronic Engineering, Mie University), Kazuhiro Yubai (Department of Electrical and Electronic Engineering, Mie University), Satoshi Komada (Department of Electrical and Electronic Engineering, Mie University)

キーワード: angle control，electromagnetic motor，load side encoder，low stiffness coupling，two-inertia system，backlash

要約(英語): This study presents the design of a load-side angle controller for an electromagnetic motor with motor-/load-side encoders, a reduction gear, and low-stiffness coupling. A method that estimates a shaft torsional torque and feeds back the estimated value to the controller is proposed to suppress shaft torsional vibration during high-speed operation. However, feedback of the shaft torsional torque deteriorates the disturbance suppression characteristics in the low-frequency range and may lead to an angle tracking error. Therefore, this study aims to improve the disturbance suppression characteristics by suppressing the amount of feedback of the low-frequency component of the torsional torque. The effectiveness of the proposed load-side angle controller is demonstrated by experiment.

本誌: IEEJ Journal of Industry Applications Vol.13 No.3 （2024）

本誌掲載ページ: 253-260 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/13/3/13_23005761/_article/-char/ja/