A microprocessor-controlled speed regulator with instantaneous speed estimation for motor drives

Saito, Keiji; Kamiyama, K.; Ohmae, Tsutomu; Matsuda, Toshihiko

doi:10.1109/41.3068

Cited by 45 publications

(11 citation statements)

References 6 publications

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“…Polynomial interpolation approaches were first presented in [27]. Recently some authors proposed techniques to skip some recorded encoder events which do not increase the precision of the estimate (e.g.…”

Section: Estimating Derivatives Of Positionmentioning

confidence: 99%

Real-time estimate of period derivatives using adaptive oscillators: Application to impedance-based walking assistance

Ronsse

Rossi

Vitiello

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Inferring temporal derivatives (like velocity and acceleration) from a noisy position signal is a well-known challenge in control engineering, due to the intrinsic trade-off between noise filtering and estimation bandwidth. To tackle this problem, in this paper we propose a new approach specifically designed for periodic movements. This approach uses an adaptive oscillator as fundamental building block. It is a tool capable of synchronizing to a periodic input while learning its features (frequency, amplitude, . . . ) in dedicated state variables. Since the oscillator's input and output are perfectly synchronized during steady-state regime, a non-delayed estimate of the input temporal derivatives can be obtained simply by deriving the output analytical form. Pending a (quasi-)periodic input signal, these temporal derivatives are thus synchronized with the actual kinematics, while the signal bandwidth can be arbitrarily tuned by the intrinsic dynamics of the oscillator. We further validate this approach by developing an impedance-based strategy for assisting human walking in the LOPES lower-limb exoskeleton. Preliminary results with a single participant give rise to three main conclusions. First, our method indeed provides velocity and acceleration estimates of the participant's joint kinematics which are smoother and less delayed with respect to the actual kinematics than using a standard Kalman filter. Second, closing the human-robot loop with a high-gain impedance field depending on the acceleration is not possible with a Kalman filter approach, due to unstable dynamics. In contrast, our approach tolerates high gains (up to 70% of the nominal walking torque), showing its intrinsic stability. Finally, no clear benefit of the acceleration-dependent field with respect to a simpler position-dependent field is visible regarding the reduction of metabolic cost. This last result illustrates the challenge of designing sound assistive strategies for complex tasks like walking.

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Section: Estimating Derivatives Of Positionmentioning

confidence: 99%

Real-time estimate of period derivatives using adaptive oscillators: Application to impedance-based walking assistance

Ronsse

Rossi

Vitiello

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The responses indicate that the equivalent initial speed delays for both drives are around 3 ms. Since the equivalent delay of speed measurement (based on time-differentiation of the measured position) equals half the sampling time (T /2 = 1 ms) [12], the torque response delays T m for both drives are equal to approximately 2 ms. Figure 11 shows the reference step responses of the vertical axis normal force control system and the disk drive speed control sytem. The comparative normal force step responses without and with a suspension system for the case of rotating disk at standstill (ω d = 0) are shown in Fig.…”

Section: Drive Parameters Identificationmentioning

confidence: 99%

Design of Normal Force Control System for a Pin-on-Disk Tribometer including Active and Passive Suppression of Vertical Vibrations

2013

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Original scientific paperThis paper presents the design of a computer-controlled pin-on-disk tribometer for friction characterization of various friction sliding pairs. The tribometer setup comprises two high-bandwidth servomotors for the control of the rotating disk and the normal load-related spindle drive, as well as a high-precision tri-axial piezoelectric force sensor for normal and tangential forces measurement. Since the spindle drive system is characterized by notable compliance effects, the normal force cascade control system is designed with the aim of vertical vibrations active damping. In order to compensate for the unevenness of the rotating disk surface and associated high-level perturbations in the specimen normal force, the normal force control system is extended with a feedforward compensator of the disk unevenness disturbance, and a dedicated leaf spring suspension system is designed. The effectiveness of the proposed system of vertical vibrations damping is verified experimentally.Key words: Vibration suppression, Normal force control, Pin-on-disk tribometer Projektiranje sustava regulacije vertikalne sile tribometra s uzorkom na disku uključujući aktivno i pasivno prigušenje vertikalnih vibracija. Učlanku je prikazan dizajn računalom upravljanog tribometra s uzorkom na disku za karakterizaciju različitih kliznih parova. Postav tribometra sadrži dva električna servomotora visokih dinamičkih performansi koji se koriste za regulaciju rotacijskog diska i navojnog vretena za generiranje normalne sile, te tro-osni piezoelektrični senzor za mjerenje normalne i tangencijalne sile. Kako je pogon navojnog vretena karakteriziran značajnom elastičnošću, kaskadni sustav regulacije sile je projektiran s ciljem aktivnog prigušenja vertikalnih vibracija. U svrhu kompenzacije značajnih neravnina površine rotacijskog diska i s njima povezanih velikih amplituda perturbacija normalne sile na uzorak, sustav regulacije normalne sile proširuje se unaprijednim kompenzatorom poremećaja uslijed neravnina površine diska, te za tu svrhu namijenjenim sustavom ovjesa s lisnatim oprugama. Učinkovitost predloženog sustava za prigušenje vertikalnih vibracija provjerena je eksperimentalnim putem.Ključne riječi: prigušenje vibracija, regulacija vertikalne sile, tribometar s uzorkom na disku

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“…The DC motors have a special historical role in the field of industrial electronics since all industrial servo drives used DC motors in the past and the first microprocessor controlled drive [7] also applied DC motor. Even if they have several drawbacks they are used in recent applications [8] [9].…”

Section: Introductionmentioning

confidence: 99%

Integrated multimedia educational program of a DC servo system for distant learning

Sziebig

Nágy

Jardan

et al. 2008

2008 13th International Power Electronics and Motion Control Conference

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The paper presents a complete (animation, simulation and internet based measurement) multimedia educational program of DC servo system for distant learning. The animation program describes the basic operation of a DC motor, derives the torque-speed characteristics and explains the basic steps of control design. The animation program includes screens for teaching in class and for individual study as well. With the guidance of this animation program the students can simulate the control of a given servo system. The final and most important step in any kind of education in the field engineering is the measurement. This is the most challenging step in distant learning. The students should enter to a web page to access the experimental set up. The experimental set up includes a DC servo motor with 4 quadrant drive. The drive can be switch on and off via internet. The students can write a simple PI or sliding mode controller program which is inserted into the communication frame program to operate the servo motor. The measurement result is generated in such form which is compatible to the simulation results the students can compare their simulation and measurement results.

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A microprocessor-controlled speed regulator with instantaneous speed estimation for motor drives

Cited by 45 publications

References 6 publications

Real-time estimate of period derivatives using adaptive oscillators: Application to impedance-based walking assistance

Real-time estimate of period derivatives using adaptive oscillators: Application to impedance-based walking assistance

Design of Normal Force Control System for a Pin-on-Disk Tribometer including Active and Passive Suppression of Vertical Vibrations

Integrated multimedia educational program of a DC servo system for distant learning

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