Joint torque control for backlash compensation in two-inertia system

Yamada, Shota; Fujimoto, Hiroshi; Terada, Yuki

doi:10.1109/isie.2016.7745054

Cited by 10 publications

(5 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…By ignoring and viscous damping factors, ignoring stiffness factors of motor shaft and gear shaft, and considering backlash nonlinearity, the simplified block diagram of EMA is shown in Figure 2. In this case, EMA has only one mechanical drive link, and the mechanical model inside the dotted line is often referred to as a two-inertia system [10,11], 𝐺 is the controller.…”

Section: Modeling and Analysis Of Emamentioning

confidence: 99%

See 1 more Smart Citation

Vibration Suppression of Electromechanical Actuator Considering Backlash Nonlinearity

Qian²,

Xu³

et al. 2022

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

As an electromechanical drive system, nonlinear factors are unavoidable in electromechanical actuator (EMA). In this paper, elasticity of shaft and backlash nonlinearity are considered in the model, the effects of elasticity and backlash on EMA are analyzed. In order to suppress the vibration caused by nonlinearity and elasticity, A nonlinear control method based on backstepping method is proposed. The simulation results show that this method can eliminate the limit cycle oscillation (LCO) caused by backlash, and effectively suppress the vibration.

show abstract

Section: Modeling and Analysis Of Emamentioning

confidence: 99%

“…Figure 1. Schematic diagram of EMA.In this case, EMA has only one mechanical drive link, and the mechanical model inside the dotted line is often referred to as a two-inertia system[10,11], 𝐺 is the controller.…”

mentioning

confidence: 99%

Vibration Suppression of Electromechanical Actuator Considering Backlash Nonlinearity

Qian²,

Xu³

et al. 2022

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

show abstract

“…While, in case of backlash presence in the system, in particular when the backlash gap is open, the two position are slightly different, and the maximum of their relative displacement gives the measure of the backlash gap ( Merzouki et al, 2003). Hence, the easiest way to quantify backlash is having two sensors, one for the driving and one for the driven gear, and calculating the difference between the two measured positions (Yamada et al, 2016).…”

Section: Backlash and Measurement Strategiesmentioning

confidence: 99%

A virtual sensor for backlash in robotic manipulators

Giovannitti

Nabavi²,

Squillero

et al. 2022

J Intell Manuf

View full text Add to dashboard Cite

Gear backlash is a quite serious problem in industrial robots, it causes vibrations and impairs the robot positioning accuracy. Backlash estimation allows targeted maintenance interventions, preserving robot performances and avoiding unforeseen equipment breakdowns. However, a direct measure of the backlash is hard to obtain, and dedicated auxiliary sensors are required for the measurement. This paper presents a method for estimating backlash in robotic joints that does not require the installation of extra devices. It only relies on data gathered from the motor encoder, which is always present in a robotic joint. The approach is based on the observation of a characteristic vibration pattern arising on the motor speed signal when backlash affects the joint transmission. By looking at the amplitude of this vibration some information about the entity of the backlash in the joint is gathered. Experimental results on simulated data are reported in the study to show the robustness of the method, also with respect of noise. Furthermore, tests on real-world data, gathered from robots installed in a production plant, demonstrate the efficacy of the technique. The approach is cost-effective, fast, and easily automatable, therefore convenient for the industrial world.

show abstract

“…Some research work focused on control of a specific type of uncertainty. For example, [30] proposed a joint toque control for backlash compensation in two-inertia system where backlash is modelled as a dead zone. However, for completely cancellation of specific uncertainties, it requires having their accurate models.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Sliding Mode Control With Feedforward Compensator for Energy-Efficient and High-Speed Precision Motion of Feed Drive Systems

2020

View full text Add to dashboard Cite

Industrial feed drive systems, particularly ball-screw and lead-screw feed drives are among the dominating components in production and manufacturing industries. They operate around the clock and at high speeds for coping with the growing production demands. Adversely, high-speed motions cause mechanical vibration, high-energy consumption, and poor tracking performance. Thus, over the years, the research community has invested in precision control and energy saving for these systems. Although there are many control strategies in the literature, such as sliding mode and model predictive controls, further research is necessary for performance enhancement. This study focuses on both high-speed precision control and energy-saving control for feed drive systems. An adaptive nonlinear sliding mode controller with a feedforward compensator for plant uncertainties is designed and its stability is confirmed through the Lyapunov stability theories. For performance evaluation, simulations and experiments are conducted and results are compared with those of an adaptive nonlinear sliding model controller. Results revealed that, based on the proposed controller, the tracking errors of feed drive systems can be reduced by about 33% on average and the maximum tracking error by about 64% on average. In addition, the energy consumption can be reduced by about 2% under similar tracking performance. INDEX TERMSComputer numerical controlled machines, controller design, adaptive control, sliding mode control, machine tools, nonlinear control, uncertainty dynamics.

show abstract

Joint torque control for backlash compensation in two-inertia system

Cited by 10 publications

References 7 publications

Vibration Suppression of Electromechanical Actuator Considering Backlash Nonlinearity

Vibration Suppression of Electromechanical Actuator Considering Backlash Nonlinearity

A virtual sensor for backlash in robotic manipulators

Adaptive Sliding Mode Control With Feedforward Compensator for Energy-Efficient and High-Speed Precision Motion of Feed Drive Systems

Contact Info

Product

Resources

About