Precise Joint Torque Control Method for Two-inertia System with Backlash Using Load-side Encoder

Yamada, Shota; Fujimoto, Hiroshi

doi:10.1541/ieejjia.8.75

Cited by 44 publications

(16 citation statements)

References 28 publications

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“…

\begin{matrix} true \\ right D_{l r}^{p r o p} ((), 1, s) & = & left m_{l} s^{3} + k_{p m} m_{l} s^{2} \\ left + ((), κ_{s} + k_{d l} κ_{s}) s + k_{p m} κ_{s} \end{matrix}

= m_{l} (s + ω_{1}) (s^{2} + 2 ζ_{2} ω_{2} s + ω_{2}^{2})

As indicated by Equation , the denominator polynomial D lr prop (1, s ) is of fourth order. There are two adjustment gains, but to simplify design, the denominator polynomial is provided with multiple roots by imposing the constraints of ω 1 = ω 2 and ζ 2 = ζ p 20–22 . In so doing, ω 1 = ω 2 is obtained according to the only design parameter ζ p .…”

Section: Torque Controller Designmentioning

confidence: 99%

Torque control of a series elastic actuator using an ultrasonic motor with angular‐velocity saturation

Nakamura

Yashiro

Yubai

et al. 2020

Electrical Engineering Japan

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A series elastic actuator (SEA) using an ultrasonic motor (USM) and an elastic element has attracted attention as a compact actuator with high torque–weight ratio and high force control performance. However, an elastic element in a SEA often causes mechanical vibrations. To suppress these vibrations, studies implemented the state feedback of the motor‐ and load‐side angles. However, as the controller has many integrators, the control system becomes unstable when the angular‐velocity of the USM is saturated. Therefore, in this study, integrators in the controller were reduced in number. Furthermore, a limit error feedback controller was designed to suppress the windup phenomenon caused by the integrators. The frequency analysis using a describing function showed that stability is guaranteed even if the angular‐velocity is saturated. In addition, the experimental results indicate that an overshoot of the torque response is suppressed.

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“…

\begin{matrix} true \\ right D_{l r}^{p r o p} ((), 1, s) & = & left m_{l} s^{3} + k_{p m} m_{l} s^{2} \\ left + ((), κ_{s} + k_{d l} κ_{s}) s + k_{p m} κ_{s} \end{matrix}

= m_{l} (s + ω_{1}) (s^{2} + 2 ζ_{2} ω_{2} s + ω_{2}^{2})

Section: Torque Controller Designmentioning

confidence: 99%

Torque control of a series elastic actuator using an ultrasonic motor with angular‐velocity saturation

Nakamura

Yashiro

Yubai

et al. 2020

Electrical Engineering Japan

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“…Most of the research paper pay attention on the feedback controller due to its ability to compensate modelling errors and disturbances. However, the feedback controller cannot suppress hysteresis effects such as backlash since the effects are fast [3,4]. This makes the feedforward controller, which performs good in compensating high frequency disturbances, necessary.…”

Section: Introductionmentioning

confidence: 99%

Learning Feedforward Control for Industrial Manipulators

Liu

Popov

Turner

et al. 2021

2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS)

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In this work, an iterative learning control (ILC) algorithm is proposed for industrial manipulators. The proposed ILC algorithm works coordinately with the inverse dynamics of the manipulator and a feedback controller. The entire control scheme has the ability of compensating both repetitive and non-repetitive disturbances; guaranteeing the control accuracy of the first implementation; and improving the control accuracy of the manipulator progressively with successive iterations. In order to build the the convergence of the proposed ILC algorithm, a composite energy function is developed. A case study on a four degree of freedom industrial manipulator is demonstrated to illustrate the effectiveness of the proposed control scheme. By implementing the ILC algorithm, the maximum root mean square error of the control accuracy is improved from 0.0262 rad to 0.0016 rad within ten iterations.

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“…Electrical methods mainly use different methods to compensate for the nonlinear effects caused by backlash. References [12], [13] both used feedforward compensators to compensate for the backlash effect. Reference [14] added an offset to the output torque to compensate for and eliminate the distortion caused by backlash.…”

Section: Introductionmentioning

confidence: 99%

Research on Clearance Elimination Control Based on Linearization

et al. 2021

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The accuracy and operational stability of a turntable system can be reduced by the backlash problem that occurs in the reducer's gear transmission system. To solve this problem, this work proposes a scheme in which two motors are used to eliminate the effects of backlash through a linearization process. By calculating and outputting two independent torques synchronously from the two servo motors to the system output shaft's gears, a nonlinear system with backlash can be transformed into a linear system without backlash, thus making the resulting system easy to control. Experiments verify that the system will remain stable after the movement of the output shaft stops.INDEX TERMS Backlash, double-motor system, gear transmission system, linearization algorithm. JINJI QIU received the B.Sc. degree from the Harbin Institute of Technology, China, in 2019, where he is currently pursuing the M.Sc. degree. His research interests include circuit design and magneto-electric encoder. SHUANGHUI HAO was born in Guizhou, China, in 1963. He received the B.Sc. degree from Tianjin University, in 1985, then began his research on special motor at Shanghai Electrical Apparatus Research Institute, China. After that, he received the M.Sc. and Ph.D. degrees from the Kyushu Institute of Technology, Japan, in 1997. He then went to YASKAWA Electric Corporation, Japan, and worked on AC servo motor. In 2003, he began to work with the Harbin Institute of Technology as a Professor. He is the author of more than 100 articles and has more than 60 patents. His research interests include magneto-electric encoder, AC servo systems, numerical control, and signal processing.

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Precise Joint Torque Control Method for Two-inertia System with Backlash Using Load-side Encoder

Cited by 44 publications

References 28 publications

Torque control of a series elastic actuator using an ultrasonic motor with angular‐velocity saturation

Torque control of a series elastic actuator using an ultrasonic motor with angular‐velocity saturation

Learning Feedforward Control for Industrial Manipulators

Research on Clearance Elimination Control Based on Linearization

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