TY - GEN
T1 - Force control of two-mass resonant system with vibration suppression based on modal transformation
AU - Saito, Eiichi
AU - Katsura, Seiichiro
N1 - Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2012
Y1 - 2012
N2 - This paper proposes a force control of a two-mass resonant system based on modal transformation. In the conventional force-control method in resonant system, the control goals are not clearly defined from the point of the view of control stiffness. Moreover, there is a problem that it is needed to know value of an environmental stiffness for setting force gain. Therefore, in this paper, the control stiffness in the case of force control of the two-mass resonant system is defined on the modal spaces which are composed of rigid and torsional modes. Concretely speaking, in the force control, it is defined that a control stiffness of a rigid mode should be zero. Based on the control stiffness, a force control of the two-mass resonant system is designed. Vibration suppression is conducted in torsional mode. On the other hand, in rigid mode, force control is conducted. The validity of the proposed method is verified by both simulation and experimental results.
AB - This paper proposes a force control of a two-mass resonant system based on modal transformation. In the conventional force-control method in resonant system, the control goals are not clearly defined from the point of the view of control stiffness. Moreover, there is a problem that it is needed to know value of an environmental stiffness for setting force gain. Therefore, in this paper, the control stiffness in the case of force control of the two-mass resonant system is defined on the modal spaces which are composed of rigid and torsional modes. Concretely speaking, in the force control, it is defined that a control stiffness of a rigid mode should be zero. Based on the control stiffness, a force control of the two-mass resonant system is designed. Vibration suppression is conducted in torsional mode. On the other hand, in rigid mode, force control is conducted. The validity of the proposed method is verified by both simulation and experimental results.
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U2 - 10.1109/IECON.2012.6388843
DO - 10.1109/IECON.2012.6388843
M3 - Conference contribution
AN - SCOPUS:84872943683
SN - 9781467324212
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2589
EP - 2594
BT - Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
T2 - 38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
Y2 - 25 October 2012 through 28 October 2012
ER -