TY - GEN
T1 - Reaction-torque-based reflected wave rejection for vibration suppression of integrated resonant and time-delay system
AU - Saito, Eiichi
AU - Katsura, Seiichiro
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/9
Y1 - 2015/4/9
N2 - The vibration suppression on a resonant system, based on the reflected wave rejection, has been recently proposed. In the method, the resonant system is modeled through a wave equation, in order to consider high order vibrations and vibration suppression is achieved by eliminating a reflected wave. However, it is difficult to implement such method when there are input and output time-delays, because it requires the implementation of the inverse of a time delay. Under such background, vibration suppression on the integrated resonant and time-delay system by using a modified reflected wave rejection has been proposed. However, a problem still remains, which is to need to use load-position information. Therefore, this paper proposes a novel vibration suppression method for systems including time delays by using a reaction-torque-based reflected wave rejection, which does not use the load position information. The novel reflected wave rejection can estimate and compensate the reflected wave by using motor position and reaction-torque information which is estimated by a reaction-torque observer. The validity of the proposed method is confirmed by experimental results.
AB - The vibration suppression on a resonant system, based on the reflected wave rejection, has been recently proposed. In the method, the resonant system is modeled through a wave equation, in order to consider high order vibrations and vibration suppression is achieved by eliminating a reflected wave. However, it is difficult to implement such method when there are input and output time-delays, because it requires the implementation of the inverse of a time delay. Under such background, vibration suppression on the integrated resonant and time-delay system by using a modified reflected wave rejection has been proposed. However, a problem still remains, which is to need to use load-position information. Therefore, this paper proposes a novel vibration suppression method for systems including time delays by using a reaction-torque-based reflected wave rejection, which does not use the load position information. The novel reflected wave rejection can estimate and compensate the reflected wave by using motor position and reaction-torque information which is estimated by a reaction-torque observer. The validity of the proposed method is confirmed by experimental results.
KW - Reflected Wave Rejection
KW - Resonant System
KW - Time-Delay Compensation
KW - Vibration Control
KW - Wave Equation
UR - http://www.scopus.com/inward/record.url?scp=84929340375&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929340375&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2015.7084056
DO - 10.1109/ICMECH.2015.7084056
M3 - Conference contribution
AN - SCOPUS:84929340375
T3 - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
SP - 665
EP - 670
BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Mechatronics, ICM 2015
Y2 - 6 March 2015 through 8 March 2015
ER -