Abstract
By controlling the torsional angle of the torque sensing element without using the torque sensor output, a high stiffness torque control system for geared DC motors has been proposed. This torque control system is successful when the torque sensor and the harmonic drive gear are modeled as linear springs. This paper describes a drive system observer added to the previous torque control system in order to compensate for nonlinearities of the drive system such as harmonic drive gears. The effectiveness of the proposed method was demonstrated by the experiments.
| Original language | English |
|---|---|
| Pages | 1022-1027 |
| Number of pages | 6 |
| Publication status | Published - 1994 Dec 1 |
| Event | Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy Duration: 1994 Sept 5 → 1994 Sept 9 |
Other
| Other | Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) |
|---|---|
| City | Bologna, Italy |
| Period | 94/9/5 → 94/9/9 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
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