Torque/force control of wave system based on reflected wave rejection and wave-based load disturbance observer

Eiichi Saito; Seiichiro Katsura

doi:10.1109/IECON.2015.7392890

Torque/force control of wave system based on reflected wave rejection and wave-based load disturbance observer

Eiichi Saito, Seiichiro Katsura

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

The researches have been ongoing on various vibration control methods for resonant system. Reflected wave rejection-based vibration control is one of the vibration control for resonant system which considers high order resonances owing to the wave equation. However, the conventional reflected wave rejection-based vibration control mainly focuses on the position control, the torque/force control of the resonant system has not been researched. In this paper, reflected wave rejection-based vibration control is extended to the torque/force control of the resonant system which is modeled as wave equation, and the torque/force control of the resonant system based on a wave-based load disturbance observer is proposed. In the proposed method, the vibration is suppressed by the reflected wave rejection, and torque control is constructed based on an environmental torque estimated by the wave-based load disturbance observer. Additionally, the design procedure of control gains are presented. The validity of the proposed method is confirmed by the experimental results.

Original language	English
Title of host publication	IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5038-5043
Number of pages	6
ISBN (Electronic)	9781479917624
DOIs	https://doi.org/10.1109/IECON.2015.7392890
Publication status	Published - 2016 Jan 25
Event	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan Duration: 2015 Nov 9 → 2015 Nov 12

Other

Other	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Country/Territory	Japan
City	Yokohama
Period	15/11/9 → 15/11/12

ASJC Scopus subject areas

Electrical and Electronic Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1109/IECON.2015.7392890

Cite this

Torque/force control of wave system based on reflected wave rejection and wave-based load disturbance observer. / Saito, Eiichi; Katsura, Seiichiro.
IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 5038-5043 7392890.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Saito, E & Katsura, S 2016, Torque/force control of wave system based on reflected wave rejection and wave-based load disturbance observer. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392890, Institute of Electrical and Electronics Engineers Inc., pp. 5038-5043, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 15/11/9. https://doi.org/10.1109/IECON.2015.7392890

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abstract = "The researches have been ongoing on various vibration control methods for resonant system. Reflected wave rejection-based vibration control is one of the vibration control for resonant system which considers high order resonances owing to the wave equation. However, the conventional reflected wave rejection-based vibration control mainly focuses on the position control, the torque/force control of the resonant system has not been researched. In this paper, reflected wave rejection-based vibration control is extended to the torque/force control of the resonant system which is modeled as wave equation, and the torque/force control of the resonant system based on a wave-based load disturbance observer is proposed. In the proposed method, the vibration is suppressed by the reflected wave rejection, and torque control is constructed based on an environmental torque estimated by the wave-based load disturbance observer. Additionally, the design procedure of control gains are presented. The validity of the proposed method is confirmed by the experimental results.",

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Torque/force control of wave system based on reflected wave rejection and wave-based load disturbance observer

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