Name
Title | ||
|---|---|---|
High back-drivable pseudo I-PD torque control using load-side torque observer with torsion torque sensor |
Abstract | ||
|---|---|---|
This paper proposes high back-drivable pseudo I-PD torque control using load-side torque observer with torsion torque sensor. According to previous research, the back-drivability of torsion torque control using torsion torque sensor depends on load-side friction. Therefore, the authors focus on load-side torque control. Load-side torque is estimated using load-side torque observer because load-side torque cannot be detected in this system. Using estimated load-side torque feedback, the back-drivability of the proposed method becomes infinite. The back-drivability of the three methods (i.e., P-D, I-PD, and pseudo I-PD) are compared using the simulation and experimental results. Finally, the simulation and experimental results verify the effectiveness of the proposed method. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/AMC.2016.7496345 | 2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) |
Keywords | Field | DocType |
high back-drivable pseudo I-PD torque control,load-side torque observer,torsion torque sensor,integral-proportional-derivative control,control back-drivability,load-side friction,load-side torque feedback estimation,P-D torque control,I-PD torque control | Torque motor,Stall torque,Coupling,Damping torque,Torque sensor,Torsion (mechanics),Control theory,Torque limiter,Direct torque control,Control engineering,Mathematics | Conference |
ISSN | Citations | PageRank |
1943-6572 | 0 | 0.34 |
References | Authors | |
3 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yusuke Kawai | 1 | 0 | 0.68 |
| Yuki Yokokura | 2 | 75 | 18.43 |
| Kiyoshi Ohishi | 3 | 415 | 71.48 |
| Kotaro Saito | 4 | 0 | 0.68 |
| Atsushi Shimamoto | 5 | 0 | 0.68 |