Study on the Torque Control of a DC Motor with Reduction Gears : Torque Control Based on an Acceleration Controller
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概要
- 論文の詳細を見る
This paper describes torque control of a geared DC motor. Torque sensory feedback is beneficial for fine torque generation using geared DC motors. However, it reduces the structural stiffness and results in low response in both torque and position controls. To improve these aspects, the proposed method employs positive feedback of the link angle acceleration. To enable high performance of this positive feedback, the concept of an acceleration controller, realized by a disturbance observer, is also employed. The proposed method was confirmed to be effective in constructing a fine torque control system while improving the structural stiffness reduced by the torque sensor. The paper also reports the experimental results from implementation of this controller.
- 一般社団法人日本機械学会の論文
- 1994-06-15
著者
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OHNISHI Kouhei
Department of System Design Engineering, Faculty of Science and Technology, Keio University
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Ohnishi Kouhei
Department Of Integrated Design Engineering Keio University
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Tanie K
Mechanical Engineering Lab. Ministry Of International Trade And Ind. Ibaraki Jpn
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Kaneko Kenji
Robotics Department, Mechanical Engineering Laboratory
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Suzuki Natsuo
Department of Mechanical Engineering, Tamagawa University
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Tanie Kazuo
Robotics Department, Mechanical Engineering Laboratory
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Tanie Kazuo
Robotics Department Mechanical Engineering Laboratory
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Suzuki Natsuo
Department Of Mechanical Engineering Tamagawa University
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Ohnishi Kouhei
Department Of Electrical Engineering Keio University
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Kaneko Kenji
Robotics Department Mechanical Engineering Laboratory
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