Torque bias compensation method for nonlinear friction by the use of a disturbance observer.
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概要
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In the case that the estimated dynamic characteristics of a disturbance observer accompany a restriction because of backlash or noise, the Coulomb friction changing in a moment with the switching of the velocity sign cannot be compensated rapidly. Although compensation by the torque bias is possible without delay, the estimation error of the friction results in the disturbance. Thus, making full use of a disturbance observer, the above-mentioned subject is studied by introducing the dynamic compensator which compensates for the estimation delay. The effectiveness of this method is demonstrated in several simulation and experimental results.
- 一般社団法人 日本機械学会の論文
一般社団法人 日本機械学会 | 論文
- PREFACE
- Hybrid Vibration Suppression of Flexible Structures Using Piezoelectric Elements and Analog Circuits
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