Robust Torsion Torque Control using Single Inertialization Compensator for Two-inertia System with Environmental Stiffness

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カテゴリ: 論文誌(論文単位)グループ名: 【D】産業応用部門（英文）発行日: 2022/09/01タイトル(英語): Robust Torsion Torque Control using Single Inertialization Compensator for Two-inertia System with Environmental Stiffne ss著者名: Sora Nagao (Nagaoka University of Technology), Yusuke Kawai (National Institute of Technology, Ichinoseki College), Yuki Yokokura (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University著者名(英語): Sora Nagao (Nagaoka University of Technology), Yusuke Kawai (National Institute of Technology, Ichinoseki College), Yuki Yokokura (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technology)キーワード: two-inertia system，torsion torque control，single inertialization compensator，load-side torque control，model error compensator要約(英語): This paper proposes torsion torque control (TTC) for a two-inertia system with environmental stiffness. The proposed TTC is robust to environmental stiffness as it compensates the measured load-side torque with the current reference through a single inertialization compensator (SIC). The SIC is independent of the TTC design, and a simple load-side plant model is constructed using the TTC and SIC. A load-side torque control based on a model error compensator (MEC) is adopted for one of the applications of the proposed TTC. In addition, plant nominal models are simplified using the proposed TTC. The proposed TTC system is effective even in the presence of environmental stiffness in simulations and experiments with geared motors for torsion torque and acceleration sensors.本誌: IEEJ Journal of Industry Applications Vol.11 No.5 （2022）本誌掲載ページ: 674-685 p原稿種別: 論文／英語電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/11/5/11_21013095/_article/-char/ja/ Show more