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Artificial Neural Network-Based PID Parameter Estimation Using Black Kite Algorithm Hyperparameter Optimization for DC Motor Speed Control. [PDF]

Biomimetics (Basel)
Arıkuşu YS.
europepmc   +1 more source

Reinforcement learning-driven deep learning approaches for optimized robot trajectory planning.

Sci Rep
Shiyu F.
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Performance Analysis of a High-Bandwidth Torque Disturbance Compensator

IEEE/ASME Transactions on Mechatronics, 2004
Recent availability of encoder with millions of counts per revolution makes it possible to enlarge the bandwidth of the torque disturbance observer (TDO) equipping a servo drive. As a consequence, the TDO dynamics are no more decoupled from those of current and the behavior of the torque disturbance compensator (TDC) is influenced by the current ...
BERTOLUZZO, MANUELE, BUJA, GIUSEPPE, E. STAMPACCHIA   +2 more
exaly   +2 more sources

Analysis of estimation error of observer for disturbance torque and velocity

Electrical Engineering in Japan (English Translation of Denki Gakkai Ronbunshi), 1994
AbstractThis paper analyzes some features of estimation error of the observer which estimates disturbance torque and velocity. This observer inputs the information of driving torque and current position, and outputs the information of disturbance torque and velocity.Although this observer is a practical tool to compose a robust control system, there ...
exaly   +2 more sources

Disturbance torque estimation in a sensorless DC drive

IEEE Transactions on Industrial Electronics, 1995
The estimation of the disturbance torque in a sensorless DC drive is carried out by extending the classical observer theory. Three estimation schemes are formulated according to the representation of the disturbance torque and processing of the observer states.
G. Buja, MENIS, ROBERTO, M. I. Valla
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Steering Torque Disturbance Rejection

SAE International Journal of Vehicle Dynamics, Stability, and NVH, 2017
<div class="section abstract"><div class="htmlview paragraph">The layout of a vehicle steering system has to resolve a compromise. While it is important for lateral vehicle control to feel steering torque feedback of lateral tire to ground interaction, disturbing forces shall not be present in the feedback steering torque.
Jens Dornhege, Simon Nolden, Martin Mayer   +2 more
openaire   +1 more source

Correction of Remanent Disturbance Torque

2006 1st International Symposium on Systems and Control in Aerospace and Astronautics, 2006
This paper presents a method to remove effects of remanent disturbance torque. For some small satellites, a considerable magnetic dipole moment still remains after degaussing, thus the remanent torque becomes one of the main disturbance torques that limit their pointing accuracy.
null Lin Huang, null Wuxing Jing
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Compensation of motor torque disturbances in industrial robots

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 2002
Permanent magnet AC motors generate parasitic torque pulsations, owing to several electromagnetic phenomena. Excitation of the mechanical resonances on the load side is generally the worst consequence of these disturbances. Speed oscillations arise which may dramatically limit the performances in high precision applications.
FERRETTI, GIANNI, MAGNANI, GIANANTONIO, ROCCO, PAOLO   +2 more
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ADAPTIVE COMPENSATION OF TORQUE DISTURBANCES IN AN INDUSTRIAL ROBOT

IFAC Proceedings Volumes, 2002
Abstract A compact model of torque disturbances in the brushless motors of an industrial manipulator is discussed and algorithms are given for the identification of model parameters. Thanks to its compactness, the model allows the implementation of a straightforward and effective technique for disturbance compensation. The compensation is adaptive as
FERRETTI, GIANNI, MAGNANI, GIANANTONIO, ROCCO, PAOLO   +2 more
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Quick Torsion Torque Control Based on Model Error Compensator and Disturbance Observer with Torsion Torque Sensor

2021 IEEE/SICE International Symposium on System Integration (SII), 2021
Conventionally, I-P-I-P torsion torque control has been proposed for realizing the load-side acceleration control that is a robust motion control for the flexible joint manipulator. However, conventional torsion torque control is designed as a 4th-order delay system and it is difficult to improve the control bandwidth. For this, reducing control-system-
Yusuke Kawai, Sora Nagao, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki   +4 more
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