Results 211 to 220 of about 6,216 (258)
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Analysis of estimation error of observer for disturbance torque and velocity
Electrical Engineering in Japan (English Translation of Denki Gakkai Ronbunshi), 1994AbstractThis 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 ...
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Disturbance torque estimation in a sensorless DC drive
IEEE Transactions on Industrial Electronics, 1995The 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 +2 more
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Correction of Remanent Disturbance Torque
2006 1st International Symposium on Systems and Control in Aerospace and Astronautics, 2006This 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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ADAPTIVE COMPENSATION OF TORQUE DISTURBANCES IN AN INDUSTRIAL ROBOT
IFAC Proceedings Volumes, 2002Abstract 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 +2 more
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Compensation of motor torque disturbances in industrial robots
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 2002Permanent 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 +2 more
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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 +4 more
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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 +4 more
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Disturbance compensation with a torque controllable steering system
Vehicle System Dynamics, 2006Via a conventional steering system the driver perceives desired and disturbing effects such as road feedback and resonance effects, respectively. They appear with overlapping frequency spectra within the driver's steering torque. This paper introduces a control algorithm that is suppressing periodic disturbances without affecting useful steering road ...
Max Von Groll +3 more
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A joint torque disturbance observer for robotic assembly
Proceedings of 36th Midwest Symposium on Circuits and Systems, 2002This paper describes an approach to achieve good trajectory tracking performance needed in printed circuit board (PCB) assembly by using a joint torque disturbance observer. By observing the difference between the reference torque and the output torque based on a prescribed model, the proposed disturbance observer immediately feeds back the discrepancy
C.Y. Lee, S.P. Chan, D.P. Mital
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2020 IEEE 17th India Council International Conference (INDICON), 2020
In this paper, computed torque control technique is used for the tracking control problem of mobile robotic manipulator subjected to external torque disturbances. The proposed control allows the robot to follow the desired end effector and platform trajectories even in the presence of external torque disturbances.
Shyju Susan Mathew, V.R. Jisha
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In this paper, computed torque control technique is used for the tracking control problem of mobile robotic manipulator subjected to external torque disturbances. The proposed control allows the robot to follow the desired end effector and platform trajectories even in the presence of external torque disturbances.
Shyju Susan Mathew, V.R. Jisha
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