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Torque-angle characteristics of synchronous machines following system disturbances
Electrical Engineering, 1932A method of predetermining the torque-angle characteristic of a synchronous machine following a system disturbance is of importance in calculating the transient stability limit and in evaluating the effect on this limit of additional rotor circuits or of a change in excitation.
S. B. Crary, M. L. Waring
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Torque disturbance rejection in high accuracy tracking systems
IEEE Transactions on Aerospace and Electronic Systems, 1990The possibility of rejecting torque disturbances that degrade the pointing and tracking accuracy of electromechanical pedestals and general two-axis systems used for target acquisition and robotics is discussed. Torque rejection achieved through disturbance estimation and compensation results in a vast improvement in pointing accuracy. For the class of
J.A. Profeta, W.G. Vogt, M.H. Mickle
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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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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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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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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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Nonlinear Control of Induction Motors: Torque Tracking with Unknown Load Disturbance
1992 American Control Conference, 1992Ortega and Espinosa (1993) presented a globally stable controller for torque regulation of a complete induction motor model with partial state feedback, i.e., no assumption of flux measurement. The result was established under the assumptions that both the desired and load torques are constant, that the former does not exceed certain bounds which ...
Ortega, Romeo +2 more
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Torque sensor based robot arm control using disturbance observer
ICCAS 2010, 2010In this paper, a robust torque control method is proposed for a robot arm which is equipped with joint torque sensor. The proposed controller is used to control the joint torque and make it to be equal with the torque controller reference input torque. A flexible joint robot model will be introduced to model the robot arm system.
Hosun Lee, Yonghwan Oh, Jae-Bok Song
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Manufacturing Errors Effects on Disturbing Torque of Aerostatic Bearings
Applied Mechanics and Materials, 2009In order to improve the drifting accuracy of aerostatic bearings, the manufacturing errors effects on disturbing torque of aerostatic bearings is studied by using the finite element method. The finite element mathematic model of the major influence factors of disturbing torque is established.
Jing Shi Liu +3 more
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