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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 ...
M Bertoluzzo, G S Buja
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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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Adaptive feedforward control for disturbance torque rejection in seeker stabilizing loop
IEEE Transactions on Control Systems Technology, 2001Important sources of disturbance torque inputs, which may severely degrade the seeker tracking accuracy of a guided missile, involve seeker mass imbalance, seeker gimbal friction, and seeker head restoring torque. The paper presents an approach to treat the disturbance rejection problem for the missile seeker.
Chun-Liang Lin, Yi-Hsing Hsiao
exaly +2 more sources
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
openaire +1 more source
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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