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Precise force detection is required to realize precise force control, and a lot of research have been conducted for precise and robust force estimation. Based on the industrial trends that the number of load-side encoders is increasing in various industrial fields, a force observer using load-side encoder information has already been proposed to avoid the estimation performance deterioration in the...
Research on the control using a load-side encoder for two-mass system is getting more active due to the widespread use of the load-side encoder. We previously proposed Self Resonance Cancellation, which is a position control method for two-mass system. SRC has steady-state error and the vibration suppression performance is not improved. In the industry, Proportional-Proportional Integral control is...
In controlling ball-screw driven stages of machine tools, industrial robots, and welfare robots, they are modelled as two-inertia systems to consider their transmission characteristics such as low rigidity and nonlinearity. To obtain precise position at the load side, the number of devices with load-side encoders is increasing. The precise joint torque control method and the load-side torque control...
In the past 20 years, control methods for two-inertia systems have changed from semi-closed control to full-closed control in order to achieve higher precision positioning. Though there is a trend toward the expansion of the use of load-side encoders in the industry, we can hardly say that control methods using load-side information are sufficiently studied. Therefore, our research group has proposed...
In the past 20 years, control methods for two-inertia systems have gradually changed from semi-closed control to full-closed control in order to achieve higher precision positioning. Though there is a trend toward the expansion of the use of load-side encoders in the industry, we can hardly say that control methods using load-side information are sufficiently studied. This paper proposes a novel joint...
In order to improve motion control performance of electric vehicles (EVs), In-Wheel Motor (IWM) is the most preferred electric motor arrangement. Our research group has proposed Wireless In-Wheel Motor (W-IWM) concept to solve some technical problems of an IWM, which are reliability and safety issues of power and signal wires. In this research, we did a stability analysis of Series-Series compensated...
Boost converters are used for high voltage supplying, and they generally have to use large capacitors to suppress output voltage variations. However, this characteristic makes the converter system very large. In this paper, three load current feedforward control methods, which are considered an unstable zero, are proposed for the boost converter. The proposed methods suppress voltage variation compared...
For high-precision control of a two-inertia system, information of both the drive side and the load side is usually required for obtaining high control bandwidth. In order to reduce the implementation cost and space, a novel control method, which employs the load side information only, is proposed using a high-resolution encoder which is today widely used in various fields. Simulation and experimental...
Usually, a humanoid robot using motors has low resonances due to the timing belts at each joint, and the low resonances may deteriorate the response performance and positioning precision. In this paper, a joint of humanoid robot which links the motor side to the load side via timing belt is studied. Regarding this system as a two-inertia system, this paper proposes a novel control method which uses...
It is common practise to develop the control algorithms for active safety and advanced driver assistance systems on the basis of available vehicle dynamic models. Therefore the model accuracy of representing the vehicle dynamic characteristics is of considerable importance. This work presents a methodology for parameter identification of a car model and its subsequent validation both in time and frequency...
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