Disturbance observer-based motion control of direct drive motors


2019-11-15 02:02 Disturbance observer based controllers estimate disturbances, which can be cancelled out to achieve a nominal model, for which a simple controller can then be designed.

Based on this modeling, control system for the spiral motor is proposed. The proposed controller consists of three parts; the first part is PI current controller with back EMF compensation specialized for spiral motor, the second part is disturbance observer based PD controller for linear and gap motion interacting each other, and the third part is zeropower controller for equilibrium fluctuation of gap disturbance observer-based motion control of direct drive motors How can the answer be improved?

This is primarily due to the relationship between low inertia and low impedance in todays linear and directdrive rotary motors. Observerbased motion control. Because standard servo systems are errordriven and therefore reactive, they suffer lag between the commanded and actual positions. disturbance observer-based motion control of direct drive motors

Based on this formulation, a trajectory tracking control law is proposed based on the momentum feedback disturbance observer (MFDOB). The performance of the proposed controller is verified through experiments with a planar threelink directdrive manipulator. Sep 01, 1991 Disturbance observerbased motion control of direct drive motors Satoshi Komada, Muneaki Ishida, Kouhei Ohnishi, Takamasa Hori Department of System Design Engineering On the other hand, in the DD system, the disturbance torque directly influences the accuracy of the motor control. The high servo gain is effective and important for reducing the influence of the disturbance torque. However, the high servo control often makes the control system unstable or vibratory. disturbance observer-based motion control of direct drive motors



Gallery Disturbance observer-based motion control of direct drive motors