Optimization of Spring Constant of Load Torque Control System Using Electromagnetic Motor with Reduction Gear and Motor/Load-Side Encoders

DOI Web Site 14 References
  • Kondo Daichi
    Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University
  • Yashiro Daisuke
    Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University
  • Ikeda Yuto
    Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University
  • Yubai Kazuhiro
    Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University
  • Komada Satoshi
    Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University

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Other Title
  • モータ/負荷側エンコーダ及び減速機付きモータを用いたトルク制御系のばね定数最適化

Abstract

<p>A load torque control system using an electromagnetic motor with a reduction gear, a spring, and motor/load-side encoders is designed. Frequency analysis indicates that the control system with a low-stiffness spring has high robustness against backlash modeling error and high disturbance suppression characteristics. However, the control system has low target tracking characteristics and frequently causes current saturation. Therefore, this study addresses this problem by optimizing not only parameters of the controller but also the stiffness of the spring. The validity of the optimized control system is verified by simulations and experiments.</p>

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