Acceleration feedback control for direct-drive motor system
文献类型：会议论文
| 作者 | Han JD(韩建达) ; Wang YC(王越超); Tan DL(谈大龙); Xu WL(徐伟力)
|
| 出版日期 | 2000 |
| 会议名称 | IEEE/Robotics-Society-of-Japan International Conference on Intelligent Robots and Systems (IROS 2000) |
| 会议日期 | October 31 - November 5, 2000 |
| 会议地点 | TAKAMATSU, JAPAN |
| 页码 | 1068-1074 |
| 中文摘要 | In this study, classical PD control for direct drive motor system is enhanced to suppress disturbing torque by incorporating an acceleration feedback loop. This intends to achieve a stable and high stiffness control without the need of adjusting the PD controller; either the structure or the parameters. The acceleration feedback control is presented with a focus on designing the acceleration closed-loop in terms of its stability and ability in resisting the dynamic disturbances. The sensing and modeling of angular acceleration via servo-type linear accelerometers is dealt with in viewpoint of practical implementation Extensive experiments are conducted on the second joint of a three-link direct drive robot. Results are given against those obtained by classical PD control without the acceleration feedback loop, to mainly investigate the ability of the acceleration feedback control in resisting disturbing torque, and its influence to the conventional PD control. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, Ind Electr Soc, IEEE, Robot & Automat Soc, Robot Soc Japan, Soc Instrument & Control Engineers, New Technol Fdn, Kagawa Univ |
| 会议录 | 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-6349-3 |
| WOS记录号 | WOS:000166948600173 |
| 源URL | [http://ir.sia.cn/handle/173321/7748]  |
| 专题 | 沈阳自动化研究所_沈阳自动化所知识产出(2000年前) |
| 推荐引用方式 GB/T 7714 | Han JD,Wang YC,Tan DL,et al. Acceleration feedback control for direct-drive motor system[C]. 见:IEEE/Robotics-Society-of-Japan International Conference on Intelligent Robots and Systems (IROS 2000). TAKAMATSU, JAPAN. October 31 - November 5, 2000. |
入库方式： OAI收割
来源：沈阳自动化研究所
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