A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints
文献类型：期刊论文
| 作者 | Xin, Qiang; Chen, Chin-Yin; Wang, Chongchong; Yang, Guilin; Zhang, Chi; Fang, Zaojun; Chen, Chun Lung Philip |
| 刊名 | ACTUATORS
 |
| 出版日期 | 2020 |
| 卷号 | 9期号:4 |
| 关键词 | SUPPRESSION TORQUE |
| 英文摘要 | Velocity ripple is one of the common problems of modular drive joints, which easily induces vibration and noise and affects motion accuracy. In order to improve the motion control accuracy, a robust method based on dual encoders to eliminate velocity ripple is proposed in this paper. The method contains a velocity ripple elimination controller (VREC), a rigid-body velocity solver (RBVS), and a proportional-integral (PI) controller. Feeding back the VREC output to the PI controller based on the rigid-body velocity obtained from the weighted sum of dual encoders in the RBVS, an equivalent system damping term was added into the system. Therefore, the velocity ripple can be suppressed effectively with the adjustable damping term composed of control parameters. Above all, the proposed method has only one more parameter to further eliminate velocity ripple compared to the pure PI method and, meanwhile, has apparent advantages over the conventional method, such as fewer parameters and full frequency ripple elimination, as well as robustness to input disturbance and modular drive joint load inertia changes. This proposed method's effectiveness is verified by simulations in MATLAB and experiments in the modular drive joint platform. |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/22409]  |
| 专题 | 中国科学院宁波材料技术与工程研究所 2020专题_期刊论文 2021专题_期刊论文 |
| 作者单位 | Chen, CY (corresponding author), Chinese Acad Sci, Ningbo Inst Mat Technol & Engn, Zhejiang Key Lab Robot & Intelligent Mfg Equipmen, Ningbo 315201, Peoples R China. |
| 推荐引用方式 GB/T 7714 | Xin, Qiang,Chen, Chin-Yin,Wang, Chongchong,et al. A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints[J]. ACTUATORS,2020,9(4). |
| APA | Xin, Qiang.,Chen, Chin-Yin.,Wang, Chongchong.,Yang, Guilin.,Zhang, Chi.,...&Chen, Chun Lung Philip.(2020).A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints.ACTUATORS,9(4). |
| MLA | Xin, Qiang,et al."A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints".ACTUATORS 9.4(2020). |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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