DocumentCode :
255309
Title :
Conventional control with nested loops including an acceleration loop
Author :
Robet, P. Ph ; Gautier, M.
Author_Institution :
LUNAM, Univ. of Nantes, Nantes, France
fYear :
2014
fDate :
26-28 Aug. 2014
Firstpage :
1
Lastpage :
10
Abstract :
For haptic applications, the control of the effort around a position requires to minimize the effect of non-linearity of the viscous friction coefficient. The rejection capacity of this disturbance is therefore of great importance. It has been shown that introducing an acceleration loop decreases the position error significantly with torque perturbations. We propose to make a very simple control law with acceleration loop from a conventional control with nested loops.
Keywords :
closed loop systems; electric drives; position control; torque control; acceleration loop; conventional control; haptic applications; nested loops; position error; rejection capacity; viscous friction coefficient; Abstracts; Acceleration; Damping; Friction; Pulse width modulation; Control of drive; Industrial application; Mechatronics; Robotics; Robustness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Power Electronics and Applications (EPE'14-ECCE Europe), 2014 16th European Conference on
Conference_Location :
Lappeenranta
Type :
conf
DOI :
10.1109/EPE.2014.6910683
Filename :
6910683
Link To Document :
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