Title :
Robust speed control system considering vibration suppression caused by angular transmission error of planetary gear
Author :
Miyazaki, Toshimasa ; Ohish, Kiyoshi
Author_Institution :
Dept. of Electr. Eng., Nagaoka Nat. Coll. of Technol., Japan
fDate :
6/1/2002 12:00:00 AM
Abstract :
This paper proposes a new robust speed control to suppress vibration caused by angular transmission error of planetary gears. For this purpose, this paper first constructs a new numerical simulation model of angular transmission error of planetary gear, which is confirmed by experimental data from a robot arm. Next, in order to suppress the vibration caused by angular transmission error, we propose a robust speed control system based on disturbance observer and coprime factorization. Numerical simulation results show that the proposed system regulates the angular speed of motor satisfactorily, and it suppresses the vibration caused by angular transmission error
Keywords :
robust control; servomechanisms; velocity control; vibration control; angular transmission error; coprime factorization; disturbance observer; motor angular speed regulation; planetary gear; robot arm; robust speed control system; vibration suppression; Control systems; Electrical equipment industry; Error correction; Gears; Numerical simulation; Robust control; Spline; Torque; Velocity control; Vibration control;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2002.1011260
