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.
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