IEEJ Journal of Industry Applications
Online ISSN : 2187-1108
Print ISSN : 2187-1094
ISSN-L : 2187-1094

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Angle Controller for Motor with Reduction Gear that Utilizes Torsional Torque Estimator Including Backlash Model and High-Pass Filter
Yuto IkedaDaisuke YashiroKazuhiro YubaiSatoshi Komada
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JOURNAL FREE ACCESS Advance online publication

Article ID: 23005761

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Abstract

This study presents the design of a load-side angle controller for an electromagnetic motor with motor-/load-side encoders, a reduction gear, and low-stiffness coupling. A method that estimates a shaft torsional torque and feeds back the estimated value to the controller is proposed to suppress shaft torsional vibration during high-speed operation. However, feedback of the shaft torsional torque deteriorates the disturbance suppression characteristics in the low-frequency range and may lead to an angle tracking error. Therefore, this study aims to improve the disturbance suppression characteristics by suppressing the amount of feedback of the low-frequency component of the torsional torque. The effectiveness of the proposed load-side angle controller is demonstrated by experiment.

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