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• W2367526328 abstract "Direct drive systems produce mechanical resonances and anti-resonance because mismatch between load and DC force motor is too much, and the connect shaft seems to have low stiffness. The resonance and anti-resonance are varied because of some uncertainties about backlash and friction, so it is difficult to compensate using notch filter or some other methods. A well known lumped-parameter model is utilized to simulate tracking control system. The bandwidths of velocity loop and high gain controller are restricted by resonances, resulting in deteriorating tracking precision. A novel controller based on load acceleration feedback control is proposed to reduce mechanical resonance, which is used for inner loop of velocity loop. We propose three design regulations for the controller. The experiments verify the algorithm availably. Results with load acceleration feedback control show that compared with only velocity feedback, bandwidth of rate loop is enhanced 5Hz and resonance peak reduces 15dB. Acceleration feedback control improves the robustness and stability of the system." @default.
• W2367526328 created "2016-06-24" @default.
• W2367526328 creator A5020651408 @default.
• W2367526328 date "2007-01-01" @default.
• W2367526328 modified "2023-09-25" @default.
• W2367526328 title "Reduction of mechanical resonance based on load acceleration feedback for servo system" @default.
• W2367526328 hasPublicationYear "2007" @default.
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