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• W4313395635 abstract "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." @default.
• W4313395635 created "2023-01-06" @default.
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• W4313395635 date "2023-01-01" @default.
• W4313395635 modified "2023-09-27" @default.
• W4313395635 title "Optimization of Spring Constant of Load Torque Control System Using Electromagnetic Motor with Reduction Gear and Motor/Load-Side Encoders" @default.
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• W4313395635 doi "https://doi.org/10.1541/ieejias.143.1" @default.
• W4313395635 hasPublicationYear "2023" @default.
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