Phase Shifted Pulse Height Modulated Motor Control for Multiply Actuated Joints to Optimize Operating Characteristics

• Autorzy: Siedel T. , Bethge S. , Hild M.

Identyfikatory

DOI

10.14313/JAMRIS_2-2016/12

• Języki publikacji: EN

Abstrakty

EN

In this article, we propose two model free control schemes that are based on pulse height modulation using low frequencies with the goal to compensate normal friction effects in drive trains that negatively influence the performance of e.g. a standard PID controller. The first control scheme uses pulse height modulation to especially compensate stick slip effects but increases vibration and noise in the drive train. To reduce such side effects a modified phase shifed pulse height control scheme based on multiple actuated joints is introduced. Both control schemes are compared with a standard linear controller as reference and evaluated by using six quality criteria.

Słowa kluczowe

EN

multiple actuators; model-free; frictrion compensation; pulse modulation

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2016
• Tom: Vol. 10, No. 2
• Strony: 15--24
• Opis fizyczny: Bibliogr. 17 poz., rys.

Twórcy

autor

Siedel T.

• Space Applications Services NV/SA, Leuvensesteenweg 325, 1932 Zaventem, Belgium

autor

Bethge S.

• Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genoa, Italy

autor

Hild M.

• Neurorobotics Research Laboratory, Beuth-Hochschule für Technik Berlin, www: http://neurorobotics.eu/.

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.