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

Siedel T., Bethge S., Hild M.

Journal of Automation Mobile Robotics and Intelligent Systems

2016

Vol. 10, No. 2

15--24

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.