{"title":"Robust speed control suppressing vibration caused by angular transmission error of planetary gear","authors":"T. Miyazaki, K. Ohishi","doi":"10.1109/IECON.1999.819353","DOIUrl":null,"url":null,"abstract":"This paper proposes a new robust speed control suppressing vibration caused by angular transmission error of planetary gear. For this purpose, first, this paper constructs a new numerical simulation model of angular transmission error of planetary gear, which is confirmed by the experimental data of the tested robot arm. Next, the proposed robust speed control system is designed by the two-degrees-of-freedom control system based on disturbance observer and coprime factorization. The numerical simulation results show that the proposed system regulates the motor velocity and suppresses the vibration.","PeriodicalId":378710,"journal":{"name":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IECON.1999.819353","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
This paper proposes a new robust speed control suppressing vibration caused by angular transmission error of planetary gear. For this purpose, first, this paper constructs a new numerical simulation model of angular transmission error of planetary gear, which is confirmed by the experimental data of the tested robot arm. Next, the proposed robust speed control system is designed by the two-degrees-of-freedom control system based on disturbance observer and coprime factorization. The numerical simulation results show that the proposed system regulates the motor velocity and suppresses the vibration.
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