{"title":"Reaction-torque-based reflected wave rejection for vibration suppression of integrated resonant and time-delay system","authors":"E. Saito, S. Katsura","doi":"10.1109/ICMECH.2015.7084056","DOIUrl":null,"url":null,"abstract":"The vibration suppression on a resonant system, based on the reflected wave rejection, has been recently proposed. In the method, the resonant system is modeled through a wave equation, in order to consider high order vibrations and vibration suppression is achieved by eliminating a reflected wave. However, it is difficult to implement such method when there are input and output time-delays, because it requires the implementation of the inverse of a time delay. Under such background, vibration suppression on the integrated resonant and time-delay system by using a modified reflected wave rejection has been proposed. However, a problem still remains, which is to need to use load-position information. Therefore, this paper proposes a novel vibration suppression method for systems including time delays by using a reaction-torque-based reflected wave rejection, which does not use the load position information. The novel reflected wave rejection can estimate and compensate the reflected wave by using motor position and reaction-torque information which is estimated by a reaction-torque observer. The validity of the proposed method is confirmed by experimental results.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 IEEE International Conference on Mechatronics (ICM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMECH.2015.7084056","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
The vibration suppression on a resonant system, based on the reflected wave rejection, has been recently proposed. In the method, the resonant system is modeled through a wave equation, in order to consider high order vibrations and vibration suppression is achieved by eliminating a reflected wave. However, it is difficult to implement such method when there are input and output time-delays, because it requires the implementation of the inverse of a time delay. Under such background, vibration suppression on the integrated resonant and time-delay system by using a modified reflected wave rejection has been proposed. However, a problem still remains, which is to need to use load-position information. Therefore, this paper proposes a novel vibration suppression method for systems including time delays by using a reaction-torque-based reflected wave rejection, which does not use the load position information. The novel reflected wave rejection can estimate and compensate the reflected wave by using motor position and reaction-torque information which is estimated by a reaction-torque observer. The validity of the proposed method is confirmed by experimental results.