Torque Control of a Series Elastic Actuator Using an Ultrasonic Motor with Angular-Velocity Saturation

DOI Web Site Web Site 1 References
  • Nakamura Toshiya
    Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University
  • Yashiro Daisuke
    Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University
  • Yubai Kazuhiro
    Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University
  • Komada Satoshi
    Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University

Bibliographic Information

Other Title
  • 角速度飽和のある超音波モータを用いた直列弾性アクチュエータのトルク制御
  • カクソクド ホウワ ノ アル チョウオンパ モータ オ モチイタ チョクレツ ダンセイ アクチュエータ ノ トルク セイギョ

Search this article

Abstract

<p>A series elastic actuator (SEA) using an ultrasonic motor (USM) and an elastic element has attracted attention as a compact actuator with high torque-weight ratio and high force control performance. However, an elastic element in a SEA often causes mechanical vibrations. To suppress these vibrations, studies implemented the state feedback of the motor- and load-side angles. However, as the controller has many integrators, the control system becomes unstable when the angular-velocity of the USM is saturated. Therefore, in this study, integrators in the controller were reduced in number. Furthermore, a limit error feedback controller was designed to suppress the windup phenomenon caused by the integrators. The frequency analysis using a describing function showed that stability is guaranteed even if the angular-velocity is saturated. In addition, the experimental results indicate that an overshoot of the torque response is suppressed.</p>

Journal

References(1)*help

See more

Related Projects

See more

Keywords

Details 詳細情報について

Report a problem

Back to top