A sensorless force control in twin drive system

Author

Hayashida, Nobuhiro ; Yakoh, Takahiro ; Murakami, Toshiyuki ; Ohnishi, Kouhei

Author_Institution

Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan

Volume

3

fYear

2000

fDate

2000

Firstpage

2231

Abstract

This article describes the method of a sensorless force control in a twin drive system. The twin drive system is composed of two motors connected by a differential mechanism. Its generated output is the difference of torque between two motors. Since its two motors can continue to drive even when the system makes a stationary motion, the effective static friction of the system is drastically reduced. The disturbance torque is so small, this system is able to estimate the external disturbance torque more than usual motor. By using this system, it is possible to construct the force sensorless controller more exactly

Keywords

force control; friction; machine control; motor drives; torque; differential mechanism; disturbance torque; effective static friction; external disturbance torque estimation; force sensorless controller; sensorless force control; torque difference; twin drive system; Actuators; Design engineering; Force control; Force sensors; Friction; Motor drives; Sensorless control; Systems engineering and theory; Temperature sensors; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE

Conference_Location

Nagoya

Print_ISBN

0-7803-6456-2

Type

conf

DOI

10.1109/IECON.2000.972622

Filename

972622