Title :
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
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;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.972622
