Harmonic modulation in control to reduce oscillations in mechatronic systems

Author

Häuptle, P. ; Hubinský, P. ; Gruhler, G.

Author_Institution

Slovak Univ. of Technol. (STUBA), Bratislava, Slovakia

fYear

2011

fDate

23-25 June 2011

Firstpage

303

Lastpage

308

Abstract

In this contribution our interest focuses on applications with a mechatronic drive (MD) where electronics, a motor and a gear-box i.e. a harmonic drive(R) is merged to one module. Every mechatronic system (MS) has one or more resonances. Due to the modeling of such a system, two different challenges regarding oscillations has to be solved by control. Namely the ”transient”-effects as well as the ”semi-stead-state”-effects arise oscillations. We would like to introduce a new feedforward method where undesirable oscillations can be reduced. Beside simulation results also results from our experimental setup due to acceleration measurements are discussed in the following.

Keywords

drives; feedforward; mechatronics; transients; feedforward method; harmonic drive; harmonic modulation; mechatronic systems; semi-stead-state-effects; transient-effects; Frequency modulation; Harmonic analysis; Mechatronics; Oscillators; Resonant frequency; Transfer functions; harmonic-modulation; kinematic-error; mechatronic; oscillation;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Engineering Systems (INES), 2011 15th IEEE International Conference on

Conference_Location

Poprad

Print_ISBN

978-1-4244-8954-1

Type

conf

DOI

10.1109/INES.2011.5954763

Filename

5954763