Positioning control device for actuator provided with strain wave gearing using full-closed control with state observer
A positioning control system is provided with a state-feedback control system with a state observer as a full-closed control system for driving and controlling a motor so that a load shaft, which is an output shaft of a strain wave gearing, is positioned at a target position on the basis of a load s...
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| creator | Okitsu, Yoshifumi Yamamoto, Masafumi Iwasaki, Makoto |
| description | A positioning control system is provided with a state-feedback control system with a state observer as a full-closed control system for driving and controlling a motor so that a load shaft, which is an output shaft of a strain wave gearing, is positioned at a target position on the basis of a load shaft position actually detected. The state observer estimates a motor shaft position and a motor velocity based on a control input for the motor and the load shaft position. The state-feedback control system feeds back the state quantity of the object of control using the load shaft position as well as estimated motor shaft position and estimated motor velocity obtained by the state observer. It is possible to suppress resonant vibration caused by angular transmission error in the strain wave gearing and perform highly accurate positioning. |
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The state observer estimates a motor shaft position and a motor velocity based on a control input for the motor and the load shaft position. The state-feedback control system feeds back the state quantity of the object of control using the load shaft position as well as estimated motor shaft position and estimated motor velocity obtained by the state observer. It is possible to suppress resonant vibration caused by angular transmission error in the strain wave gearing and perform highly accurate positioning.</description><language>eng</language><subject>BLASTING ; CONTROL OR REGULATING SYSTEMS IN GENERAL ; CONTROLLING ; ENGINEERING ELEMENTS AND UNITS ; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS ; GEARING ; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS ; HEATING ; LIGHTING ; MECHANICAL ENGINEERING ; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS ; PHYSICS ; REGULATING ; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ; THERMAL INSULATION IN GENERAL ; WEAPONS</subject><creationdate>2019</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20190409&DB=EPODOC&CC=US&NR=10254740B2$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25563,76418</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20190409&DB=EPODOC&CC=US&NR=10254740B2$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>Okitsu, Yoshifumi</creatorcontrib><creatorcontrib>Yamamoto, Masafumi</creatorcontrib><creatorcontrib>Iwasaki, Makoto</creatorcontrib><title>Positioning control device for actuator provided with strain wave gearing using full-closed control with state observer</title><description>A positioning control system is provided with a state-feedback control system with a state observer as a full-closed control system for driving and controlling a motor so that a load shaft, which is an output shaft of a strain wave gearing, is positioned at a target position on the basis of a load shaft position actually detected. The state observer estimates a motor shaft position and a motor velocity based on a control input for the motor and the load shaft position. The state-feedback control system feeds back the state quantity of the object of control using the load shaft position as well as estimated motor shaft position and estimated motor velocity obtained by the state observer. It is possible to suppress resonant vibration caused by angular transmission error in the strain wave gearing and perform highly accurate positioning.</description><subject>BLASTING</subject><subject>CONTROL OR REGULATING SYSTEMS IN GENERAL</subject><subject>CONTROLLING</subject><subject>ENGINEERING ELEMENTS AND UNITS</subject><subject>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</subject><subject>GEARING</subject><subject>GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS</subject><subject>HEATING</subject><subject>LIGHTING</subject><subject>MECHANICAL ENGINEERING</subject><subject>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</subject><subject>PHYSICS</subject><subject>REGULATING</subject><subject>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</subject><subject>THERMAL INSULATION IN GENERAL</subject><subject>WEAPONS</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2019</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNjLEKwkAQRNNYiPoP6wcEYozYK4qloNZhvWziwXEb9vYuv28CsbeZmeK9WWbDnYNVy976Dgx7FXbQULKGoGUBNBpRx9ELJ9tQA4PVDwQVtB4GTAQdoUx2DFO20bncOA4j-vubFVQCfgeSRLLOFi26QJu5V9n2enmebzn1XFPo0ZAnrV-PXVEeqmNVnMr9P8wXC9ZHDg</recordid><startdate>20190409</startdate><enddate>20190409</enddate><creator>Okitsu, Yoshifumi</creator><creator>Yamamoto, Masafumi</creator><creator>Iwasaki, Makoto</creator><scope>EVB</scope></search><sort><creationdate>20190409</creationdate><title>Positioning control device for actuator provided with strain wave gearing using full-closed control with state observer</title><author>Okitsu, Yoshifumi ; Yamamoto, Masafumi ; Iwasaki, Makoto</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_US10254740B23</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng</language><creationdate>2019</creationdate><topic>BLASTING</topic><topic>CONTROL OR REGULATING SYSTEMS IN GENERAL</topic><topic>CONTROLLING</topic><topic>ENGINEERING ELEMENTS AND UNITS</topic><topic>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</topic><topic>GEARING</topic><topic>GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS</topic><topic>HEATING</topic><topic>LIGHTING</topic><topic>MECHANICAL ENGINEERING</topic><topic>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</topic><topic>PHYSICS</topic><topic>REGULATING</topic><topic>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</topic><topic>THERMAL INSULATION IN GENERAL</topic><topic>WEAPONS</topic><toplevel>online_resources</toplevel><creatorcontrib>Okitsu, Yoshifumi</creatorcontrib><creatorcontrib>Yamamoto, Masafumi</creatorcontrib><creatorcontrib>Iwasaki, Makoto</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Okitsu, Yoshifumi</au><au>Yamamoto, Masafumi</au><au>Iwasaki, Makoto</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Positioning control device for actuator provided with strain wave gearing using full-closed control with state observer</title><date>2019-04-09</date><risdate>2019</risdate><abstract>A positioning control system is provided with a state-feedback control system with a state observer as a full-closed control system for driving and controlling a motor so that a load shaft, which is an output shaft of a strain wave gearing, is positioned at a target position on the basis of a load shaft position actually detected. The state observer estimates a motor shaft position and a motor velocity based on a control input for the motor and the load shaft position. The state-feedback control system feeds back the state quantity of the object of control using the load shaft position as well as estimated motor shaft position and estimated motor velocity obtained by the state observer. It is possible to suppress resonant vibration caused by angular transmission error in the strain wave gearing and perform highly accurate positioning.</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | BLASTING CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING ENGINEERING ELEMENTS AND UNITS FUNCTIONAL ELEMENTS OF SUCH SYSTEMS GEARING GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS HEATING LIGHTING MECHANICAL ENGINEERING MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PHYSICS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES THERMAL INSULATION IN GENERAL WEAPONS |
| title | Positioning control device for actuator provided with strain wave gearing using full-closed control with state observer |
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