Rate loop control based on torque compensation in anti-backlash geared servo system

Kwon, Young Shin; Hwang, Hong Yeon; Lee, H.R.; Kim, S.H.

doi:10.23919/acc.2004.1384422

Cited by 14 publications

(7 citation statements)

References 3 publications

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“…In order to identify the friction parameters, this paper introduces the torque equilibrium relationship, i.e., when an inertial object rotates with a constant speed, the applied torque is equal to the friction torque [5]. Since the maximum permissible gimbal angle is limited, a rate feedback loop having unit feedforward/feedback gain, which enables to rapidly reach the steady state, is constructed for the experiment as Fig.2.…”

Section: Friction Modelmentioning

confidence: 99%

Stabilization loop design on direct drive gimbaled platform with low stiffness and heavy inertia

Kwon¹,

Hwang

Choi

2007

2007 International Conference on Control, Automation and Systems

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The fundamental role of stabilization loop in seeker application is to precisely follow the angular rate command which is proportional to the antenna bore-sight error during the target tracking. In order to achieve this requirement, it is prerequisite to highly isolate the gimbaled antenna from the missile body motion due to the maneuvering or low frequency vibration during flight. However, the isolation ratio and stability margin of stabilization loop adopting the gimbaled platform with both low stiffness and heavy inertia are limited by mechanical characteristic such as low resonance frequency and its high magnitude. Therefore, a multi -mass model, which can accurately presents the frequency behavior of the gimbaled platform, is indispensable to design of an optimal stabilization controller. In this paper, a pragmatic three-mass model for the direct-drive gimbaled platform from the motor to the antenna is introduced, and also the PI 2L controller that produces both the high gain at low frequency and high stability margins by combining a PI 2 controller with lead compensator is presented. In the end, the performance and the stability of designed stabilization loop are demonstrated using simulation and experiment results in both frequency and time domain.

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Section: Friction Modelmentioning

confidence: 99%

Stabilization loop design on direct drive gimbaled platform with low stiffness and heavy inertia

Kwon¹,

Hwang

Choi

2007

2007 International Conference on Control, Automation and Systems

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“…The double worm mechanism can output low speed and high torque, synchronous belts are used to reduce vibration in welding process and protect the servomotors, and absolute encoders provide precise angular position feedback. With such a structure, the drive capability can be enhanced for heavy load, and the motion accuracy of the wrist can be improved using dual pinion anti-backlash drive technology (Kwon et al, 2004). The force acting on welding tool is large and the feed velocity is low while the tool is inserted into the abutting edge.…”

Section: The Robot Systemmentioning

confidence: 99%

Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures

Zhang

Yang

2015

Industrial Robot: An International Journal

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For AuthorsIf you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures Jiafeng Wu and Rui ZhangSchool of Petroleum Engineering, China University of Petroleum, Qingdao, China, and Guangxin YangShenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China Abstract Purpose -This paper aims to present a new friction-stir-weld robot for large-scale complex surface structures, which has high stiffness and good flexibility. Design/methodology/approach -The robot system is designed according to manufacturability of large aluminum products in aeronautic and astronautic area. The kinematic model of the robot is established, and a welding trajectory planning method is also developed and verified by experiments.Findings -Experimental results show that the robot system can meet the requirements of friction stir welding (FSW) for large-scale complex surface structures.Practical implications -Compared with other heavy robotic arm and machine tool welding devices, this robot has better working quality and capability, which can greatly improve the manufacturability for large-scale complex surface structures. Originality/value -The friction-stir-weld robot system is a novel solution for welding large-scale complex surface structures. Its major advantages are the high stiffness, good flexibility and high precision of the robot body, which can meet the requirements of FSW. Besides, a welding trajectory planning method based on iterative closest point (ICP) algorithm is used for welding trajectory.

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“…As a result, precise and desirable output rotation or displacement is gained. The double electric motor method, double helical gear antibacklash method, adjusting center distance method, and the spring-loaded antibacklash method [1][2][3][4][5][6][7] are among the approaches used to eliminate backlash in gear, rack, and pinion systems.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Dynamic Analysis of a New Antibacklash Gear Mechanism Design for Reducing Dynamic Transmission Error

Besharati

Dabbagh

Amini

et al. 2015

Journal of Mechanical Design

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In this study, a new antibacklash gear mechanism design comprising three pinions and a rack is introduced. This mechanism offers several advantages compared to conventional antibacklash mechanisms, such as lower transmission error as well as lower required preload. Nonlinear dynamic modeling of this mechanism is developed to acquire insight into its dynamic behavior. It is observed that the amount of preload required to diminish the backlash depends on the applied input torque and nature of periodic mesh stiffness. Then, an attempt is made to obtain an approximate relation to find the minimum requiring preload to preserve the system’s antibacklash property and reduce friction and wear on the gear teeth. The mesh stiffness of the mated gears, rack, and pinion is achieved via finite element method. Assuming that all teeth are rigid and static transmission error is negligible, dynamic transmission error (DTE) would be zero for every input torque, which is a unique trait, not yet proposed in previous research.

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Rate loop control based on torque compensation in anti-backlash geared servo system

Cited by 14 publications

References 3 publications

Stabilization loop design on direct drive gimbaled platform with low stiffness and heavy inertia

Stabilization loop design on direct drive gimbaled platform with low stiffness and heavy inertia

Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures

Nonlinear Dynamic Analysis of a New Antibacklash Gear Mechanism Design for Reducing Dynamic Transmission Error

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