A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints
Velocity ripple is one of the common problems of modular drive joints, which easily induces vibration and noise and affects motion accuracy. In order to improve the motion control accuracy, a robust method based on dual encoders to eliminate velocity ripple is proposed in this paper. The method cont...
| Autores principales: | , , , , , , |
|---|---|
| Formato: | Artículo |
| Lenguaje: | English |
| Publicado: |
MDPI AG
2020-12-01
|
| Colección: | Actuators |
| Materias: | |
| Acceso en línea: | https://www.mdpi.com/2076-0825/9/4/135 |
| _version_ | 1827700355399417856 |
|---|---|
| author | Qiang Xin Chin-Yin Chen Chongchong Wang Guilin Yang Chi Zhang Zaojun Fang Chun Lung Philip Chen |
| author_facet | Qiang Xin Chin-Yin Chen Chongchong Wang Guilin Yang Chi Zhang Zaojun Fang Chun Lung Philip Chen |
| author_sort | Qiang Xin |
| collection | DOAJ |
| description | Velocity ripple is one of the common problems of modular drive joints, which easily induces vibration and noise and affects motion accuracy. In order to improve the motion control accuracy, a robust method based on dual encoders to eliminate velocity ripple is proposed in this paper. The method contains a velocity ripple elimination controller (VREC), a rigid-body velocity solver (RBVS), and a proportional–integral (PI) controller. Feeding back the VREC output to the PI controller based on the rigid-body velocity obtained from the weighted sum of dual encoders in the RBVS, an equivalent system damping term was added into the system. Therefore, the velocity ripple can be suppressed effectively with the adjustable damping term composed of control parameters. Above all, the proposed method has only one more parameter to further eliminate velocity ripple compared to the pure PI method and, meanwhile, has apparent advantages over the conventional method, such as fewer parameters and full frequency ripple elimination, as well as robustness to input disturbance and modular drive joint load inertia changes. This proposed method’s effectiveness is verified by simulations in MATLAB and experiments in the modular drive joint platform. |
| first_indexed | 2024-03-10T14:11:03Z |
| format | Article |
| id | doaj.art-be840fb268d04963b2fb443c0aa2d4f8 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T14:11:03Z |
| publishDate | 2020-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-be840fb268d04963b2fb443c0aa2d4f82023-11-21T00:12:03ZengMDPI AGActuators2076-08252020-12-019413510.3390/act9040135A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive JointsQiang Xin0Chin-Yin Chen1Chongchong Wang2Guilin Yang3Chi Zhang4Zaojun Fang5Chun Lung Philip Chen6College of Materials Sciences and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, ChinaZhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, ChinaZhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, ChinaZhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, ChinaZhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, ChinaZhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, ChinaSchool of Computer Science & Engineering, South China University of Technology, Guangzhou 510006, ChinaVelocity ripple is one of the common problems of modular drive joints, which easily induces vibration and noise and affects motion accuracy. In order to improve the motion control accuracy, a robust method based on dual encoders to eliminate velocity ripple is proposed in this paper. The method contains a velocity ripple elimination controller (VREC), a rigid-body velocity solver (RBVS), and a proportional–integral (PI) controller. Feeding back the VREC output to the PI controller based on the rigid-body velocity obtained from the weighted sum of dual encoders in the RBVS, an equivalent system damping term was added into the system. Therefore, the velocity ripple can be suppressed effectively with the adjustable damping term composed of control parameters. Above all, the proposed method has only one more parameter to further eliminate velocity ripple compared to the pure PI method and, meanwhile, has apparent advantages over the conventional method, such as fewer parameters and full frequency ripple elimination, as well as robustness to input disturbance and modular drive joint load inertia changes. This proposed method’s effectiveness is verified by simulations in MATLAB and experiments in the modular drive joint platform.https://www.mdpi.com/2076-0825/9/4/135modular drive jointvelocity rippledual encoderssystem dampingrobustness |
| spellingShingle | Qiang Xin Chin-Yin Chen Chongchong Wang Guilin Yang Chi Zhang Zaojun Fang Chun Lung Philip Chen A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints Actuators modular drive joint velocity ripple dual encoders system damping robustness |
| title | A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints |
| title_full | A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints |
| title_fullStr | A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints |
| title_full_unstemmed | A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints |
| title_short | A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints |
| title_sort | robust method based on dual encoders to eliminate velocity ripple for modular drive joints |
| topic | modular drive joint velocity ripple dual encoders system damping robustness |
| url | https://www.mdpi.com/2076-0825/9/4/135 |
| work_keys_str_mv | AT qiangxin arobustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints AT chinyinchen arobustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints AT chongchongwang arobustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints AT guilinyang arobustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints AT chizhang arobustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints AT zaojunfang arobustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints AT chunlungphilipchen arobustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints AT qiangxin robustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints AT chinyinchen robustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints AT chongchongwang robustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints AT guilinyang robustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints AT chizhang robustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints AT zaojunfang robustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints AT chunlungphilipchen robustmethodbasedondualencoderstoeliminatevelocityrippleformodulardrivejoints |