caa a22 4500 463206274 CHVBK 20180405153127.0 cr unu---uuuuu 170326e20071201xx s 000 0 eng 10.1007/s00202-006-0057-8 doi (NATIONALLICENCE)springer-10.1007/s00202-006-0057-8 Disturbance-observer-based adaptive feedforward cancellation of torque ripples in harmonic drive systems [Elektronische Daten] [Yu-Sheng Lu, Shuan-Min Lin] This paper proposes a scheme for controlling the output torque of a harmonic drive actuator equipped with a torque sensor. The control scheme consists of the internal model control (IMC) and an adaptive feedforward cancellation (AFC) based on a disturbance observer (DOB). The relationship between the IMC and the DOB is presented in this paper, and the IMC is adopted as a feedback compensator for its ease in design and implementation. The DOB, on the other hand, is suitable for estimating an unknown disturbance, and its output is applied to the AFC resonator that generates an adaptive dither to compensate for the torque ripples induced by harmonic drives. Compared with the conventional AFC, the salient features of the proposed DOB-based AFC include the independence of designing the AFC's adaptation gain from the plant and the feedback compensator, fast convergence of the disturbance-cancellation error, and no influence of aperiodic reference changes upon the adaptive dither. The effectiveness of the proposed scheme is demonstrated through experimental results, in which its performance is shown to be superior to that of the conventional AFC. Springer-Verlag, 2007 Harmonic drive actuator nationallicence Torque control nationallicence Torque ripple nationallicence Adaptive feedforward cancellation nationallicence Disturbance observer nationallicence Internal model control nationallicence Lu Yu-Sheng National Yunlin University of Science and Technology, 123, Section 3, University Road, 640, Yunlin, Touliu, Taiwan, R.O.C. aut Lin Shuan-Min National Yunlin University of Science and Technology, 123, Section 3, University Road, 640, Yunlin, Touliu, Taiwan, R.O.C. aut Electrical Engineering Springer-Verlag 90/2(2007-12-01), 95-106 0948-7921 90:2<95 2007 90 202 https://doi.org/10.1007/s00202-006-0057-8 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s00202-006-0057-8 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Lu Yu-Sheng National Yunlin University of Science and Technology, 123, Section 3, University Road, 640, Yunlin, Touliu, Taiwan, R.O.C aut NATIONALLICENCE 700 1- Lin Shuan-Min National Yunlin University of Science and Technology, 123, Section 3, University Road, 640, Yunlin, Touliu, Taiwan, R.O.C aut NATIONALLICENCE 773 0- Electrical Engineering Springer-Verlag 90/2(2007-12-01), 95-106 0948-7921 90:2<95 2007 90 202 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer