著者

宮崎 敏昌 大瀧 栄 ソムサワッス タンパタラタナウォン 大石 潔

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.123, no.5, pp.525-532, 2003 (Released:2004-03-31)

参考文献数

15

被引用文献数

10 20

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This paper proposes a realization of motion control based on dynamic torque compensation and two-degrees-of-freedom speed control system. In order to suppress the dynamic torque of robot manipulator quickly, this paper constructs the feedforward torque compensation method based on inverse dynamics calculation on each joint control system.Moreover, the proposed joint control system is constructed by the robust control system based on the state feedback, PI speed controller and feedforward controller.The proposed method can suppress the influence of inertia variation and torsional vibration of joint system quickly and completely.The simulation results and experimental results show that the proposed system well regulates the motion of multi-joint robot and suppresses the torsional vibration.

著者

木村 雄希 岩谷 一生 栁 洋成 宮崎 敏昌

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.140, no.5, pp.372-377, 2020

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<p>The use of triple active bridge (TAB) converters in distributed electric grids has attracted considerable attention because of their multi-directional power connection, insulation performance, and small size. However, there remains a problem with respect to the interaction between two current loops with TABs, and there are few solutions to this problem when an AC supply is connected to the system. In this paper, we propose a method to suppress the interference by using iterative control as the main approach, taking into account the occurrence of periodic disturbance in the TAB converter when connected to an AC system. In order to estimate the characteristics of the proposed method, a prototype is built and tested experimentally. As a result, it is confirmed that the measured grid current THD is within 5% and that he battery current ripple decreased by 84% at a maximum.</p>