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...

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Bibliographic Details
Published in:Actuators 2020-12, Vol.9 (4), p.135
Main Authors: Xin, Qiang, Chen, Chin-Yin, Wang, Chongchong, Yang, Guilin, Zhang, Chi, Fang, Zaojun, Chen, Chun Lung Philip
Format: Article
Language:English
Subjects:
Accuracy
Coders
Collaboration
Control algorithms
Controllers
Damping
dual encoders
Efficiency
Experiments
Inertia
Methods
modular drive joint
Motion control
Noise
Parameters
Ripples
Robots
Robust control
robustness
Sensors
Simulation
system damping
Velocity
velocity ripple
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Summary: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.
ISSN:2076-0825
2076-0825
DOI:10.3390/act9040135