| Abstract |
In a digital servo drive system with integral functions, the wind-up phenomena will be observed when the acceleration, or the speed, or the current etc. is over its limited value. To suppress this phenomena, it is necessary to identify the load torque and the acceleration torque of the shaft respectively, and give the priority to the support of the load. The proposed algorithm contains above two processes. First process is based on the state observer which identifies the load torque. Second process gives the maximum allowance of the acceleration torque of the motor. Not only the numerical results but also the experimental results based on the proposed algorithm show the improved performance of the digital servo drive system of the robotic manipulator. |
