TY - GEN
T1 - Position control research based on wire rope connected twin directdrive motor system
AU - Guo, Quan
AU - Jiao, Zongxia
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/11/24
Y1 - 2015/11/24
N2 - The twin direct drive motor system connected by wire rope has many advantages such as lightweight and high stiffness, widely used in light weight actuation applications. However, because of the elasticity and nonlinearity characteristic, wire rope is difficult to be used in the precise position control applications. In this paper, a novel wire rope pretightening force control strategy by dual direct drive motors is proposed to achieve high precise position control. First, the topological structure of the proposed motor system is set up. Based on this structure, the dynamic equations of the system are derived with the stability analyzed. Using Simu link tools, the position and velocity control diagram using PID algorithm is built for simulation. Then, the influence of important factors such as wire rope tension, load mass and the wire rope stiffness are analyzed in simulation. Finally, the simulation results indicate that the wire rope tension has greater influence than the other influence factors in the position tracking process. The simulation results verify the possibility of wire rope transmission in precise position control system.
AB - The twin direct drive motor system connected by wire rope has many advantages such as lightweight and high stiffness, widely used in light weight actuation applications. However, because of the elasticity and nonlinearity characteristic, wire rope is difficult to be used in the precise position control applications. In this paper, a novel wire rope pretightening force control strategy by dual direct drive motors is proposed to achieve high precise position control. First, the topological structure of the proposed motor system is set up. Based on this structure, the dynamic equations of the system are derived with the stability analyzed. Using Simu link tools, the position and velocity control diagram using PID algorithm is built for simulation. Then, the influence of important factors such as wire rope tension, load mass and the wire rope stiffness are analyzed in simulation. Finally, the simulation results indicate that the wire rope tension has greater influence than the other influence factors in the position tracking process. The simulation results verify the possibility of wire rope transmission in precise position control system.
KW - lightweight
KW - mechanical stiffness
KW - position control
KW - twindirectdrive motor system
KW - wire rope
UR - https://www.scopus.com/pages/publications/84962556370
U2 - 10.1109/FPM.2015.7337251
DO - 10.1109/FPM.2015.7337251
M3 - 会议稿件
AN - SCOPUS:84962556370
T3 - Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015
SP - 944
EP - 949
BT - Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Fluid Power and Mechatronics, FPM 2015
Y2 - 5 August 2015 through 7 August 2015
ER -