Sensorless torque estimation in multidegree-of-freedom flexible systems

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Khalil, Islam S. M. and Kunt, Emrah Deniz and Şabanoviç, Asif (2009) Sensorless torque estimation in multidegree-of-freedom flexible systems. In: 35th Annual Conference of the IEEE Industrial Electronics Society - IECON 2009, Porto, Portugal

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This paper presents a sensorless torque estimation algorithm for multidegree-of-freedom flexible systems. The proposed algorithm makes it possible to estimate externally applied torques due to flexible system s interaction with the environment without taking any measurement from the system. The algorithm is based on modifying the disturbance observer in order to decouple the reflected torque waves out of the total disturbance on the actuator. Then Reflected torque waves are used along with the actuator s current and velocity to estimate flexible system parameters, dynamics and the external torques or disturbances. Several experimental results are included in order to confirm the validity of the proposed torque estimation algorithm.

Item Type:Papers in Conference Proceedings
Subjects:T Technology > TA Engineering (General). Civil engineering (General) > TA168 Systems engineering
ID Code:12560
Deposited By:Asif Şabanoviç
Deposited On:09 Nov 2009 14:11
Last Modified:23 Jul 2019 14:59

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