Please use this identifier to cite or link to this item: http://rportal.lib.ntnu.edu.tw:80/handle/77345300/37054
Title: High-Order Variable-Structure Disturbance Estimators with Applications to Harmonic Drive Systems
Authors: 國立臺灣師範大學機電工程學系
Lu, Yu-Sheng
Hwang, Chi-Sheng
Issue Date: 1-Sep-2009
Publisher: 中國工程師學會
http://jcie.crt.ntust.edu.tw/jcie/
Abstract: This paper describes the design of a high-order variable-structure disturbance estimator (VSDE) that provides asymptotic estimation of unknown disturbances described by polynomial functions of time with arbitrary degrees. In comparison with conventional VSDEs, the high-order VSDE requires only a small switching gain for ensuring the existence of a sliding mode, thus alleviating the chattering phenomenon. Moreover, the transfer function of a high-order VSDE from an unknown disturbance to its estimate can have a high relative degree to enable the estimation of time derivatives of an unknown disturbance while providing adequate high-frequency attenuation. Two high-order VSDEs were implemented to simultaneously observe the motor-side and the load-side disturbances in a harmonic drive system. Experimental results show that the compensation offered by the high-order VSDEs effectively deals with the disturbances induced by harmonic drive gearing.
URI: http://rportal.lib.ntnu.edu.tw/handle/77345300/37054
ISSN: 0253-3839
Other Identifiers: ntnulib_tp_E0404_01_004
Appears in Collections:教師著作

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