This article demonstrates the validity of using an actuator as a single platform for measurements during a motion control assignment of flexible systems kept free from any kind of measurement. System acceleration level dynamics, parameters and interaction forces with the environment are coupled in an incident reaction torque that naturally rises when a flexible system is subjected to an action imposed by an attached actuator to the system. This work attempts to decouple each of the system parameters out of the incident coupled reaction torque at the interface point of the actuator with the flexible system by way of measurements taken from the actuator, not from the system. The identified parameters, along with the estimated states, are used to achieve sensorless motion control for flexible systems.
Reaction torque observer, disturbance observer, motion control, flexible systems
KHALIL, ISLAM SHOUKRY MOHAMMED; KUNT, EMRAH DENİZ; and SABANOVIC, ASIF
"A novel algorithm for sensorless motion control of flexible structures,"
Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 18:
5, Article 7.
Available at: https://journals.tubitak.gov.tr/elektrik/vol18/iss5/7