The novel damping disturbance-observer for enhanced torque tracking of damping series elastic actuator.
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| Title: | The novel damping disturbance-observer for enhanced torque tracking of damping series elastic actuator. |
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| Authors: | Lee, Seung Ho1 (AUTHOR), Yoon, Yeo Il1 (AUTHOR), Baek, Ji Min1 (AUTHOR), Oh, Dong Jun1 (AUTHOR), Koo, Ja Choon1 (AUTHOR), Lee, Hyuk Jin2 (AUTHOR) hyuk08@keri.re.kr |
| Source: | Journal of Mechanical Science & Technology. Mar2025, Vol. 39 Issue 3, p1457-1467. 11p. |
| Subjects: | Torque control, Resonance effect, Torque, Actuators, Friction |
| Abstract: | Series elastic actuators (SEAs) are compliance actuators frequently employed in applications subjected to constant disturbances, yet they encounter challenges such as resonance effects and slow torque control responsiveness. To address these limitations, the physical damping SEA (PDSEA) was developed, incorporating physical damping to enhance torque tracking capabilities while maintaining the compliance characteristics of traditional SEA. This study introduces an advanced disturbance observer (DOB)-based torque controller, uniquely designed to differentiate physical damping effects from system disturbances, such as friction, to retain the functional advantages of PDSEA. By clearly isolating physical damping from external disturbances, the proposed controller allows for optimized torque tracking and improved control precision. Comparative analyses, conducted through simulations and empirical testing, demonstrate that this new control strategy surpasses conventional PI and standard DOB controllers, achieving notable improvements in torque tracking response time and accuracy. [ABSTRACT FROM AUTHOR] |
| Copyright of Journal of Mechanical Science & Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 183595181 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: The novel damping disturbance-observer for enhanced torque tracking of damping series elastic actuator. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Lee%2C+Seung+Ho%22">Lee, Seung Ho</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Yoon%2C+Yeo+Il%22">Yoon, Yeo Il</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Baek%2C+Ji+Min%22">Baek, Ji Min</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Oh%2C+Dong+Jun%22">Oh, Dong Jun</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Koo%2C+Ja+Choon%22">Koo, Ja Choon</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Lee%2C+Hyuk+Jin%22">Lee, Hyuk Jin</searchLink><relatesTo>2</relatesTo> (AUTHOR)<i> hyuk08@keri.re.kr</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Journal+of+Mechanical+Science+%26+Technology%22">Journal of Mechanical Science & Technology</searchLink>. Mar2025, Vol. 39 Issue 3, p1457-1467. 11p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Torque+control%22">Torque control</searchLink><br /><searchLink fieldCode="DE" term="%22Resonance+effect%22">Resonance effect</searchLink><br /><searchLink fieldCode="DE" term="%22Torque%22">Torque</searchLink><br /><searchLink fieldCode="DE" term="%22Actuators%22">Actuators</searchLink><br /><searchLink fieldCode="DE" term="%22Friction%22">Friction</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: Series elastic actuators (SEAs) are compliance actuators frequently employed in applications subjected to constant disturbances, yet they encounter challenges such as resonance effects and slow torque control responsiveness. To address these limitations, the physical damping SEA (PDSEA) was developed, incorporating physical damping to enhance torque tracking capabilities while maintaining the compliance characteristics of traditional SEA. This study introduces an advanced disturbance observer (DOB)-based torque controller, uniquely designed to differentiate physical damping effects from system disturbances, such as friction, to retain the functional advantages of PDSEA. By clearly isolating physical damping from external disturbances, the proposed controller allows for optimized torque tracking and improved control precision. Comparative analyses, conducted through simulations and empirical testing, demonstrate that this new control strategy surpasses conventional PI and standard DOB controllers, achieving notable improvements in torque tracking response time and accuracy. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Journal of Mechanical Science & Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1007/s12206-025-0237-y Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 11 StartPage: 1457 Subjects: – SubjectFull: Torque control Type: general – SubjectFull: Resonance effect Type: general – SubjectFull: Torque Type: general – SubjectFull: Actuators Type: general – SubjectFull: Friction Type: general Titles: – TitleFull: The novel damping disturbance-observer for enhanced torque tracking of damping series elastic actuator. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Lee, Seung Ho – PersonEntity: Name: NameFull: Yoon, Yeo Il – PersonEntity: Name: NameFull: Baek, Ji Min – PersonEntity: Name: NameFull: Oh, Dong Jun – PersonEntity: Name: NameFull: Koo, Ja Choon – PersonEntity: Name: NameFull: Lee, Hyuk Jin IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 03 Text: Mar2025 Type: published Y: 2025 Identifiers: – Type: issn-print Value: 1738494X Numbering: – Type: volume Value: 39 – Type: issue Value: 3 Titles: – TitleFull: Journal of Mechanical Science & Technology Type: main |
| ResultId | 1 |
