Rapid-Response Load-Side Acceleration Control Based on Discrete-Time Sliding-Mode Torsion-Torque Servoing with Instantaneous Voltage Regulation

This study proposes a rapid-response load-side acceleration control method based on discrete-time sliding-mode direct torsion-torque control for a motor with a reduction gear, which is modeled as a two-inertia resonant system. The proposed method uses a broadband torque sensor mounted on the output shaft of a geared motor to realize torsion torque control. This approach improves the responsiveness of both torsion-torque control and load-side acceleration control by regulating the instantaneous voltage of the inverter based on discrete-time sliding-mode control. Furthermore, this study proposes two different methods for implementing instantaneous voltage regulation within the discrete-time sliding-mode direct torsion-torque control. Finally, force control is demonstrated as an application of the proposed load-side acceleration control. The effectiveness of the proposed method is validated through simulations and experiments.