dc.contributor.author | Ueland, Einar Skiftestad | |
dc.contributor.author | Sauder, Thomas Michel | |
dc.contributor.author | Skjetne, Roger | |
dc.date.accessioned | 2022-10-11T07:04:52Z | |
dc.date.available | 2022-10-11T07:04:52Z | |
dc.date.created | 2021-07-14T16:29:09Z | |
dc.date.issued | 2021 | |
dc.identifier.citation | IEEE Access. 2021, 9 1-16. | en_US |
dc.identifier.issn | 2169-3536 | |
dc.identifier.uri | https://hdl.handle.net/11250/3025239 | |
dc.description.abstract | In this paper, we consider the problem of accurate force control using actuated winches, intended for use in real-time hybrid hydrodynamic model testing. The paper is also relevant to other cable-driven parallel robot applications that use force control in an inner control loop. For this problem, conventional strategies typically use actuated winches with torque-controlled servomotors directly connected to the cabled drum. In contrast, we propose using actuated winches with position-controlled servomotors that connect to the cabled drum via a clockspring. The servomotors are position controlled at drive-level and are rapid, accurate, robust, and simple to install. We show how this, combined with an accurate estimate of the clockspring deflection and stiffness, can yield fast and precise force tracking on moving objects. This includes proposing associated feedforward force-controllers that compensates for damping, angle-dependent force variations, delays, and non-constant clockspring characteristics. Extensive experimental testing on a 1 degree of freedom actuated mass-spring system supports the work. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
dc.rights | Navngivelse 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/deed.no | * |
dc.subject | real-time hybrid model testing | en_US |
dc.subject | hydrodynamic model testing | en_US |
dc.subject | force control | en_US |
dc.subject | force tracking | en_US |
dc.subject | cable-driven parallel robots | en_US |
dc.subject | Actuated winches | en_US |
dc.title | Force Tracking Using Actuated Winches with Position-Controlled Motors for Use in Hydrodynamical Model Testing | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | publishedVersion | en_US |
dc.rights.holder | The authors: This work is licensed under a Creative Commons Attribution 4.0 License. | en_US |
dc.source.pagenumber | 1-16 | en_US |
dc.source.volume | 9 | en_US |
dc.source.journal | IEEE Access | en_US |
dc.identifier.doi | 10.1109/ACCESS.2021.3083539 | |
dc.identifier.cristin | 1921772 | |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
dc.relation.project | Norges forskningsråd: 254845 | en_US |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |