Parameter Sensitivity Analysis for Design and Control of Force Transmission Systems

[+] Author and Article Information
Vincent Hayward, Juan Manuel Cruz-Hernández

McGill University, Center for Intelligent Machines, 3480 University Street, Montréal, Québec, Canada, H3A 2A7

J. Dyn. Sys., Meas., Control 120(2), 241-248 (Jun 01, 1998) (8 pages) doi:10.1115/1.2802415 History: Received December 20, 1996; Online December 03, 2007


We apply sensitivity analysis to the design and control of force transmission systems. With this approach, the effect of the values of the system parameters on the response can be investigated: transmission ratio, sensor placement, damping, and allowable load variation. It is then found that feedback must be applied to reduce the sensitivity of the system response to the load. Based on these observations, a loop shaped feedback compensator design is proposed. Such compensators can compensate for the nonlinear behavior of the transmissions due to friction, while exhibiting good disturbance rejection and robustness. This is achieved without detailed knowledge of friction behavior and without measurement nor estimation of velocity. Experimental results using a test bench are discussed.

Copyright © 1998 by The American Society of Mechanical Engineers
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