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dc.contributor.authorUeland, Einar Skiftestad
dc.contributor.authorSauder, Thomas Michel
dc.contributor.authorSkjetne, Roger
dc.date.accessioned2021-07-28T10:22:15Z
dc.date.available2021-07-28T10:22:15Z
dc.date.created2021-07-14T16:29:09Z
dc.date.issued2021
dc.identifier.citationIEEE Access. 2021, 9 1-16.en_US
dc.identifier.issn2169-3536
dc.identifier.urihttps://hdl.handle.net/11250/2765511
dc.description.abstractIn 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.isoengen_US
dc.publisherIEEEen_US
dc.rightsNavngivelse 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/deed.no*
dc.titleForce Tracking Using Actuated Winches with Position-Controlled Motors for Use in Hydrodynamical Model Testingen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionpublishedVersionen_US
dc.source.pagenumber1-16en_US
dc.source.volume9en_US
dc.source.journalIEEE Accessen_US
dc.identifier.doi10.1109/ACCESS.2021.3083539
dc.identifier.cristin1921772
dc.description.localcodeThis work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/en_US
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.qualitycode1


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Navngivelse 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Navngivelse 4.0 Internasjonal