Member of the Department of Electrical and Electronic Engineering at the Public University of Navarre, Jesús Mª Corres Sanz, has suggested a new method which enables, amongst other applications, response enhancement to perturbations in electrical machines such as those experienced by an electric vehicle. These techniques, moreover, can be applied to any type of industrial robot.
In this thesis the design of velocity observers and perturbation par is studied for their application to mechatronic systems incorporating encoders as a position sensor. The observers are follow-up algorithms. This is an interesting topic from the point of view of applications in the industrial area. Specifically, it can be applied in the field of any kind of robot-machines, lasers for shaping parts, etc.
The research initiated with a review of the principal literature that existed on the theme. In order to do this, Jesús Mª Corres approached the first, theoretical section from two angles: firstly, he suggested modifying the Kalman filter in order to reduce the effect of the quantification of the digital position transducer.
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