Generalized discussion on design of force-sensor-less Power Assist Control
Generalized discussion on design of force-sensor-less Power Assist Control
复制标题
无力传感器助力控制设计综述
DOI：
10.1109/amc.2008.4516116
复制
发表时间：
2008
期刊：
影响因子：
--
通讯作者：
Yoichi Hori
中科院分区：
文献类型：
--
作者：
Sehoon Oh;Yoichi Hori
本文概括了无力传感器助力控制（FSPAC）的结构，这是以人性化方式设计反馈控制器的关键技术。在分析控制结构的基础上，明确了广义无力传感器助力控制的功能；特别是明确了 FSPAC 中两名部队观察员的职能。由于 FSPAC 由正反馈控制组成，因此 FSPAC 的鲁棒性比其他带有力传感器的助力控制要弱得多。本文阐明了 FSPAC 援助绩效和弱稳健性之间的权衡。比较基于模型跟踪设计和基于扰动观测器的设计的动力辅助控制，揭示了辅助性能的局限性和调整增益的方法。最后讨论了 FSPAC 中反馈增益的设计方法。
This paper generalizes the structure of force-sensor-less power assist control (FSPAC) which is a essential technology to design a feedback controller in a human-friendly way. Based on the analysis of the control structure, this paper clarifies the functions of the generalized force-sensor-less power assist control; particularly the functions of two force observers in FSPAC are made clear. Since the FSPAC consists of a positive feedback control, the robustness of the FSPAC is much weaker than the other power assist control with force sensors. This paper clarifies the trade-off between assistance performance and weak robustness in the FSPAC. Comparing power assist control derived from model following design and the disturbance observer based design, the limitation of assistance performance and methods to adjust the gain are revealed. Finally methodology of design the feedback gain in the FSPAC is discussed.