FPGA-Based High-Performance Force Control System With Friction-Free and Noise-Free Force Observation
FPGA-Based High-Performance Force Control System With Friction-Free and Noise-Free Force Observation
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DOI：
10.1109/tie.2013.2266081
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发表时间：
2014-02
影响因子：
7.7
通讯作者：
Thao Tran Phuong;K. Ohishi;Y. Yokokura;C. Mitsantisuk
中科院分区：
文献类型：
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作者：
Thao Tran Phuong;K. Ohishi;Y. Yokokura;C. Mitsantisuk
本文提出了一种基于无摩擦、无噪声力观测的高性能力控制系统的力传感方法。在控制系统中插入一个周期信号以实现减摩。采用高阶扰动观测器和卡尔曼滤波相结合的方法进行力觉传感。HDOB的设计目的是估计力，并在估算中抑制振荡干扰。通过卡尔曼滤波有效地抑制噪声，提高了力觉带宽。此外，本文还提出了HDOB在不同主从机构的双边控制系统中的应用。所有的控制算法都是在现场可编程门阵列中实现的，具有高采样率，还可以拓宽力控制系统的带宽。实验结果验证了该方法的有效性。
In this paper, a novel force-sensing method is proposed for a high-performance force control system based on friction-free and noise-free force observation. A periodic signal is inserted into the control system for friction reduction. A combination of a high-order disturbance observer (DOB) (HDOB) and a Kalman filter is constructed to perform the force sensing. The HDOB is designed to estimate the force and reject oscillatory disturbances in the estimation. The force-sensing bandwidth is improved through effective noise suppression by the Kalman filter. Additionally, this paper proposes the application of the HDOB to the bilateral control system of a different master-slave mechanism. All the control algorithms are implemented in a field-programmable gate array with a high sampling rate that also enables the widening of the bandwidth of the force control system. The effectiveness of the proposed method is verified by experimental results.