Position/Force Sensorless Force Control Using Reaction Force Observer for Compact Dual Solenoid Actuator
Position/Force Sensorless Force Control Using Reaction Force Observer for Compact Dual Solenoid Actuator
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DOI：
10.1109/iecon.2019.8926848
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发表时间：
2019-10
期刊：
影响因子：
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通讯作者：
Sakahisa Nagai;A. Kawamura
中科院分区：
文献类型：
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作者：
Sakahisa Nagai;A. Kawamura
本研究旨在开发一种能够表现2D触觉信息的触觉显示器。在我们以前的工作中，已经提出了紧凑型双螺线管执行器(CDSA)的无位置传感器控制，以实现紧凑型触觉显示器的驱动系统。为了表示触觉信息，还需要接触力控制。提出了一种基于位置估计和反作用力观测器的无位置/力传感器力控制方法。基于CDSA的运动方程构造了RFOB。通过实验验证了力控制的性能。结果表明，接触力得到了精确的控制，误差约为5mN，为力指令偏移量的6%。当指令频率小于20 Hz时，力控制的增益大于−2.6d B。控制相位延迟为14.0ms，来自RFOB中低通滤波器的截止频率。实验结果表明，当动子位置在0.0~0.2[mm]范围内时，接触力得到了精确的控制。这种方案是有用的，因为实现了一个紧凑的驱动系统，其位置和力都是可控的，没有位置和力传感器。
This study aims to develop a tactile display which can represent 2D haptic information. In our previous works, sensorless position control for a compact dual solenoid actuator (CDSA) has been proposed to realize a compact actuation system for the tactile display. To represent the haptic information, contact force control is also required. This paper proposes position/force sensorless force control using the position estimation and a reaction force observer (RFOB). The RFOB is constructed based on the motion equation of the CDSA. Experiments were conducted to validate the performance of the force control. The results show that the contact force is accurately controlled with about 5 mN error which is 6 % of the force command offset. The gain of the proposed force control becomes more than −2.6 dB when the command frequency was less than 20 Hz. The control phase delay was 14.0 ms which came from the cut-off frequency of the low pass filter in the RFOB. The experimental results with change of the mover position showed that the contact force was accurately controlled when the position was at 0.0 ~ 0.2 [mm]. This proposal is useful because a compact actuation system whose position and force are controllable without position and force sensors is realized.