High-robust acceleration control using force and position sensors integrated disturbance observer
High-robust acceleration control using force and position sensors integrated disturbance observer
复制标题
使用力和位置传感器集成扰动观测器的高鲁棒加速控制
DOI：
10.1109/iecon.2016.7793442
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Pattawan Boonwong
中科院分区：
文献类型：
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作者：
Yusuke Kawai;Y. Yokokura;K. Ohishi;Pattawan Boonwong
为了获得高性能的力/力矩控制，采用扰动观测器的方法被认为是有效的。然而，当干扰力矩(例如冲击力矩)是瞬时的时，传统的干扰观测器不能完全补偿干扰力矩。提出了一种力和位置传感器集成的干扰观测器，并分析了其干扰抑制性能。此外，本文还重点研究了基于扭矩传感器的双惯量系统的高性能力矩控制。利用电机侧加速控制和负载侧转矩控制的实验结果，比较了常规干扰观测器和FPIDO的干扰抑制性能。最后，实验结果验证了该扰动观测器的有效性。
For the high performance of force/torque control, an approach using a disturbance observer is known to be effective. However, a conventional disturbance observer cannot perfectly compensate for the disturbance torque when the disturbance torque (for example, impact torque) is instantaneous. This paper proposes a force and position sensors integrated disturbance observer (FPIDO), and analyzes its disturbance-suppression performance. Moreover, this paper focuses on high-performance torque control using a torsion torque sensor for a two-inertia system. The disturbance-suppression performance of the conventional disturbance observer and the FPIDO are compared using experimental results for motor-side acceleration control and load-side torque control. Finally, the experimental results verify the effectiveness of the proposed disturbance observer.