Sensor-less Force Control for Machine Tool Using Reaction Torque Observer
Sensor-less Force Control for Machine Tool Using Reaction Torque Observer
复制标题
使用反作用扭矩观测器的机床无传感器力控制
DOI：
10.1109/icit.2006.372339
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Kiyoshi Ohishi
中科院分区：
文献类型：
--
作者：
Y. Ohba;S. Katsura;Kiyoshi Ohishi
近年来，力控制系统得到了广泛的应用。对于机床的力控制，国内外已有大量的研究。在力控制系统中，通常是通过力传感器来检测来自环境的力信息。但是，采用力传感器的控制系统存在信号噪声大、定位困难、带宽窄等问题。提出了一种使用反作用力矩观测器的新型无力传感器控制系统。将所提出的控制方法应用于滚珠丝杠机床。由于采用滚珠丝杠和同步带的执行器存在扭转振动现象，所提出的反作用力矩观测器应考虑这种扭转振动。因此，本文利用反作用力矩观测器实现了机床的无传感器控制。多个实验结果证实了所提出的力控制方法的有效性。
In recent years, a force control system is applied to many applications. There is much research about force control for machine tools. Generally, in force control systems, the force information from the environment is detected by force sensor. However, the control system using force sensor has some problems, such as signal noise, colocation problem and narrow bandwidth. This paper proposes a new force sensor-less control system using a reaction torque observer. The proposed control method is applied to a machine tool using ball screw. Since the actuator using ball screw and timing belt has a torsional vibration phenomenon, the proposed reaction torque observer should consider this torsional vibration. As a result, this paper realizes the sensor-less control for machine tool using reaction torque observer. The validity of the proposed force control method is confirmed by several experimental results.