Mechanical Admittance Realization Control Based on Feedforward Compensation for Fine Realization of Impedance
Mechanical Admittance Realization Control Based on Feedforward Compensation for Fine Realization of Impedance
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DOI：
10.1541/ieejjia.6.83
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发表时间：
2017-03
影响因子：
1.7
通讯作者：
Yusuke Asai;Y. Yokokura;K. Ohishi
中科院分区：
文献类型：
--
作者：
Yusuke Asai;Y. Yokokura;K. Ohishi
针对高刚度环境，提出了一种基于前馈补偿的导纳实现控制系统。在传统的导纳实现控制系统中，控制系统的极点可以使用任何设计方法来设计。然而，当环境刚度和粘度值较大时，零点位于极点配置图中主导极点的右侧。这些位于主极点右侧的零点会降低频率响应。相比之下，所提出的导纳实现控制系统用于在期望频率处设计零点。由于零点位于主导极点的左侧，因此改善了高频域的频率响应。理论分析和实验验证了该方法的有效性。
This paper proposes a new admittance realization control system based on feedforward compensation for highstiffness environments. In conventional admittance realization control systems, the poles of the control system can be designed using any design method. However, zeros are placed on the right side of the dominant pole in the pole placement diagram when the environmental stiffness and viscosity values are large. These zeros placed on the right side of the dominant pole deteriorate the frequency response. In contrast, the proposed admittance realization control system is used to design zeros at the desired frequency. Because the zeros are placed on the left side of the dominant pole, the frequency response of the high-frequency domain is improved. The validity of the proposed method is confirmed by analysis and experiments.