Modeling Identification and Control of Peltier Thermoelectic Modules for Telepresence
Modeling Identification and Control of Peltier Thermoelectic Modules for Telepresence
复制标题
用于远程呈现的珀耳帖热电模块的建模识别和控制
DOI：
10.1115/1.4003381
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发表时间：
2011
影响因子：
1.7
通讯作者：
A. Kheddar
中科院分区：
文献类型：
--
作者：
M. Guiatni;A. Kheddar
本研究涉及网真应用的热渲染。我们提出了热电模块（tem）的建模和识别，用于热显示或远程热探头的一部分。首先，使用递归非线性自回归移动平均模型对温度和热通量进行稳态和非稳态动力学建模。所提出的模型便于仿真、控制、电子和热工程。它们允许理解热泵的功能，并促进解决冷却/加热问题，而不需要热理论方面的专业知识。然后，这些模型被用于一种新的热渲染方法，该方法基于在远程呈现设置中对手指和探测远程物体的接触温度的估计。热反馈是由主（热显示器）和从（热探针机器人手指）之间的双边控制提供的。实验结果验证了模型和提出的热渲染方案，并进行了讨论。
This research deals with thermal rendering for telepresence applications. We present the modeling and identification of thermo-electric modules (TEMs) to be used either as part of a thermal display or a remote thermal probe. First, TEMs are modeled in steady- and unsteady-state dynamics using recursive nonlinear autoregressive moving average models for both temperature and heat flux. The proposed models are convenient for simulation, control, electronic, and thermal engineering. They allow understanding the functionality of the heat pumps and facilitate the solving of cooling/heating problems without the need for expertise in thermal theory. Then, these models are used in a novel thermal rendering approach that is based on the estimation of the temperature in contact for both the finger and the probed remote object in a telepresence setup. The thermal feedback is provided by a bilateral control between the master (thermal display) and the slave (thermal probe robotic finger). Experimental results validating the models and the proposed thermal rendering scheme are presented and discussed.