Kalman Filter-Based Disturbance Observer and its Applications to Sensorless Force Control
Kalman Filter-Based Disturbance Observer and its Applications to Sensorless Force Control
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DOI：
10.1163/016918610x552141
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发表时间：
2011-01
影响因子：
2
通讯作者：
C. Mitsantisuk;K. Ohishi;Shiro Urushihara;S. Katsura
中科院分区：
文献类型：
--
作者：
C. Mitsantisuk;K. Ohishi;Shiro Urushihara;S. Katsura
力估计在许多应用领域中起着非常重要的作用。扰动观测器正在显着成为首选方法，因为它在提高力控制的鲁棒性和力估计的准确性方面具有明显的优势。然而，主要缺点之一是高斯白噪声的限制。本文提出了一种改进的扰动观测器设计方法。本文描述的工作的主要贡献是与多传感器系统的卡尔曼滤波器相结合的扰动观测器的设计。从实验结果来看，降低了高斯白噪声，实现了接触运动的快速响应。通过与 1-d.o.f 中的传统方法的比较，证实了所提出的扰动观测器的有效性。直线电机系统。
Force estimation plays a very important role in many application areas. The disturbance observer is significantly becoming the preferred approach since it offers distinct advantages of improving the robustness of force control and the accuracy of force estimation. However, one of the main disadvantages is the limitation from white Gaussian noise. This paper proposes an improved design methodology for the disturbance observer. The main contribution of the work described in this paper is the design of disturbance observers combined with a Kalman filter with a multisensor system. From the experimental results, white Gaussian noise was reduced and fast response in contact motion was achieved. The effectiveness of the proposed disturbance observer has been confirmed through comparisons with conventional methods in 1-d.o.f. linear motor systems.