Design of a contact‐force controller including airframe's velocity and acceleration feedback controllers for one‐degree‐of‐freedom propeller‐driven systems
Design of a contact‐force controller including airframe's velocity and acceleration feedback controllers for one‐degree‐of‐freedom propeller‐driven systems
复制标题
用于单自由度螺旋桨驱动系统的接触力控制器的设计，包括机身速度和加速度反馈控制器
DOI：
10.1002/eej.23379
复制
发表时间：
2022
影响因子：
0.4
通讯作者：
Komada Satoshi
中科院分区：
文献类型：
--
作者：
Nishii Yuki;Yashiro Daisuke;Yubai Kazuhiro;Komada Satoshi
螺旋桨驱动系统的接触力控制实现了需要与物体接触运动的空中任务。螺旋桨驱动系统的传统接触力控制器使用接触力反馈控制器。虽然反馈增益应该高以实现高目标跟踪性能，但是高增益导致大的过冲。因此，本文提出了一种新的接触力控制器，利用机身的速度和机身的加速度。机身的估计加速度和估计速度被反馈到接触力控制器。利用转子角速度来估计加速度。通过频率分析、仿真和实验验证了该控制器的有效性。
Contact‐force control of propeller‐driven systems achieves aerial tasks that require contact motions with objects. Conventional contact‐force controllers for propeller‐driven systems utilize a contact‐force feedback controller. Although the feedback gain should be high to achieve high target tracking performance, a high gain causes a large overshoot. This paper therefore proposes a novel contact‐force controller which utilizes an airframe's velocity and an airframe's acceleration. An estimated acceleration and an estimated velocity of the airframe are fed back to the contact‐force controller. A rotor angular velocity is utilized to estimate the acceleration. The validity of the proposed controller is verified through frequency analysis, simulation, and experiment.