Research on safe electric door system based on force sensor-less power-assist control

本文主要从控制设计的角度对安全电动门进行设计。传统上，电动门的安全性是通过使用多个传感器来保证的。然而，我们提出了一种新的策略，利用电机作为传感器，因为电机具有出色的扭矩可测量性，并开发了各种控制方法。我们将建议的控制器应用到实际列车的电动门上，并验证了它们的问题和有效性。建议的控制设计和策略并不局限于电动门的应用，它还与一般的动力辅助控制和人体肌肉的特性有关。我们所做的研究可以扩展到与各种辅助装置相关的一般应用，甚至可以扩展到类人机器人。

This research focuses on the design of safe electric doors in terms of control design. Conventionally, the safety of the electric doors has been guaranteed by using several sensors. However, we suggest a new strategy to utilize a motor as a sensor since the motor has excellent torque measurability and develop various control methodologies. We implemented our suggested controllers into an electric door that will be used in the actual trains and verified their problems and effectiveness. The suggested control design and strategy is not confined to the application to the electric doors : it is also related to the general power assistance control and the characteristics of human muscle. The research we have done can be extended to the general application related to various assistive devices and even to the humanoid robots.