DC Motor Temperature Control in Haptic Devices**

电机过热是触觉渲染领域普遍存在的问题。通常，触觉系统制造商在触觉设备中包括某种过热保护，要么关闭设备，要么在测量到的温度达到危险水平时降低最大电流。然而，现有的热保护技术效率不高，因为它们通常不使用电机的当前状态来解决问题。更准确地说，他们主要使用固定保护系统，而不考虑电机的运行条件。在该方案中，考虑了一种新的温度控制机制，该机制利用触觉系统中直流电机的模型来估计电机的电流状态，并相应地以自适应的方式产生补偿反馈控制信号。将使用先进的模型预测控制技术来产生控制信号。此外，还将使用优化方法将热补偿对触觉系统整体性能的影响降至最低。

Motor overheat is a common problem in the field of haptics rendering. Typically, haptic system manufacturers include some sort of overheat protection in haptic devices, either by shutting down the device or reducing the maximum current when measured temperature reaches dangerous levels. However, the existing heating protection techniques are not efficient as they generally do not use the current state of the motor in addressing the problem. More precisely, they mainly use a fixed protection system regardless of the operating condition of the motor. In this proposal, a novel temperature control mechanism is considered to use the model of the DC motor in the haptic system to estimate the current condition of the motor and generate a compensating feedback control signal, in an adaptive fashion, accordingly. Advanced model-predictive control techniques will be used to generate the control signal. Furthermore, optimization methods will be used to minimize the effect of heating compensation in the overall performance of the haptic system.