A design method of observers for bilateral control using dc brushed motor

Yoshiyuki Kambara, Kouhei Ohnishi

研究成果: Conference contribution

抄録

This paper proposes a novel design method of disturbance observer (DOB) and reaction force observer (RFOB) for acceleration-based bilateral control (ABC) utilizing DC brushed motor (abbreviated as DC motor later). ABC is one of the control method to enable the transmission of haptic sensation between master and slave robots. In order to transmit highly precise haptic sensation, both DOB and RFOB are used for ABC. Conventionally, in case of utilizing these observers, a motor has been considered to be driven by an ideal current source by utilizing the motor driver which has a current minor loop. The gain of current minor loop must be set large value in order to improve current tracking performance. However, there is a limit to increase the gain since it is affected by the the time delay of current minor loop. Therefore, this paper proposes design methods for DOB and RFOB without using current minor loop. Proposed observers estimate disturbance force from acceleration reference, voltage reference, and acceleration response by utilizing novel nominal model for DC motor. Proposed method can improve disturbance estimation performance. Moreover, by utilizing proposed method, DC motor can be controlled without using current sensor. The validity of proposed methods are experimentally verified.

本文言語English
ホスト出版物のタイトルIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ938-943
ページ数6
ISBN(電子版)9781479917624
DOI
出版ステータスPublished - 2016 1月 25
イベント41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
継続期間: 2015 11月 92015 11月 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
国/地域Japan
CityYokohama
Period15/11/915/11/12

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 産業および生産工学

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