FPGA-Based High-Performance Force Control System With Friction-Free and Noise-Free Force Observation

被引：43

作者：

Thao Tran Phuong ^{[1
]}

Ohishi, Kiyoshi ^{[1
]}

Yokokura, Yuki ^{[1
]}

Mitsantisuk, Chowarit ^{[2
]}

机构：

[1] Nagaoka Univ Technol, Dept Elect Engn, Nagaoka, Niigata 9402188, Japan

[2] Kasetsart Univ, Dept Elect Engn, Bangkok 10900, Thailand

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2014年 / 61卷 / 02期

关键词：

Disturbance observer (DOB); field-programmable gate array (FPGA); force control; friction compensation; BILATERAL CONTROL; REALIZATION; DISTURBANCE; DESIGN; ROBOT;

D O I：

10.1109/TIE.2013.2266081

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a novel force-sensing method is proposed for a high-performance force control system based on friction-free and noise-free force observation. A periodic signal is inserted into the control system for friction reduction. A combination of a high-order disturbance observer (DOB) (HDOB) and a Kalman filter is constructed to perform the force sensing. The HDOB is designed to estimate the force and reject oscillatory disturbances in the estimation. The force-sensing bandwidth is improved through effective noise suppression by the Kalman filter. Additionally, this paper proposes the application of the HDOB to the bilateral control system of a different master-slave mechanism. All the control algorithms are implemented in a field-programmable gate array with a high sampling rate that also enables the widening of the bandwidth of the force control system. The effectiveness of the proposed method is verified by experimental results.

引用

页码：994 / 1008

页数：15

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