FPGA-based Wideband Force Control System with Friction-Free and Noise-Free Force Observation

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2012/11/01

タイトル(英語): FPGA-based Wideband Force Control System with Friction-Free and Noise-Free Force Observation

著者名: Thao Tran Phuong (Department of Electrical Engineering, Nagaoka University of Technology), Ryo Furusawa (Department of Electrical Engineering, Nagaoka University of Technology), Manuel Nandayapa (Department of Electrical Engineering, Nagaoka University of

著者名(英語): Thao Tran Phuong (Department of Electrical Engineering, Nagaoka University of Technology), Ryo Furusawa (Department of Electrical Engineering, Nagaoka University of Technology), Manuel Nandayapa (Department of Electrical Engineering, Nagaoka University of Technology), Chowarit Mitsantisuk (Department of Electrical Engineering, Nagaoka University of Technology), Kiyoshi Ohishi (Department of Electrical Engineering, Nagaoka University of Technology)

キーワード: force control，friction compensation，disturbance observer，Kalman filter，FPGA

要約(英語): In this paper, a novel force sensing method is proposed to achieve a wideband force control system with friction-free and noise-free observation. The effect of friction on force observation is eliminated owing to the addition of a periodic signal to the desired reference signal. A high-order disturbance observer and a Kalman filter are used for the force-sensing operation to reject the oscillatory disturbance and to suppress the noise in force estimation. In consequence of effective noise reduction using the Kalman filter, the force sensing bandwidth improves radically. Additionally, all the control algorithms are implemented in a field-programmable gate array (FPGA) with a high sampling rate; the FPGA enables the widening of the bandwidth of the force control system. The effectiveness of the proposed method is verified by experimental results.

本誌: IEEJ Journal of Industry Applications Vol.1 No.3 (2012) Special Issue on Moter Drive and Related Technologies

本誌掲載ページ: 178-190 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/1/3/1_178/_article/-char/ja/