Design of Nominal Parameters for Robust Sensorless Force Control Based on Disturbance Observer

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: 2019/03/01

タイトル(英語): Design of Nominal Parameters for Robust Sensorless Force Control Based on Disturbance Observer

著者名: Hiroki Kurumatani (Department of System Design Engineering Keio University), Seiichiro Katsura (Department of System Design Engineering Keio University)

著者名(英語): Hiroki Kurumatani (Department of System Design Engineering Keio University), Seiichiro Katsura (Department of System Design Engineering Keio University)

キーワード: sensorless force control，disturbance observer，nominal parameter

要約(英語): The paper proposes a parameter design of a reaction force observer (RFOB) under existence of modeling error/parameter fluctuation. Observer-based sensorless-force-control is a good approach to reduce phase lag in control systems. Hence, the performance improvement can be easily attained by such a technique. However, the RFOB does not always guarantee accuracy of estimated value and adds incorrect compliance on the system. Due to insufficient report about RFOB design, its calibration is conducted based on the designer's own experience. To calibrate the RFOB and achieve the correct force control quantitatively, the structure of the observer-based force control and physical interpretation of control loops should be revealed simply. The paper presents a condition to achieve the correct force control and design methodology of observers, thereby, providing a robust performance against parameter variation.

本誌: IEEJ Journal of Industry Applications Vol.8 No.2 （2019） Special Issue Ⅰ on “Motion Control and its Related Technologies”　Special Issue Ⅱ on “IPEC-Niigata 2018”

本誌掲載ページ: 342-351 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/8/2/8_342/_article/-char/ja/