High-Performance Sensorless Force Control Using Superior Wideband and Periodicity-Cancellation Force 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: 2023/07/01

タイトル(英語): High-Performance Sensorless Force Control Using Superior Wideband and Periodicity-Cancellation Force Observer

著者名: Thao Tran Phuong (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Yuki Yokokura (Nagaoka University of Technology)

著者名(英語): Thao Tran Phuong (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Yuki Yokokura (Nagaoka University of Technology)

キーワード: disturbance observer，singular spectrum analysis，least squares method，force control，dithering

要約(英語): In this paper, a new force observation approach is proposed to realize a superior wideband and periodicity-free sensorless force control system. The proposed force observer is established by the periodicity estimation integrated singular spectrum analysis based disturbance observer. The singular spectrum analysis is designed to significantly separate the essential components of force estimation of the disturbance observer from extreme noise contamination. Accordingly, the bandwidth of the force sensing is considerably broadened at a highly increased pole of the disturbance observer. Additionally, to eliminate the superimposition of the undesired dither periodicity from the force sensation, the periodicity estimation is developed using the least squares method. The proposed method attains a superior widened force sensing bandwidth and high-performance force sensation. The effectiveness validation of the proposed method is performed through the experimental results of force control implemented in a ball-screw system.

本誌: IEEJ Journal of Industry Applications Vol.12 No.4 （2023） Special Issue on “IPEC-Himeji 2022”

本誌掲載ページ: 773-785 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/12/4/12_22000390/_article/-char/ja/