A high-performance velocity estimator for haptic applications

Ghaffari, T. K.; Kövecses, József

doi:10.1109/whc.2013.6548396

Cited by 6 publications

(5 citation statements)

References 10 publications

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“…In order to deal with this problem, we simply zeroed the velocity after a predefined time interval elapsed (i.e., 10 ms). In order to provide a more accurate estimation in this case, the approach such as in [56] can be adopted; however, this is out of the scope of this paper.…”

Section: Resultsmentioning

confidence: 99%

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The Improved Division-Less MT-Type Velocity Estimation Algorithm for Low-Cost FPGAs

Hace

2019

Electronics

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Advanced motion control applications require smooth and highly accurate high-bandwidth velocity feedback, which is usually provided by an incremental encoder. Furthermore, high sampling rates are also demanded in order to achieve cutting-edge system performance. Such control system performance with high accuracy can be achieved easily by FPGA-based controllers. On the other hand, the well-known MT method for velocity estimation has been well proven in practice. However, its complexity, which is related to the inherent arithmetic division involved in the calculus part of the method, prevents its holistic implementation as a single-chip solution on small-size low-cost FPGAs that are suitable for practical optimized control systems. In order to overcome this obstacle, we proposed a division-less MT-type algorithm that consumes only minimal FPGA resources, which makes it proper for modern cost-optimized FPGAs. In this paper, we present new results. The recursive discrete algorithm has been further optimized, in order to improve the accuracy of the velocity estimation. The novel algorithm has also been implemented on the experimental FPGA board, and validated by practical experiments. The enhanced algorithm design resulted in improved practical performance.

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Section: Resultsmentioning

confidence: 99%

“…10 ms). In order to provide a more accurate estimation in this case, the approach such as in [56] can be adopted; however, this is out of the scope of this paper. In manual experiment number two, we performed sinusoidal motion at relatively low speed.…”

Section: The Manual Experimentsmentioning

confidence: 99%

The Improved Division-Less MT-Type Velocity Estimation Algorithm for Low-Cost FPGAs

Hace

2019

Electronics

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“…Digital low‐pass filtering redresses this issue to some extent but the filtering‐induced time delay limits the level of filtering employed 31,32 . Furthermore, the application of techniques like discrete‐time adaptive windowing, 33 sliding mode control inspired Levant's differentiator, 34 and curve breaking algorithm 35 offer some alternate velocity estimation methods but they too cannot be employed at very high control rates, of the order of > 10 kHz. Some very recently proposed methodologies to enhance haptic interface's Z‐width can be found in the study by Chu et al 36 and others 37‐41 .…”

Section: Introductionmentioning

confidence: 99%

Elevating haptic interfaces: Dual‐rate sampling and field programmable gate array implementation for multi‐degree‐of‐freedom performance enhancement

Koul,

Khosa,

Ahmad

2024

Int Journal of Mech Sys Dyn

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In this work, our primary focus centered on exploring the adaptability of the dual‐rate sampling scheme proposed earlier to enhance the performance of multi‐degree‐of‐freedom (multi‐DOF) impedance‐based haptic interfaces. The scheme employed independent sampling rates in a haptics controller, effectively mitigating the issue of reduced Z‐width at higher sampling rates. A key aspect of our investigation was the intricate implementation of the dual‐rate sampling scheme on a field programmable gate array (FPGA). This implementation on a logic hardware FPGA was challenging and led to the effective comparison of the uniform‐rate and dual‐rate sampling schemes of the multi‐DOF haptic controller. We used an in‐house developed two‐DOF pantograph as the haptic interface and an FPGA for implementing the controller strategy. FPGA‐based implementation presented challenges that were vital in testing controller performances at higher sampling rates. Virtual wall experiments were conducted to determine the stable and unstable interactions with the virtual wall. To complement the experimental results, we simulated the haptics force law for multi‐DOF system on Simulink/MATLAB. Notably, the dual‐rate sampling approach maintained the Z‐width of the two‐DOF haptic interface, even at higher controller sampling rates, distinguishing it from the conventional two‐DOF uniform‐rate control scheme. For example, employing a dual‐rate sampling combination of 20–2 kHz consistently ensured the stable rendering of a maximum virtual stiffness of approximately 700 N/mm and maintained a reliable virtual damping range spanning from 0 to 5 Ns/mm. In contrast, the 20 kHz uniform‐rate sampling approach failed to ensure interface stability in the presence of virtual damping, ultimately resulting in the unsuccessful implementation of any virtual stiffness at higher sampling rates. This work, therefore, establishes the potential of dual‐rate sampling in the realm of haptic technology, with practical applications in multi‐DOF systems.

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“…The optimized control algorithm, including the designed haptic patterns for a single impedance haptic interface, have been implemented practically. The implementation highlights of the advanced control design also involve a precise measurement of position, and especially velocity, which is required for high-performance haptic applications [109,110]. We show a simple experimental prototype of the haptic power control lever, which demonstrates high-quality rendering of the proposed haptic patterns.…”

Section: Introductionmentioning

confidence: 99%

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

Hace

2019

Energies

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In the serial hybrid electric propulsion system of a small propeller aircraft the battery state of charge is fluctuating due to the diversity of possible power flows. Overwhelming visual information on the cockpit displays, besides requiring visual pilot attention, increases pilot workload, which is undesirable, especially in risky flight situations. Haptic interfaces, on the other hand, can provide intuitive cues that can be applied to enhance and simplify the cockpit. In this paper, we deal with an enhanced power lever stick, which can provide feedback force feel with haptic cues for enhanced information flow between the pilot and the powertrain system. We present selected haptic patterns for specific information related to the fluctuating battery state of charge. The haptic patterns were designed to reduce pilot workload, and for easy use, safe and energy-efficient control of the hybrid electric powertrain system. We focus on the advanced control design for high-performance force feedback required for rendering fine haptic signals, which stimulates the sensitive haptics of a pilot’s hand-arm system. The presented control algorithm has been designed by the sliding mode control (SMC) approach in order to provide disturbance rejection and high-fidelity haptic rendering. The proposed control design has been validated on an experimental prototype system.

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A high-performance velocity estimator for haptic applications

Cited by 6 publications

References 10 publications

The Improved Division-Less MT-Type Velocity Estimation Algorithm for Low-Cost FPGAs

The Improved Division-Less MT-Type Velocity Estimation Algorithm for Low-Cost FPGAs

Elevating haptic interfaces: Dual‐rate sampling and field programmable gate array implementation for multi‐degree‐of‐freedom performance enhancement

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

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