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

Phuong, Thao Tran; Ohishi, Kiyoshi; Yokokura, Yuki; Mitsantisuk, Chowarit

doi:10.1109/tie.2013.2266081

Cited by 47 publications

(18 citation statements)

References 37 publications

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“…The estimated disturbance torqueT dis is obtained from the motor speed ω m , and the motor current I m , as given in (15).…”

Section: Disturbance Observer For Force Estimationmentioning

confidence: 99%

“…(15) The performance of a force control system is determined by the accuracy of estimating the force. However, in practical applications, force estimation by the conventional DOB is deteriorated by friction phenomena.…”

Section: Disturbance Observer For Force Estimationmentioning

confidence: 99%

“…Therefore, a force-sensing method capable of eliminating the effect of the oscillatory component in the force information is required. Based on this reasoning, we have proposed a high-order disturbance observer (HDOB) (15) to perform the force sensing function while reducing friction and the oscillatory component in the force information.…”

Section: Friction-free High-order Disturbance Observer For Force Estimentioning

confidence: 99%

“…4.1.3 Force Control of a Ball-screw System Using Friction-free High-order Disturbance Observer and Position-sensor-based Kalman Filter (15) Figure 9 shows the force control of a ball-screw system using friction-free HDOB and PKF. Here, the velocity estimation is also performed by PKF using the encoder output only.…”

Section: Force Control Of a Linear Shaft Motor System Using Position-mentioning

confidence: 99%

“…The control algorithm is also implemented in FPGA to shorten the sampling time and make it possible to widen the force sensing bandwidth of HDOB by increasing observer pole. The design of dither signal is as follows (15) . In our paper, we selected ζ = 0 so that the dither signal is an undamped oscillation, because we desire that the dither signal always has effect during control system operation.…”

Section: Force Control Of a Linear Shaft Motor System Using Position-mentioning

confidence: 99%

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Disturbance Observer and Kalman Filter Based Motion Control Realization

et al. 2018

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Many effective robot-manipulator control schemes using a disturbance observer have been reported in the literature in the past decades. Besides, the disturbance observer combined with the Kalman filter has attracted the attention of researchers in the field of motion control. The major advantage of a motion control system based on the Kalman filter and disturbance observer is the realization of high robustness against disturbance and parameter variations, effective noise suppression and wideband force sensing. This paper presents a survey of motion control based on the Kalman filter and disturbance observer, which have been previously introduced by the authors. Several control schemes, as well as formulations and applications of the Kalman filter and disturbance observer, are described in the paper. The performance and effectiveness of the control schemes are evaluated to give a useful and comprehensive design of the Kalman filter and disturbance observer in various motion control applications.

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“…The estimated disturbance torqueT dis is obtained from the motor speed ω m , and the motor current I m , as given in (15).…”

Section: Disturbance Observer For Force Estimationmentioning

confidence: 99%

Section: Disturbance Observer For Force Estimationmentioning

confidence: 99%

Section: Friction-free High-order Disturbance Observer For Force Estimentioning

confidence: 99%

Section: Force Control Of a Linear Shaft Motor System Using Position-mentioning

confidence: 99%

Section: Force Control Of a Linear Shaft Motor System Using Position-mentioning

confidence: 99%