TY - JOUR
T1 - Design of nominal parameters for robust sensorless force control based on disturbance observer
AU - Kurumatani, Hiroki
AU - Katsura, Seiichiro
N1 - Funding Information:
The paper clarified the structure of the sensorless force control. The reliability of the reaction force control is aggregated in the nominal torque coefficient, while the nominal motor mass generates the acceleration feedback. Thus, the error factor which deteriorates the performance can be detectable. In general, the variation of the torque coefficient can be neglect but the mass fluctuation can not be ignored. It causes the fluctuation of a resonant frequency. The paper explains the phase stabilization methods with considering the design of the three parameters in the RFOB. The features of the methods are also described and one is applied to the system. The experimental results show the improvement of the robust stability and performance associated with increase of the phase margin. The paper presented the reliability and clear physical interpretation of the robust sensorless force control. Acknowledgment This work was partially supported by JSPS KAKENHI Grant Number 18H03784.
Publisher Copyright:
© 2019 The Institute of Electrical Engineers of Japan.
PY - 2019
Y1 - 2019
N2 - 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.
AB - 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.
KW - Disturbance observer
KW - Nominal parameter
KW - Sensorless force control
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U2 - 10.1541/ieejjia.8.342
DO - 10.1541/ieejjia.8.342
M3 - Article
AN - SCOPUS:85064830898
SN - 2187-1094
VL - 8
SP - 342
EP - 351
JO - IEEJ Journal of Industry Applications
JF - IEEJ Journal of Industry Applications
IS - 2
ER -