TY - GEN
T1 - High precision force control by multi-sensor based disturbance observer
AU - Katsura, Seiichiro
AU - Irie, Kouhei
AU - Ohishi, Kiyoshi
PY - 2006
Y1 - 2006
N2 - Motion control has been widely used in industry applications. One of the key technologies of motion control is a disturbance observer, which estimates a disturbance torque of a motion system and realizes a robust acceleration control. The disturbance observer can observe and suppress the disturbance torque within its bandwidth. Recent motion systems begin to spread in the society and they are required to have ability to contact with unknown environment. Such a haptic motion requires much wider bandwidth. However, since the conventional disturbance observer attains the acceleration information by the second order derivative of position response, the bandwidth is limited due to the derivative noise. This paper proposes a novel structure of a disturbance observer. An acceleration sensor is implemented to enlarge the bandwidth in the proposed multi-sensor based disturbance observer (MSDO). Thus, control performance of the MSDO is superior to the conventional one. In this paper, the MSDO is applied to force control and the viability of the proposed method is confirmed by fast Fourier transformation (FFT) analyses.
AB - Motion control has been widely used in industry applications. One of the key technologies of motion control is a disturbance observer, which estimates a disturbance torque of a motion system and realizes a robust acceleration control. The disturbance observer can observe and suppress the disturbance torque within its bandwidth. Recent motion systems begin to spread in the society and they are required to have ability to contact with unknown environment. Such a haptic motion requires much wider bandwidth. However, since the conventional disturbance observer attains the acceleration information by the second order derivative of position response, the bandwidth is limited due to the derivative noise. This paper proposes a novel structure of a disturbance observer. An acceleration sensor is implemented to enlarge the bandwidth in the proposed multi-sensor based disturbance observer (MSDO). Thus, control performance of the MSDO is superior to the conventional one. In this paper, the MSDO is applied to force control and the viability of the proposed method is confirmed by fast Fourier transformation (FFT) analyses.
UR - http://www.scopus.com/inward/record.url?scp=50249140264&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50249140264&partnerID=8YFLogxK
U2 - 10.1109/IECON.2006.347747
DO - 10.1109/IECON.2006.347747
M3 - Conference contribution
AN - SCOPUS:50249140264
SN - 1424401364
SN - 9781424401369
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 5227
EP - 5233
BT - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
T2 - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Y2 - 6 November 2006 through 10 November 2006
ER -