Disturbance Modeling based on Fourier Series for Precise Reaction Force Estimation in Semicircular Linear Motor

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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: 2019/05/01タイトル(英語): Disturbance Modeling based on Fourier Series for Precise Reaction Force Estimation in Semicircular Linear Motor著者名: Hiro shi Asai (Graduate School of Engineering, Yokohama National University/Kanagawa Institute of Industrial Science and Technology), Tomoyuki Shimono (Kanagawa Institute of Industrial Science and Technology/Faculty of Engineering, Yokohama National Univer著者名(英語): Hiroshi Asai (Graduate School of Engineering, Yokohama National University/Kanagawa Institute of Industrial Science and Technology), Tomoyuki Shimono (Kanagawa Institute of Industrial Science and Technology/Faculty of Engineering, Yokohama National University), Takahiro Mizoguchi (Kanagawa Institute of Industrial Science and Technology)キーワード: haptics，force control，bilateral control，tubular motor，disturbance model要約(英語): This paper presents a disturbance modeling method for a semicircular linear motor called circular shaft motor (CSM). The CSM is a direct-drive motor that moves along the circumference of a circle, and is expected to realize multiple-degree-of-freedom (MDOF) haptic applications. To control the contact force in a CSM system, an observer is implemented to estimate the reaction force instead of using a force sensor. However, the estimated reaction force includes an estimation error caused by forces other than the reaction force. Therefore, a disturbance modeling method for the CSM is proposed to exclude the estimation error. In the proposed method, the variation in characteristics that depend on the velocity is approximated by a Fourier series. To evaluate the adequacy of the model, Akaike's information criterion (AIC) is introduced. To validate the effectiveness of the proposed method, a force control test is performed with the proposed disturbance model on a CSM. In addition, a bilateral control test is conducted to demonstrate the usefulness of the proposed method for force transmission.本誌: IEEJ Journal of Industry Applications Vol.8 No.3 （2019） Special Issue on “IPEC-Niigata 2018”本誌掲載ページ: 512-521 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/8/3/8_512/_article/-char/ja/ Show more