Title :
Force sensor-less assist control design based on two-degree-of-freedom control
Author :
Oh, Sehoon ; Koyanagi, Takuya ; Hori, Yoichi
Author_Institution :
Dept. of Electr. Eng., Univ. of Tokyo, Tokyo, Japan
Abstract :
Motor control to assist human force without a force sensor is designed based on two-degree-of-freedom control theory. First force sensor-less power assist control is designed and its robustness is analyzed. Then it is incorporated with the reference tracking control using the two degree-of-freedom control. The proposed control can design the motion with regarding to the reference and the motion with regarding to the external human force respectively. Non-minimum phase zero Q filter is also adopted as a methodology of force sensor-less power assist control and its effectiveness to reject the static friction force is verified. Experiments are conducted with a ball-screw door system that has a large friction and the effectiveness of the proposed control is validated.
Keywords :
control system analysis; control system synthesis; force control; robust control; ball-screw door system; force sensorless assist control design; human force; motor control; nonminimum phase zero Q filter; power assist control; reference tracking control; robustness analysis; static friction force rejection; two-degree-of-freedom control; Control design; Control theory; Filters; Force control; Force sensors; Friction; Humans; Motion control; Motor drives; Robust control; Q filter; disturbance observer; force sensor-less impedance control; force sensor-less power assist control; human-friendly motion control; non-minimum phase zero; two degree-of-freedom control;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
