基于反力力矩观测器的无传感器力控制系统稳定性分析

E. Sariyildiz
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引用次数: 0

摘要

针对基于反力观测器(RTOb)的鲁棒力控制系统,提出了一种新的离散时域稳定性分析方法。鲁棒力控制器是通过使用干扰观测器(DOb)来抑制内环中的干扰,如摩擦和滞后,以及另一个干扰观测器(即RTOb)来估计接触力而不使用力传感器来实现的。由于基于rbb的鲁棒力控制器通常使用计算机和/或微控制器来实现,因此本文提出了离散时域的稳定性分析。结果表明,测速噪声和水床效应不仅限制了DOb的带宽,而且限制了DOb的带宽。研究还表明,当RTOb的设计参数不合理时,鲁棒力控制器的稳定性会显著下降。例如,鲁棒力控制器可能具有非最小相位零(s),因为RTOb的识别惯性(扭矩系数)的设计参数增加(减少)。这可能导致力控制应用中的稳定性和性能差。仿真和实验验证了所提出的离散时域稳定性分析方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Stability Analysis for the Reaction Torque Observer-based Sensorless Force Control Systems
This paper proposes a new stability analysis for the Reaction Torque Observer (RTOb) based robust force control systems in the discrete-time domain. The robust force controller is implemented by employing a Disturbance Observer (DOb) to suppress disturbances, such as friction and hysteresis, in an innerloop and another disturbance observer, viz RTOb, to estimate contact forces without using a force sensor. Since the RTOb-based robust force controllers are always implemented using computers and/or microcontrollers, this paper proposes a stability analysis in the discrete-time domain. It is shown that the bandwidth of the DOb is limited not only by the noise of velocity measurement but also by the waterbed effect. It is also shown that the stability of the robust force controller may significantly deteriorate when the design parameters of the RTOb are not properly tuned. For example, the robust force controller may have a non-minimum phase zero(s) as the design parameter of the identified inertia (torque coefficient) of the RTOb is increased (decreased). This may lead to poor stability and performance in force control applications. The proposed stability analysis conducted in the discrete-time domain is verified by simulations and experiments.
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