A method to control a peltier device based on heat disturbance observer

Morimitsu, Hidetaka; Katsura, Seiichiro

doi:10.1109/iecon.2010.5675544

Cited by 19 publications

(16 citation statements)

References 15 publications

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“…Then in order to achieve the control laws which are not used in conventional thermal bilateral control methods, three observers are constructed at each system in this research. The two of three are heat disturbance observer [14], which is based on the structure of disturbance observer [15] and used for compensation of disturbances in the system. The rest is a heat inflow observer [16] which is used for obtaining the information on heat flowing into thermal system.…”

Section: Introductionmentioning

confidence: 99%

“…The two of three are heat disturbance observer [14], which is based on the structure of disturbance observer [15] and used for compensation of disturbances in the system. The rest is a heat inflow observer [16] which is used for obtaining the information on heat flowing into thermal system. With the use of the observers, the thermal bilateral control system is constructed, and by the proposed system, it becomes possible to realize the state that the objects on the systems exchange heat as if these were directly contacted.…”

Section: Introductionmentioning

confidence: 99%

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Thermal bilateral control for reproduction of thermal contact between remote places

Morimitsu

Katsura

2012

2012 IEEE Haptics Symposium (HAPTICS)

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Haptic sense has recently been getting attention as the third multimedia information in the communication engineering, and this research focuses on the transmission of thermal sensation which is one of the components of the tactile sensation. For the transmission of the sensation, this research utilizes Peltier device as a thermal actuator. Then, the temperature and heat flow of master and slave system are simultaneously controlled to reproduce the thermal admittance of objects on the systems mutually. In the control system, some observers are constructed for compensation of control system or information obtainment on heat flowing into the system. By using the constructed system, it becomes possible to realize the state that the objects on the systems exchange heat as if these were directly contacted. The validity of the proposed system is shown by experimental results.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Thermal bilateral control for reproduction of thermal contact between remote places

Morimitsu

Katsura

2012

2012 IEEE Haptics Symposium (HAPTICS)

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“…In the studies by Morimitsu and Katsura, 12,23 this thermal model has been used. We also used this thermal model.…”

Section: Modeling Of Thermal Systemmentioning

confidence: 99%

“…To estimate the heat disturbances, DOB has been employed for thermal system in the studies by Morimitsu and Katsura. 12,23 However, in the presence of fast timevarying heat disturbances, the disturbances of thermal system cannot be rejected by PI and feedback linearization (FL) þ DOB effectively. The reason is that PI control is a feedback control method which attenuates disturbances based on the tracking error in a relatively slow way.…”

Section: Introductionmentioning

confidence: 99%

Generalized proportional integral observer–based composite control method for robotic thermal tactile sensor with disturbances

Chen

Wang

2017

International Journal of Advanced Robotic Systems

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In this article, we discuss the temperature regulation problem of robotic thermal tactile system under unknown time-varying disturbances. In order to improve the disturbance rejection property of the thermal system, a composite controller is presented. First, a generalized proportional integral observer is introduced to estimate the system disturbances, which generally include model uncertainties and external disturbances. Second, a feedback control is designed using feedback linearization control technique. A composite temperature controller is obtained as a composition of feedback linearization-based controller plus feed-forward compensation based on generalized proportional integral observer. A rigorous analysis shows that the proposed scheme can enhance the disturbance rejection property of the thermal system. Simulation and experimental comparisons with two other control methods, that is, the composite control method with feedback linearization-based control plus feed-forward compensation based on disturbance observer and the proportional integral control method, are given to verify that the proposed method exhibits a much better disturbance rejection performance.

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“…This device obtains the temperature difference between an object and the user's skin temperature by the changes in the temperature of the hot and cold pads. A study [5] examined transfer of temperature sensation using the Peltier element.…”

Section: Introductionmentioning

confidence: 99%