Convergence Investigation of Injection-Based Encoderless Control Algorithms for RSMs in Deep Magnetic Saturation

Laumann, Matthias; Weiner, Christian; Kennel, Ralph

doi:10.1109/access.2022.3158662

Cited by 2 publications

(2 citation statements)

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“…However, if the position control loop can be eliminated, it is expected to improve the affinity with sensorless control of servo motors. [47]- [49]. The demand for sensorless drives for servo motors in industrial applications is still increasing for the purpose of miniaturization, cost reduction, and reduction of failure rate, and research on sensorless control is also active.…”

Section: Contribution 2: Elimination Of Position Transmission Channel...mentioning

confidence: 99%

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Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Nagatsu

2024

IEEE Access

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In a bilateral control system, reducing the information-transmission channel between the master and slave systems has advantages, such as suppressing data traffic, reducing stored data, and simplifying the control-system design. The position/force hybrid-control-type bilateral control system can realize stable and highly transparent bilateral control; however, it requires four transmission channels between the master and slave systems to transmit position and force information. Several types of conventional two-channel controllers are difficult to contact and operate. A two-channel controller with equivalent performance to the four-channel controller exists, but it still requires local position control loops. Therefore, this study proposes a force-symmetric type two-channel bilateral control system based on force control systems with robust acceleration controllers using second-order disturbance observers (DOBs) among higher-order DOBs. Bilateral control systems have two control goals: synchronization of the position of the master-slave system, which is a position-related control goal, and artificial realization of the law of action-reaction between the master-slave system, which is a force-related control goal. Methods using low-order DOBs, such as zeroand first-order DOBs, cannot achieve the position-related control goal. In contrast, the proposed method can achieve both position and force control goals simultaneously, even though it only has force transmission channels and control loops. This study also shows that the performance of the proposed two-channel bilateral control system is equivalent to that of a four-channel bilateral control system that transmits both position and force information. The effectiveness of the proposed method was confirmed through bilateral-control experiments in the joint space and workspace.

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Section: Contribution 2: Elimination Of Position Transmission Channel...mentioning

confidence: 99%

“…The hybrid parameters of the proposed method are derived based on (18) and (47). In addition, the hybrid parameters of the four-channel method are derived based on ( 23), ( 24), ( 27) and (28).For simplicity, the cutoff frequencies of the pseudodifferentiation are sufficiently high in the present study.…”

Section: ) Analysis By Hybrid Parametersmentioning

confidence: 99%