High-Precision Sensorless Force Control by Mode Switching Controller for Positioning Devices with Contact Operation

被引：1

作者：

Maebashi, Wataru ^{[1
]}

Ito, Kazuaki ^{[2
]}

Matsuo, Kohei ^{[1
]}

Iwasaki, Makoto ^{[1
]}

机构：

[1] Nagoya Inst Technol, Showa Ku, Gokiso Cho, Nagoya, Aichi, Japan

[2] Toyota Natl Coll Technol Toyota, Dept Elect Elect & Syst Engn, Toyota, Japan

来源：

ELECTRICAL ENGINEERING IN JAPAN | 2016年 / 195卷 / 03期

关键词：

positioning control; force control; sensorless control; nonlinear spring; contact operation; sliding mode control;

D O I：

10.1002/eej.22791

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents an approach to high-precision sensorless force control for positioning devices that engage in a contact operation. The sensorless force control is designed with a sliding mode controller and contact model that provide the required control specifications to compensate for the nonlinear spring characteristics of the contact mechanism. The effectiveness of the proposed control approach was verified through numerical simulations and experiments using a prototype. (C). 2016 Wiley Periodicals, Inc. Published online in Wiley Online Library (wileyonlinelibrary.com).

引用

页码：47 / 57

页数：11

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