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加速度を用いた力制御システムにおける高速制御および高精度推定

Yokoyama Minoru 横浜国立大学 DOI:info:doi/10.18880/00013298

2020.06.15

概要

This study aims to realize fast control and accurate estimation in force control system by using acceleration signal. As one of applications of force control, the rotary wear test apparatus which is used in tribology is focused on. The contact force between test materials fluctuates while wear tests are being conducted, which is an issue to be solved for measuring wear transition accurately. The force fluctuation depends on the rubbing speed and the resonance between the control system and environment. In order to suppress the force fluctuation, a force control system with positive accel­ eration feedback and velocity feedback is proposed. The positive acceleration feedback suppresses the force fluctuation due to the environmental vibration, which is not explicitly considered in conven­ tional studies. The velocity feedback is added to suppress the force fluctuation due to the resonance. The proposed method is validated by experiments using a prototype of rotary wear test apparatus.

The dissertation also focuses a force estimation in a two-mass system involving its pose change as another application. Conventionally, in the two-mass system, the motor-side and load-side encoders are used to estimate the load-side external force. However, it is difficult for several applications to be equipped with the load-side encoder due to cost and manufacturing issues. Further, gravity deterio­ rates the estimation accuracy if not accounted. To address these issues, the dissertation proposes using a MEMS accelerometer on the load-side and the Kalman filter for estimating the external force, i.e. using an acceleration-aided Kalman filter (AAKF). The proposed method can compensate the grav­ ity effect since the accelerometer has the ability to measure it according to sensor inclination. The load-side external force and the gravity effect are estimated simultaneously. Experiments show that the proposed method improves the estimation accuracy while gravity is affecting the force responses.

Finally, the force fluctuation suppression by means of the acceleration and force derivative feed­ backs is proposed. Although the derivative action can improve transient response from the perspec­ tive of the classical PID control, most force control systems, including the wear test apparatus, are restricted in a P control structure due to the inherent noisy nature of the force signal. To address this issue, the AAKF is modified for the force derivative estimation. The force derivative feedback, in other words, the P-D controller can suppress the resonance without amplifying the sensitivity against the environmental vibration, unlike the velocity feedback. Moreover, the positive acceleration feed­ back is added into the P-D force control system. From the experiments simulating the rotary wear test apparatus, the feasibility of the proposed method is confirmed.

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