Design and Realization of Compliant Motion Controllers for a Voice Coil Motor
碩士 === 國立臺灣科技大學 === 機械工程系 === 99 === The traditional impedance controller design needs the information of the exact model, and its realization requires the feedback of the force sensor. This thesis proposes an adaptive impedance controller based on the function approximation technique, and designs a...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2011
|
| Online Access: | http://ndltd.ncl.edu.tw/handle/yh7pfa |
| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 99 === The traditional impedance controller design needs the information of the exact model, and its realization requires the feedback of the force sensor. This thesis proposes an adaptive impedance controller based on the function approximation technique, and designs a force estimator to perform the compliant motion control of a motor. This implies that the control strategy used in this thesis is force sensor free. In addition to rigorous mathematical proof of the closed-loop stability, an experimental setup is also built to justify the system performance. An actual force sensor is installed to verify the effectiveness of the force estimation performance as well. We also propose a method to enable the impedance controller to have force regulation ability which is also proved by experimental studies with satisfactory performance.
|
|---|