IMECE STABILITY CONTROL OF HAPTIC INTERFACE

Transcription

1 Pocng of IMECE ASME Innaonal Mchancal Engnng Cong an Exoon Novb 11-15, 007, Sal, Wahngon, USA IMECE STABILITY CONTROL O HAPTIC INTERACE Jhng Zhang /Roboc Inu, Bhang Unvy, Bjng , P.R. Chna Jng L/Roboc Inu, Bhang Unvy, Bjng , P.R.Chna Mla M. Toovc/ Puu Unvy, W Lafay, IN 47907, USA Yuu Zhang/ Roboc Inu, Bhang Unvy, Bjng , P.R.Chna ABSTRACT Hac vc an an-achn nacon hav aac nn ach n n cn ya u o nuou onal alcaon, nclung cal, nal, lay, an nucla. On of h challng nvolv wh hac vc ovng huan oao alc noy flng hough foc fbac ouu fo h hac vc. In o o acqu aqua fly, h ffn of h vual nvonn u b uffcnly lag. Howv, h ycally accoan wh vbaon of h hac vc. Hnc, on of h y u la o hac y o nu y ably. Alhough o ffo ha bn on o a h u, h o fa an unolv obl. Th a n cun clo-loo PID conol ho fo achvng y ably on h xal of on-g-of-fo hac vc. In o o nfy aa of h PID conoll, h conol y f ol an h quaon of h cun clo-loo PID conol foula. Thn, by gnalng h laonh bwn h oo ouu oqu an h vual foc a h ouu n of h vc, h cun clo-loo quaon anf no ha of h foc. In aon, h a analy h obun of PID conoll hac vc. To vala h ho, h ulaon xn a fo, wh ng ol, a ol, an ng a ol. Th ul how ha h a of PID aa whch ul n abl hac vc. On of h avanag of h oo ho ha can gula PID aa o f ffn vual nvonn. Th ov a funanal aoach o ov ably of hac y. In aon, h oo ho can b b n h ofwa. Kywo: Cun clo-loo conol; PID conol; Hac nfac; Sably. INTRODUCTION A hac nfac a nhc ln bwn a huan an a vual nvonn. I ha aac nn ach n n cn ya u o nuou onal alcaon, nclung cal, nal, lay, an nucla. On of h challng nvolv wh hac vc ovng huan oao alc noy flng hough foc fbac ouu fo h hac vc. In o o acqu aqua fly n 1 Coygh 007 by ASME

2 can alcaon, h ffn of h vual nvonn u b uffcnly lag. Howv, h ycally accoan wh vbaon of h hac vc. Hnc, on of h y u la o hac y o nu y alc ably. Th faco affcng h y ably nclu caon of analog gnal [1], nacon bwn h c cou y an h connuou vc/huan oao [], an lay u o nucal ngaon ch [3]. Inal ffo o olv h obl nouc h vual coulng bwn h vual nvonn an h hac vc [1, 4]. Anon an Song [5] an Ny an Slon [6] hav u a avy aoach o conol h foc-fbac loaon wh lay. Colga an Schnl [7] hav u h a aoach o v fx aa vual coulng. Rcnly, a ffn avy ba aoach ha bn oo by Hannafo an Ryu [8] ha au acv y bhavo an njc vaabl ang whnv n ngy ouc by h vual nvonn. L an L [9] gn vaabl a conoll o guaan abl hac nacon an hgh fly whn h couaon of h flcv foc low, an a lay n. Aahan al.[10] hav vlo a Hgh Dfnon Hac Conoll wh SuH4 oco. In o o achv hgh fquncy vc conol, h conoll nola hac nfoaon fo v go an anc of a vual wall. Alhough o ffo ha bn on o a ably u, h o fa an unolv obl. Th a n cun clo-loo PID conol ho fo achvng y ably an ann on on h xal of on-g-of-fo hac vc. In o o nfy aa of h PID conoll, h ol of h hac vc an conol y vlo an h quaon of h cun clo-loo PID conol foula. Thn, by gnalng h laonh bwn h oo ouu oqu an h foc a h ouu n of h vc, h cun clo-loo quaon anf no ha of h foc. In aon, h a analy h obun of PID conoll hac vc. To vala h ho, h ulaon a fo, wh ng ol, a ol, an ng a ol. Th ul how ha h a of PID aa whch ul n abl hac vc wh accabl ann on. MODELING CLOSED-LOOP PID CURRENT CONTROL OR MOTOR Au h acuao a DC oo. Th clo-loo PID cun conol y of h oo hown n g.1. f oo IG.1 COLSED LOOP PID CURRENT CONTROL SYSTEM Th conol quaon a follow. ( f )( + + ) + & θ = oo I can b wn a follow. f ( + + ) + & θ = ( oo ) wh oo = L + R h anc of oo, f h fnc nu cun of oo, h acual cun,,, an a PID aa, θ & (1) lcooo foc conan, an θ & h angula vlocy of oo. Th laonh bwn h ouu oqu of DC oo an h foc n h hac nfac woac can b ol a hown n g.. τ IG. RELATIONSHIP BETWEEN TORQUE AND ORCE x& τ = x& = θ & x Coygh 007 by ASME

3 wh τ ouu oqu of oo, h foc n h hac vc woac coonng o τ, h on a, an x, x& a h oon an vlocy of h n on of hac vc. o τ = b ( w) = al( w) a a I ag( w) ( w) = w STABILITY CONDITION O 1-DO HAPTIC DEVICE L con 1-DO hac vc. Th oo an chancal vc con o b a a an vcou w hav wh oqu conan of oo, f = () al vual fcon b. Th al foc ol hown n g.3. h x& b foc. Dnong a h acual ouu hn IG.3 IDEAL ORCE MODEL O 1 DO HAPTIC DEVICE o h foc qulbu quaon w hav = (3) Subung q. () an (3) no q. (1), ul n, ( + + ) + & θ = ( oo ) Th quaon can b wn a follow. oo 1 = + oo oo & θ Subung = x& wh h anc of vual nvonn, no abov quaon an lng a hn oo 1 = oo oo o = x& (4) a = jw, a can b wn a follow. I ( ) a = al( w) + ag w = ba ( w) + a ( w) w wh al( w ) h al a of h agnay a. a, an I ag( w ) wh = x& + h h h foc x by oao, h al vual foc, an = + b h y anc. Whn h foc ol of vual nvonn a ng- a ol, h y ably conon [11] wh b K vual ffn, ua fo y foc. In fac h acual ouu vual foc h al vual foc KT > + B (5) B vual ang, an T, o lng h g3, bco h acual foc ol. no qual o na of o h foc qulbu quaon, w hav h Subung quaon (4) no (6), w hav L =, hn w hav a n = x& + (6) = x& + x& (7) h a = x& + h 3 Coygh 007 by ASME

4 Whn h ng a ol au, accong o quaon (5) h ably conon of h acual y KT b ba ( w) > + B (8) Coang Eq. (8) wh Eq. (5), whn ba ( w ) > 0, ffcul o achv y ably; wha whn ba ( w) 0, h y ably aly achv. followng ulaon = 100 lc. Sulaon 1 Th vual nvonn ol au o b a l ng ol,.., B = 0. Th ul a hown n g.4, whn K = 0.01 n h ca of = 0, an. SELECTION O PID PARAMETERS Snc L uffcnly all can b gno; hnc w = R, hav oo K = + B b a R K ( w ) + ( R B )( + R ) w ( w) = ( w ) + ( + R ) w o quaon (9), w now ha (1) whn = 0, ba ( w) w con. () whn, ba ( w) w 0. (3) nca of an (9) wll nca ba ( w ), bu ha l ffc on b ( w ) aoachng o conan wh h nca of w. a In h nx con h ffc of PID aa on ably an ann on wll b vf ung ulaon. SIMULATIONS Th Maxon DC ooe6 Ø6 18W [13] an fo xal. I aa a hown n Tabl 1. Ranc R (Ω) TABLE1 MOTOR PARAMETERS Coun EM con (V/a) Toqu con. (N/A) () Bcau ha l nflunc on b ( w ), h followng a (a) = 0 (b) IG.4 b ( w ) CURVE OR SPRING MODEL a Th ul llua ha whn = 0, ba ( w ) nca wh h nca of. So all goo fo y ably. Whn, ba ( w ) alway non-ov. Th goo fo y ably. In aon, h all an lag, h b h ably. o h b ably of h ng ol vual nvonn, = 0 an all houl b lc. Sulaon Th vual nvonn ol au o b a a ol,.., K = 0. Th ul a hown n g.5, n h ca B an B > cobn wh h ca = 0, an. cuon focu on h gulaon of an. In h 4 Coygh 007 by ASME

5 Th vual nvonn ol au o b a ng a ol. Th ul a hown n g.6, whn K = 0.01 n h ca B an B > cobn wh = 0, an. (a) B, 0 = (b) B, (a) B, 0 = (b) B, (c) B >, 0 = () B >, IG.5 b ( w ) CURVE OR DAMPER MODEL a Th ul llua ha whn B, b a ( w ) alway non-ov, whch an goo ably. Manwhl fo h ca = 0, lag a ba ( w ) lag oo, o houl b a all a obl. o h ca, h all an h lag, h b h ably. Whn B >, b a ( w ) alway non-ngav, whch no goo fo y ably. o h ca, lag a obl, an houl b a houl b a all a obl o (c) B >, 0 = () B >, IG.6 b ( w) CURVE OR SPRING DAMPER MODEL a Th ul llua ha whn B, n h ca = 0, all goo fo y ably. In h ca, lag an all goo fo y ably. Whn B >, = 0 a ba ( w ) alway ha b ( w ) aoach o qucly. a non-ngav, whch no goo fo y ably. So Sulaon 3 houl b non-o, an a lag a obl, an houl 5 Coygh 007 by ASME

6 b a all a obl. CONCLUSION In h a, h cun clo-loo PID conol ho fo ably of 1-of hac vc n, whch llua by h ulaon wh ffn ol. Th ffc ha PID aa a on h y ably cu. On of h avanag of h oo ho ha can gula PID aa o f a vual nvonn, uch a ffn ffn of ng ol an ffn ang of a ol. Th ov a funanal aoach o ov ably of hac y. In aon, h oo ho can b b n h ofwa. ACKNOWLEDGEMENTS Th ach ono by Naonal Naual Scnc ounaon of Chna (Gan No ). REERENCES [1] J. E. Colga, M. C. Sanly, an J. M. Bown, Iu n h hac lay of ool u, n Poc. IEEE/RSJ In. Conf. Inllgn Roboc Sy, Pbugh, PA, 1995, [] J. E. Colga an G. Schnl, Pavy of a cla of al aa y: alcaon o hac nfac, n Poc. A. Conol Conf., Balo, MD, 1994, [3] B. E. Mll, J. E. Colga, an R. A. an, Envonn lay n hac y, n Poc. IEEE In. Conf. Roboc Auoaon, San ancco, CA, A. 000, [4] C. B. Zll an J. K. Salbuy, A conan-ba go-objc ho fo hac lay, n Poc. IEEE/RSJ In. Conf. Inllgn Roboc an Sy, Pbugh, PA, 1995, [5] R. J. Anon an M. W. Song, Ayoc ably fo foc flcng loao wh lay, In. J. Robo. R., vol. 11, no., , 199. [6] G. Ny an J. J. Slon, Sabl aav loaon, IEEE J.Ocan. Eng., vol. 16, , [7] J. E. Colga an G. Schnl, Pavy of a cla of al-aa y: Alcaon o hac nfac, n Poc. A. Conol Conf.,Balo, MD, 1994, [8] B. Hannafo an J. H. Ryu, T oan avy conol of hac nfac, IEEE Tan. Robo. Auoa., vol. 18, no. 1,. 1 10, b.00. [9] Kyungno L,Doo Yong L.Mula Conol of Hac Infac fo Sably an Hgh ly. 004 IEEE lnaonal Confnc on Sy, Man an Cybc [10] Kauho AKAHANE, Shoch HASEGAWA, Yauhau KOIKE, Maoo SATO. A Dvlon of Hgh Dfnon Hac Conoll.Pocng of h Jon Euohac Confnc an Syou on Hac Infac fo Vual Envonn an Tloao Sy / IEEE [11] J. Ewa Colga an G Schnl. Pavy of A Cla of Sal-aa Sy:Alcaon o Hac Infac ACC. [1] Johua S. Mhlng* J. Ewa Colga Mchal A. Phn. Incang h Ianc Rang of a Hac Dlay by Ang Elccal Dang. Pocng of h Jon Euohac Confnc an Syou on Hac Infac fo Vual Envonn an Tloao Sy /05 $ IEEE. [13] Maxon oo Coygh 007 by ASME