Mechanical system force-sensing-free tactile force estimation method based on disturbance observer
A technology that interferes with observers and mechanical systems. It is used in general control systems, control/regulation systems, instruments, etc. It can solve the problems of high-frequency noise modeling uncertainty, inability to obtain accurate tactile force, and improve bandwidth and accuracy. , to ensure a robust and stable effect
Pending Publication Date: 2021-10-29
BEIHANG UNIV
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Problems solved by technology
[0008] The technical solution of the present invention is to solve the problem that accurate tactile force cannot be obtained due to periodic low-frequency interference, high-frequency noise, and modeling uncertainty in the above-mentioned lumped external tactile force estimation and measurement method. The Sensorless Haptic Force Estimation method of the rod periodic disturbance observer improves the bandwidth and accuracy of tactile sensing
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[0062] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0063] Such as figure 1 Shown, the present invention is concretely realized as follows:
[0064] The first step is to establish a dynamic model of the mechanical system, and conduct modeling analysis on external disturbances and model uncertainties;
[0065] Establish the dynamic model of the mechanical system equipped with the motor position sensor as follows:
[0066]
[0067] Among them, θ represents the motor output angle, is the second derivative of θ, which means the output angular acceleration of the motor, J is the moment of inertia of the motor, τ is the torque, τ m and τ d Respectively represent the total torque generated by the motor and the resulting external disturbance force.
[0068] Combined external disturbance force τ d Discretization, mathematically modeled as follows:
[0069] τ d (k)=d p (k)+d a (k)
[0070] d p (k...
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The invention relates to a mechanical system force-sensing-free tactile force estimation method based on a disturbance observer. The method comprises the steps: building a mechanical system dynamic model equipped with a motor position sensor, external disturbance comprising known frequency periodic vibration disturbance and low-frequency non-periodic disturbance, and expressing the modeling uncertainty in the low-frequency non-periodic interferencein the form of a product perturbation model; giving an optimization strategy under a standard H-infinity control problem framework according to a non-periodic part and high-frequency noise frequency band characteristics in the interference, obtaining an optimal robust interference observer in a continuous domain, and separating a low-frequency slow-varying external force signal from the external interference; designing a specified frequency wave trap in a discrete domain, and designing a composite robust periodic disturbance observer in combination with the designed robust disturbance observer; and establishing a mechanical system tactile force model, and realizing estimation and separation of the tail end tactile force. According to the invention, the robust stability of the system is ensured, high-frequency noise and periodic vibration interference are filtered, and the bandwidth and precision of tactile force sensing are improved.
Description
technical field [0001] The present invention relates to a sensorless haptic force estimation (Sensorless Haptic Force Estimation) method for mechanical systems based on disturbance observers, which can be used in rehabilitation robots, remote high-altitude operations, remote medical surgery robots, etc. force. Background technique [0002] Since French physician Philippe Mouret completed the first laparoscopic cholecystectomy in 1987, minimally invasive surgery has been revolutionized in more and more traditional operations due to its advantages of less trauma, less surgical pain, and shorter hospital stay. Successful, including cholecystectomy, prostatectomy, appendectomy, hysterectomy, nephrectomy, coronary artery bypass grafting, etc. However, minimally invasive surgery has inherent defects in perception and movement. Doctors cannot directly approach the operating area, so they will lose the tactile perception brought by direct contact. Similarly, the force sensory infor...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郭雷魏嫣然朱玉凯乔建忠
Owner BEIHANG UNIV