High-robust acceleration control using force and position sensors integrated disturbance observer

摘要

For the high performance of force/torque control, an approach using a disturbance observer is known to be effective. However, a conventional disturbance observer cannot perfectly compensate for the disturbance torque when the disturbance torque (for example, impact torque) is instantaneous. This paper proposes a force and position sensors integrated disturbance observer (FPIDO), and analyzes its disturbance-suppression performance. Moreover, this paper focuses on high-performance torque control using a torsion torque sensor for a two-inertia system. The disturbance-suppression performance of the conventional disturbance observer and the FPIDO are compared using experimental results for motor-side acceleration control and load-side torque control. Finally, the experimental results verify the effectiveness of the proposed disturbance observer.