FPGA-Based High-Performance Force Control System With Friction-Free and Noise-Free Force Observation

摘要

In this paper, a novel force-sensing method is proposed for a high-performance force control system based on friction-free and noise-free force observation. A periodic signal is inserted into the control system for friction reduction. A combination of a high-order disturbance observer (DOB) (HDOB) and a Kalman filter is constructed to perform the force sensing. The HDOB is designed to estimate the force and reject oscillatory disturbances in the estimation. The force-sensing bandwidth is improved through effective noise suppression by the Kalman filter. Additionally, this paper proposes the application of the HDOB to the bilateral control system of a different master–slave mechanism. All the control algorithms are implemented in a field-programmable gate array with a high sampling rate that also enables the widening of the bandwidth of the force control system. The effectiveness of the proposed method is verified by experimental results.