Speed Estimation Improvement Using Full Order State Observer for a Haptic Interface

被引：0
|
作者：
Jabbour, Z. [1 ]
Moreau, S. [2 ]
Riwan, A. [1 ]
Khatounian, F. [3 ]
Champenois, G. [2 ]
机构：
[1] CEA LIST, F-92265 Fontenay Aux Roses, France
[2] Univ Poitiers, LAII, 40 Ave Recteur Pineau, F-86022 Poitiers, France
[3] Univ Saint Joseph, Ecole Superieure Ingenieur, Beirut 11072050, Lebanon
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-3 | 2009年
关键词：
haptic interface; permanent magnet synchronous motor; speed estimation; stiffness; full order state space observer;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
A haptic system is an articulated mechanical structure with motors, sensors as well embedded electronics allowing force feedback. It enables the user to interact with virtual reality through the sense of touch and sight. Speed control of such systems usually becomes unstable at low speed range due to the imposed speed by the operator's hand. This paper describes implementation of full order state speed observer for a single degree of freedom haptic interface driven by permanent magnet synchronous motor. This method allows accurate speed estimation. The observer design criteria for haptic interface are analyzed in this paper. In addition, its influence on system stiffness is illustrated.
引用
收藏
页码：340 / +
页数：2
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