Active Stick 제어기 개발에 관한 연구

• 영문명: A study of an Active Stick Controlling System with Friction Observer
• 발행기관: 강원대학교 산업기술연구소
• 저자명: 김명열(Kim Myung Yul) 남윤수(Nam Yoon su)
• 간행물 정보: 『산업기술연구』vol.24, 207~214쪽, 전체 8쪽
• 주제분류: 공학 > 공학일반
• 파일형태: PDF
• 발행일자: 2004.09.30

영문 초록

An active stick which supplies force feedback to the operator is developed in this study. A mathematical model of the active stick is derived, and compared with the experimental result. It turns out that the frictional torque due to the mechanical contacts of several parts of the stick is one of the major barriers to achieve high precision operation of the stick. The frictional effect of the stick is cancelled out by using a friction observer. The efficacy of the friction observer is verified through the numerical simulation. Because of the observer dynamics, there are some limitations in exact recovering the static friction and Stribeck effect. However, the friction observer follows the real friction on the average. It’s anticipated that the application of the friction observer to the closed loop control of the active stick improves the performance of the displacement versus force characteristics, which will be proved experimentally in the further study.

목차

Abstract

1. 서론

2. Active Stick 설계

3. Active Stick의 Dynamic Model

4. 마찰보상기의 설계

5. 결론

참고문헌

키워드

Active Stick Friction Observer Hysteresys 2 Axis Force Sensor Variable Force-feel Characteristics