A two-stage observer for the compensation of actuator-induced disturbances in tool-force sensors
| Autor: | M. Schwegel, Andreas Kugi, Martin Saxinger, U. Knechtelsdorfer, Andreas Steinboeck |
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| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Observer (quantum physics) Computer science Mechanical Engineering Aerospace Engineering Magnetic bearing 02 engineering and technology 01 natural sciences Signal Force sensor Computer Science Applications Compensation (engineering) 020901 industrial engineering & automation Control and Systems Engineering Control theory 0103 physical sciences Signal Processing Stage (hydrology) Actuator 010301 acoustics Magnetic levitation Civil and Structural Engineering |
| Zdroj: | Mechanical Systems and Signal Processing. 146:106989 |
| ISSN: | 0888-3270 |
| DOI: | 10.1016/j.ymssp.2020.106989 |
| Popis: | In this paper, a novel two-stage observer strategy for improving the measurement of tool forces is presented. The mass-spring-damper system which inevitably occurs when a tool and a (compliant) force sensor are combined is studied and its adverse influence on the measurement signal is analyzed. The proposed observer consists of two stages. The first stage captures the input-output characteristics from the control input to the tool force by a recursive least-squares estimation algorithm. The estimated tool characteristics are used in a second stage to suppress the oscillations in the measurement signal, which mainly occur due to the mass-spring-damper nature of the tool-sensor combination. In a tailored experimental test rig, which mimics the conditions in magnetic levitation, magnetic bearings, or magnetic strip positioning devices in hot-dip galvanizing lines, the efficacy and the high estimation accuracy of the developed observer strategy are demonstrated. |
| Databáze: | OpenAIRE |
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