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An impedance control using a Finite Control Set Model Predictive Controller
- Source :
- Proceedings of the 2015 IEEE International Symposium on Predictive Control of Electrical Drives and Power Electronics, 2015 IEEE PRECEDE, 2015 IEEE PRECEDE, Oct 2015, Valparaiso, Chile. ⟨10.1109/PRECEDE.2015.7395588⟩
- Publication Year :
- 2015
- Publisher :
- HAL CCSD, 2015.
-
Abstract
- International audience; The use of Electro-Mechanical Actuator to impact an environment is often criticized because of its presumably higher wear. This is due to the naturally high stiffness of the mechanical transmission, that leads to a hard-to-hard impact with the environment. This paper proposes a position-based impedance control using a Finite Control Set Model Predictive Control (FCS-MPC) controller to solve this problem. In comparison to a standard impedance controller, it can achieve the same impedance behavior in steady state, but the reduction of the mechanical losses and of the compression of the transmission are better during the transient. Furthermore, the trade-off between the mechanical losses and the transient time can be modified easily by changing the weighting factors of a cost function.
- Subjects :
- 0209 industrial biotechnology
Engineering
Steady state (electronics)
Automatic control
business.industry
020208 electrical & electronic engineering
position-based impedance controller
[SPI.NRJ]Engineering Sciences [physics]/Electric power
02 engineering and technology
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Model predictive control
020901 industrial engineering & automation
mechanical impact control
Impedance control
Control theory
Control system
Model Predictive control
0202 electrical engineering, electronic engineering, information engineering
Transient (oscillation)
business
Electrical impedance
variable impedance controller
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Journal :
- Proceedings of the 2015 IEEE International Symposium on Predictive Control of Electrical Drives and Power Electronics, 2015 IEEE PRECEDE, 2015 IEEE PRECEDE, Oct 2015, Valparaiso, Chile. ⟨10.1109/PRECEDE.2015.7395588⟩
- Accession number :
- edsair.doi.dedup.....7b4a865254997644717362365757a456