<div class="csl-bib-body">
<div class="csl-entry">Duller, D. (2018). <i>Interaction control of a linear motor in a hardware-in-the-loop test rig</i> [Diploma Thesis, Technische Universität Wien]. reposiTUm. https://doi.org/10.34726/hss.2018.42361</div>
</div>
-
dc.identifier.uri
https://doi.org/10.34726/hss.2018.42361
-
dc.identifier.uri
http://hdl.handle.net/20.500.12708/6110
-
dc.description
Abweichender Titel nach Übersetzung der Verfasserin/des Verfassers
-
dc.description.abstract
This work deals with interaction control of a linear motor in a HiL test rig that should be able to interact with objects with high contact stiffness. The mathematical model of the linear motor includes nonlinear friction. In the course of a theoretical survey, common control algorithms are assessed for their practicability in a mechanical HiL environment. Impedance- and admittance control concepts are presented with their advantages and disadvantages. The implemented interaction control algorithm consists of two control loops. An adaptive admittance control strategy is developed, which utilizes online estimation of the environment dynamics to preserve the desired dynamic behaviour independently of environment stiffness and sampling time. A self-perturbing recursive least squares estimator is implemented for environment identification. For the inner position control loop, a reference model following controller with friction feedforward is chosen. It is shown that a state observer delivers unsatisfactory results due to static friction. Instead a sensor fusion approach is implemented to obtain a virtual velocity measurement with improved accuracy. The proposed approach shows good performance as well as promising stability behaviour, while posing minimal constraints on the choice of virtual environment dynamics.
en
dc.language
English
-
dc.language.iso
en
-
dc.rights.uri
http://rightsstatements.org/vocab/InC/1.0/
-
dc.subject
Impedanzregelung
de
dc.subject
Admittanzregelung
de
dc.subject
Umgebungsschätzung
de
dc.subject
Reibungsidentifikation
de
dc.subject
Sensordatenfusion
de
dc.subject
experimentelle Validierung
de
dc.subject
Linearmotorregelung
de
dc.subject
interaction control
en
dc.subject
admittance control
en
dc.subject
environment estimation
en
dc.subject
friction identification
en
dc.subject
sensor fusion
en
dc.subject
experimental validation
en
dc.subject
linear motor control
en
dc.title
Interaction control of a linear motor in a hardware-in-the-loop test rig
en
dc.title.alternative
Impedanzregelung eines Linearmotors in einem Hardware-in-the-Loop-Prüfstand
de
dc.type
Thesis
en
dc.type
Hochschulschrift
de
dc.rights.license
In Copyright
en
dc.rights.license
Urheberrechtsschutz
de
dc.identifier.doi
10.34726/hss.2018.42361
-
dc.contributor.affiliation
TU Wien, Österreich
-
dc.rights.holder
Daniel Duller
-
dc.publisher.place
Wien
-
tuw.version
vor
-
tuw.thesisinformation
Technische Universität Wien
-
dc.contributor.assistant
Schirrer, Alexander
-
tuw.publication.orgunit
E325 - Institut für Mechanik und Mechatronik
-
dc.type.qualificationlevel
Diploma
-
dc.identifier.libraryid
AC15028445
-
dc.description.numberOfPages
90
-
dc.identifier.urn
urn:nbn:at:at-ubtuw:1-110374
-
dc.thesistype
Diplomarbeit
de
dc.thesistype
Diploma Thesis
en
dc.rights.identifier
In Copyright
en
dc.rights.identifier
Urheberrechtsschutz
de
tuw.advisor.staffStatus
staff
-
tuw.assistant.staffStatus
staff
-
item.fulltext
with Fulltext
-
item.cerifentitytype
Publications
-
item.mimetype
application/pdf
-
item.openairecristype
http://purl.org/coar/resource_type/c_bdcc
-
item.languageiso639-1
en
-
item.openaccessfulltext
Open Access
-
item.openairetype
master thesis
-
item.grantfulltext
open
-
crisitem.author.dept
E366 - Institut für Sensor- und Aktuatorsysteme
-
crisitem.author.parentorg
E350 - Fakultät für Elektrotechnik und Informationstechnik