NDLI: Speed estimation improvement using full order state observer for a haptic interface

Content Provider	IEEE Xplore Digital Library
Author	Jabbour, Z. Moreau, S. Riwan, A. Khatounian, F. Champenois, G.
Copyright Year	2009
Description	Author affiliation: CEA-LIST, 92265 Fontenay-aux-Roses Cedex, France (Jabbour, Z.; Riwan, A.) \|\| Université Saint Joseph Ecole Supérieure d'Ingénieurs de Beyrouth Campus des Sciences et Technologies B.P. 11 0514 Riad el Solh - 1107 2050 Liban, Lebanon (Khatounian, F.) \|\| LAII - Université de Poitiers, 40 avenue du Recteur Pineau, 86022 Poitiers cedex, France (Moreau, S.; Champenois, G.)
Abstract	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.
Starting Page	1
Ending Page	5
File Size	683003
Page Count	5
File Format	PDF
ISBN	9781424435067
DOI	10.1109/ICIT.2009.4939544
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-02-10
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	State estimation Observers Haptic interfaces Synchronous motors Mechanical sensors Sensor systems Force feedback Virtual reality Velocity control Permanent magnet motors full order state space observer haptic interface permanent magnet synchronous motor speed estimation stiffness
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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Speed estimation comparison between full order state observer & Kalman filter for a haptic interface

Influence of speed estimation methods and encoder resolutions on the stiffness of a haptic interface

Low Speed Control of Permanent Magnet Synchronous Motor Based on Instantaneous Speed Estimation

Identification and compensation of torque ripples of a PMSM in a haptic context

Speed Estimation Improvement After Decreasing the Encoder Resolution for a Haptic Interface

Simultaneous Identification of the Initial Rotor Position and Electrical Parameters of a PMSM for a Haptic Interface

Nonlinear control of a permanent magnet synchronous motor with disturbance torque estimation

Rotor position estimation with full-order sliding- mode observer for sensorless IPMSM

Observer Based Position and Speed Estimation of Interior Permanent Magnet Motor

Speed estimation improvement using full order state observer for a haptic interface

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