Parameter optimization for reaction torque observer based motion systems

Abstract

This thesis investigates the use of reaction torque observer (RTOB)-based controllers as a solution for the challenges associated with force sensors in motion systems. RTOBbased controllers provide significant advantages, including variable bandwidth, the capability to estimate unknown disturbances, and the feedback of disturbances to enhance system robustness. The model-based architecture of this approach necessitates precise parameter estimation, which is a critical aspect of stability analysis. Consequently, this thesis proposes a rapid and accurate method for parameter estimation, aiming to minimize computational expense. A comprehensive stability analysis is conducted to determine the conditions under which RTOB-based controllers maintain robust performance. The stability study considers various environmental conditions and controller settings to provide guidelines for achieving optimal stability. Additionally, the study explores the effects of external vibrations on system performance and the effectiveness of the controller in suppressing these vibrations. The findings demonstrate that RTOB-based controllers can significantly improve system performance by providing variable bandwidth, enhancing robustness, and accurately estimating unknown disturbances. The proposed optimization of controller parameters and the novel parameter estimation technique offer valuable insights for scientists and engineers to implement this strategy in various motion systems. Overall, this research advances the field of motion systems by providing a viable alternative to traditional force sensors and emphasizing the importance of vibration suppression and stability analysis. The outcomes have implications for the design and development of motion systems across different applications, enhancing their overall effectiveness and reliability.